Random time delay modeling method of network control system

Abstract

The invention provides a random time delay modeling method based on a continuous time hidden Markov model for a network control system. A network control system is established according to the Figure 1, wherein a controlled object is a 4-degree-of-freedom mechanical arm, and kinematics parameters of the 4-degree-of-freedom mechanical arm are sampled and then transmitted to a controller via the network; the controller firstly establishes a continuous hidden Markov model of network time delay, then, designs an appropriate control law according to the sampled data and transmits the control law to an executor so as to compensate the influence of time delay on system performance. An incomplete data expectation maximization algorithm is used for model parameter training, and simultaneously, a genetic algorithm and a simulated annealing algorithm are both used for ensuring that the training process can quickly converge to a global extremum. Finally, the established network time delay continuous hidden Markov model is verified and optimized on a simulation experiment platform. By the adoption of the method, the time delay generation mechanization that the network time delay is controlled by the network state can be accurately described, and the maximum degree of approximation of the time delay model to the actual network environment can be guaranteed.

Description

technical field [0001] The invention relates to a modeling method of random time delay in a network control system. Background technique [0002] With the development of computer technology, communication technology and control theory, the control system is developing towards network, integration, distribution and node intelligence, resulting in network control system. A networked control system is a distributed feedback control system that forms a closed loop through a real-time communication network, in which sensors, controllers, and actuators exchange information through a shared network channel. Compared with the traditional point-to-point control system, the networked control system has the advantages of sharing resources, remote monitoring, reducing wiring, reducing costs, easy expansion and maintenance, and enhancing system flexibility and reliability. However, due to the limitation of network bandwidth, there is a network-induced delay in the data transmission proc...

AI Technical Summary

Problems solved by technology

However, the network status is an abstract concept, which represents the overall status of the network and reflects the load, flow, congestion degree, etc. of the entire network. Its abstraction is difficult to obtain directly through measurement.

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