Variable Sampling Predictive Controller for Networked Control Systems

A technology of networked control and predictive controller, applied in the direction of comprehensive factory control, comprehensive factory control, electrical program control, etc., can solve problems such as limited use and unfavorable application, reduce transmission volume, save network bandwidth, and ensure closed-loop stability sexual effect

Active Publication Date: 2016-08-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since the design of the method itself is highly dependent on the system model, this also greatly limits the use of this method in engineering
[0004] Existing networked control system methods generally have certain limitations, which are not conducive to the application in practical systems

Method used

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  • Variable Sampling Predictive Controller for Networked Control Systems
  • Variable Sampling Predictive Controller for Networked Control Systems
  • Variable Sampling Predictive Controller for Networked Control Systems

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Embodiment Construction

[0025] This embodiment provides a control scheme for a variable sampling network predictive motor servo system.

[0026] Since some steps, implementation methods, functions, etc. of the invention are related to the networked control model, a brief introduction to the networked control system model is made here. Firstly, the state space of the controlled object system is described as follows:

[0027] x(k+1)=Ax(k)+Bu(k) (1)

[0028] z(k)=Cx(k)+Du(k) (2)

[0029] Among them, x(k) is the system state quantity and z(k) is the system output; A, B, C and D are system matrices with appropriate dimensions; u(k) is the system input quantity. Let the sampling time of the networked system be t k , with a propagation delay of τ k , the model of the networked control system is

[0030] x(k+1)=Ax(k)+Bu(k) (3)

[0031] z(k)=Cx(k)+Du(k) (4)

[0032] k∈[t k +τ k ,t k+1 +τ k+1 ) (5)

[0033] where the sampling conditions are

[0034] ε(k) T Ωε(k)>θx(k+j) T Ωx(k+j),j

[0035] ε...

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Abstract

The invention provides a prediction controller for variable sampling of a networked control system. The prediction controller does not rely on the output quantity of an actuator. The influence of delay on the system is restricted, and meanwhile data transmission quantity is reduced. The prediction controller comprises a variable sampling event triggering module and a networked prediction control module, and the networked prediction control module comprises a network delay calculation module and a prediction compensation module, wherein the variable sampling event triggering module is used for adjusting the transmission flow of network data, comparing sending conditions of sampling information of a sensor, judging whether the data are sent or not according to the event sending triggering conditions, and utilizing the even triggering conditions for reducing unnecessary data sending, the network delay calculation module is used for calculating the size of the transmission delay of a current network data packet, timestamp information of a data sending moment is added to the sent data packet when the data packet is sent by the variable sampling event triggering module, and the prediction compensation module is used for carrying out prediction compensation on the network transmission delay.

Description

technical field [0001] The invention relates to a variable sampling predictive controller for a networked control system, which is especially suitable for networked servo systems and other distributed networked control systems where the network transmission bandwidth is limited, the output of actuators cannot be obtained, and fast response is required. Background technique [0002] With the development of automation control theory, computer technology and network technology, great changes have taken place in industrial automation control system. Distributed control systems, fieldbus control systems, and networked control systems (NCS: Networked Control System) have emerged one after another. These control methods have brought about tremendous changes and innovations in the composition of the control system. NCS makes full use of the characteristics of the communication network, connects the controlled objects in different regions through the network, completes a complex cont...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 孙健王弟陈杰李牧
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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