A networked control system and control method capable of compensating time delay and packet loss

Abstract

The invention discloses a networked control system and control method capable of compensating time delay and packet loss. The system includes a sensor module, which is located at the controlled end of the feedback channel, collects the output data of the controlled object in real time, and records the current sampling time As the time stamp corresponding to the output data; the control module is located at the control end of the forward channel, and obtains the control increment according to the reference input signal and the received output data; the execution module is located at the controlled end of the forward channel, according to The time stamp determines the time delay and packet loss of the feedback channel and the forward channel, and based on the time delay and packet loss and the control increment, a control signal is constructed and applied to the controlled object. The system compensates for the random time delay, data packet disorder and loss in the feedback channel and forward channel without knowing the mathematical model, order, time delay and other prior knowledge of the controlled object, saving the network Bandwidth and energy consumption, easy to apply and popularize in practical engineering.

Description

technical field [0001] The invention relates to the field of engineering control, in particular to a networked control system and a control method capable of compensating for time delay and packet loss. Background technique [0002] A networked control system refers to a closed-loop control system that exchanges data through a communication network. On the one hand, compared with the traditional point-to-point connection control system, the networked control system has the following advantages: less wiring and energy consumption, low installation and maintenance costs, easy remote monitoring and control, easy expansion and movement, etc. Therefore, in recent years, networked control systems have been widely used in industry, transportation, military, medical and other fields. [0003] On the other hand, in practical applications, due to network congestion, network transmission delay, data packet queuing, bit transmission errors, routing information errors, physical line fai...

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Problems solved by technology

[0003] On the other hand, in practical applications, due to network congestion, network transmission delay, data packet queuing, bit transmission error, routing information error, physical line failure and other reasons, when the measurement signal and control signal are transmitted in the networked control loop It is inevitable that there will be random delay, out-of-order and loss of data packets, which will cause the performance of the networked control system to degrade or even diverge.

[0004] In order to solve the random delay, out-of-sequence and loss of data packets in the above-mentioned networked control system, various solutions have been designed in the prior art, but these methods still have the following problems in the implementation: the modeling method is complicated and the calculation large amount of data transferred

Moreover, with the rapid development of science and technology, many industrial processes have undergone earth-shaking changes, and production processes and production equipment have become more and more complex

Although the method of establishing a mathematical model for the above-mentioned complex process has been solved to a certain extent, the problems of large amount of calculation and large amount of data have become more and more prominent.

The networked control system mainly transmits various control signals and feedback data through the network. When the amount of model data increases, the transmission of these model data will inevitably increase the burden of network transmission, and even cause network congestion to cause the networked control system to fail to operate normally.

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