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Time-varying time delay compensation method for two-input and two-output networked decoupling control system

A decoupling control and output network technology, applied in the field of decoupling control system of multiple input and multiple output network, can solve the problems of system performance degradation, MIMO-NDCS time delay compensation and control difficulties, and complex influence, etc.

Inactive Publication Date: 2017-05-31
HAINAN UNIVERSITY
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  • Application Information

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Problems solved by technology

[0010] (2) The internal structure is much more complex than SISO-NCS and MIMO-NCS
[0011] (3) There may be uncertain factors in the accused
[0012] In MIMO-NDCS, there are many parameters involved, and there are many connections between control loops, and the influence of parameter changes on the overall control effect will become very complicated.
[0013] (4) Failure of control components
Time delay leads to system performance degradation and even system instability, and also brings difficulties to the analysis and design of the control system
[0019] (3) It is unrealistic to fully synchronize the clock signals of all nodes in different distribution locations in MIMO-NDCS
[0020] (4) Since in MIMO-NCS, the input and output influence each other and there is a coupling effect, the internal structure of MIMO-NDCS is more complicated than that of MIMO-NCS and SISO-NCS, and there may be more uncertain factors. Implementing delay compensation and control for MIMO-NDCS is much more difficult than MIMO-NCS and SISO-NCS

Method used

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  • Time-varying time delay compensation method for two-input and two-output networked decoupling control system
  • Time-varying time delay compensation method for two-input and two-output networked decoupling control system
  • Time-varying time delay compensation method for two-input and two-output networked decoupling control system

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Embodiment Construction

[0127] The following will refer to the attached Figure 5 Exemplary embodiments of the present invention will be described in detail to make the above-mentioned features and advantages of the present invention clearer to those skilled in the art.

[0128] The specific implementation steps are as follows:

[0129] For closed loop control loop 1:

[0130] The first step: the sensor S1 node works in the time-driven mode, and the sampling period is h 1 triggered by the signal; when the sensor S1 node is triggered, the controlled object G 11 (s) output signal y 11 (s) and the controlled object cross-channel transfer function G 12 (s) output signal y 12 (s), and the output signal y of the decoupled actuator DA1 node 11mb (s) and y 12mb (s) Sampling and calculating the system output signal y of the closed-loop control loop 1 1 (s) and the feedback signal y 1b (s), and y 1 (s)=y 11 (s)+y 12 (s) and y 1b (s)=y 1 (s)-y 11mb (s)-y 12mb (s);

[0131] Step 2: The sensor S1...

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Abstract

The invention discloses a time-varying time delay compensation method for a TITO-NDCS (two-input and two-output networked decoupling control system) and belongs to the technical field of multiple-input and multiple-output networked decoupling control systems with limited bandwidth resources. As for the TITO-NDCS with two-input and two-output signals mutually affected and coupled requiring decoupling, in consideration that network time delay generated in a transmission process of network data among nodes affects stability of respective closed-loop control loops and the whole system and even leads to that the TITO-NDCS loses stability, the method for substituting a network data transmission process among all real nodes in the TITO-NDCS for a network time delay compensation model is put forward, so that measurement, estimation or identification of the network time delay among the nodes can be avoided, requirements on clock signal synchronization are lowered, influences of time-varying time delay on stability of the TITO-NDCS are lowered and system control performance quality is improved.

Description

technical field [0001] The present invention relates to automatic control technology, the intersection field of network communication technology and computer technology, especially relates to the technical field of multiple-input multiple-output network decoupling control system with limited bandwidth resources. Background technique [0002] In the distributed control system, the closed-loop feedback control system composed of sensors and controllers, controllers and actuators through a real-time communication network is called networked control systems (NCS). The typical structure of NCS is as follows: figure 1 shown. [0003] Compared with the traditional point-to-point structure control system, NCS can realize resource sharing, remote operation and control, has extremely high diagnostic ability, is easy to install and maintain, and has many advantages such as increasing the flexibility and reliability of the system. Remote teleoperation, telemedicine, distance teaching, ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杜锋
Owner HAINAN UNIVERSITY
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