Unknown time delay hybrid control method of two-input two-output networked decoupling control system

Abstract

The invention discloses an unknown time delay hybrid control method of a two-input two-output networked decoupling control system and belongs to the technical field of a MIMO (multiple-input multiple-output)-NDCS (networked decoupling control system) with limited bandwidth resources. Aiming at a TITO (two-input two-output)-NDCS with two-input two-output signals mutually influenced and coupled and needing to be processed through decoupling, network time delay caused by transmission of network data among nodes has influence on both stability of each closed-loop control loop and stability of the whole system and even leads to instability of the TITO-NDCS, a network of using the network data transmission process among all real nodes in the TITO-NDCS to replace a network time delay compensation model thereamong is put forward, and SPC (Smith predictor control) and IMC (internal model control) are respectively implemented on two loops, so that measurement, estimation or recognition of network time delay among the nodes can be omitted, clock signal synchronization requirements can be lowered, influence of unknown network time delay on stability of the TITO-NDCS can be lowered, and control quality of the system can be 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] The closed-loop feedback control system composed of real-time communication network is called networked control system (Networked control systems, NCS). The typical structure of NCS is as follows: figure 1 shown. [0003] NCS breaks through the limitations of the traditional control system in terms of physical location in space, and uses network connections for system units to integrate intelligent field devices and network business management, and realize network structure, intelligent nodes, on-site control, and decentralized functions. , System openness and product integration. Compared with the traditional point-to-point control mo...

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Problems solved by technology

[0010] (2) The internal structure is much more complex than SISO-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. It is much more difficult to implement delay compensation and control than MIMO-NCS and SISO-NCS

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