IMC (internet model control) method for variable network time delay of two-input and two-output networked decoupling control system

Abstract

The invention discloses an IMC (internet model control) method for variable network time delay of a two-input and two-output networked decoupling control system and belongs to the technical field of MIMO-NDCSs (multiple-input and multiple-output networked decoupling control systems) with limited bandwidth resources. As for the TITO (two-input and two-output)-NDCS with two-input and two-output signals mutually affected and coupled requiring decoupling, in consideration that network time delay generated by transmission 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 to subject the two loops to IMC respectively, 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 the variable network time delay on stability of the TITO-NDCS are lowered and system control quality is improved.

Description

technical field [0001] A variable network delay IMC (Internal Model Control, IMC) method for a two-input and two-output network decoupling control system, involving automatic control technology, network communication technology and computer technology, especially involving multiple-input multiple-output with limited bandwidth resources The technical field of network decoupling control system. 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] In NCS, due to the introduction of the network, the complexity and cost of the control system are reduced, and many remote nodes (or devices) are organically combined through the network to cooperate to complete the work that a single node (or device) cannot complete. In addition, the information from different nodes can be integrated th...

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Problems solved by technology

[0009] (2) The internal structure is much more complex than SISO-NCS

[0010] (3) There may be uncertain factors in the accused

[0011] 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.

[0012] (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

[0018] (3) It is unrealistic to fully synchronize the clock signals of all nodes in different distribution locations in MIMO-NDCS

[0019] (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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