IMC (internet model control) method for variable network time delay of two-input and two-output networked decoupling control system
A technology of decoupling control and network delay, applied in general control system, control/adjustment system, adaptive control, etc., can solve complex internal structure, difficulty in implementing delay compensation and control, difficulty in analysis and design of control system, etc. question
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[0147] The following will refer to the attached Image 6 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.
[0148] The specific implementation steps are as follows:
[0149] For closed loop control loop 1:
[0150] Step 1: The sensor S1 node works in a time-driven mode, and its trigger signal is period h 1 The sampling 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) Sampling and calculating the system output signal y of the closed-loop control loop 1 1 (s), and y 1 (s)=y 11 (s)+y 12 (s);
[0151] Step 2: The sensor S1 node will feed back the signal y 1 (s), through the feedback network path of the closed-loop control loop 1, it is transmitted to the CD1 node of the control decoupler, and t...
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