SPC (Smith predictor control) and two-degree-of-freedom IMC (internet model control) method for non-determined time delay of two-input and two-output NDCS (networked decoupling control system)

A non-deterministic, degree-of-freedom technology, applied in adaptive control, instruments, control/regulation systems, etc., can solve the problems of complex internal structure, many uncertain factors, and difficulty in implementing delay compensation and control.

CN106773735AInactive Publication Date: 2017-05-31HAINAN UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-05-31
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses an SPC (Smith predictor control) and two-degree-of-freedom IMC (internet model control) method for non-determined time delay of a two-input and two-output NDCS (networked decoupling control system) and belongs to the technical field of MIMO (multiple-input and multiple-output)-NDCSs 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 SPC and two-degree-of-freedom 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 non-determined network time delay on stability of the TITO-NDCS are lowered and system control quality is improved.
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Description

technical field

[0001] A two-input and two-output NDCS (Networked decoupling control systems, NDCS) nondeterministic time-delay SPC (Smith Predictor Control, SPC) and two degrees of freedom IMC (Internal Model Control, IMC) method, involving automatic control technology, network communication technology and It is an intersecting field of computer technology, especially related to the technical field of decoupling control system of multiple-input multiple-output network 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] 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 ...

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Embodiment Construction

[0146] 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.

[0147] The specific implementation steps are as follows:

[0148] For closed loop control loop 1:

[0149] Step 1: The sensor S1 node works in the time-driven mode, and the triggered signal is period h 1 After the sampling signal of 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 A1 node of the actuator 11mb (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);

[0150] Step 2: The sensor S1 node will feed back the signal y 1b (s), through the feedback ne...