Delay compensation method of two-input and two-output networked control systems

Abstract

The invention provides a delay compensation method of two-input and two-output networked control systems (TITO-NCS), and belongs to the technical field of bandwidth resource limited multiple-input and multiple-output networked control systems. Aiming at the problems of loss of stability of the TITO-NCS and influencing the stability of its own closed control loop and influencing the stability of another closed control loop due to network delay generated by transmission of network data between nodes in the TITO-NCS in which two-input and two-output signals are mutually influenced, the method that the network data transmission process between all the real nodes in the TITO-NCS replaces a network delay compensation model is put forward so that measurement, estimation or identification of the network delay between the nodes can be omitted, and the synchronization requirement of node clock signals can be omitted. With application of the method, the influence of the network delay on the stability of the TITO-NCS can be reduced and the control performance 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 multi-input multi-output network control system with limited bandwidth resources. Background technique [0002] Networked control systems (NCS) is a distributed control system, which uses the network as the carrier of signal transmission, and forms a closed-loop feedback control system through the real-time network. The typical structure of NCS is as follows: figure 1 shown. [0003] Compared with the traditional point-to-point structure control system, NCS has the advantages of resource sharing, easy installation and low maintenance cost, and has been widely used in industrial process control, aerospace, intelligent transportation and other fields in recent years. [0004] Due to limited resources such as network bandwidth, network transmission delay, data packe...

AI Technical Summary

Problems solved by technology

[0011] (3) There are many uncertain factors in the accused

[0012] In MIMO-NCS, there are many parameters involved, and there are many connections between the control loops, and the influence of the parameter change of the controlled object on the overall control performance will become more complicated.

[0013] (4) The control components are more likely to fail

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-NCS

[0020] (4) Since in MIMO-NCS, the input and output signals influence each other and may produce coupling effects, the internal structure of the system is more complex than that of SISO-NCS, and there are many uncertain factors. The control performance quality of each control loop Pros and cons and stability issues will have an impact and restriction on the performance quality and stability of the entire system, and its implementation of delay compensation and control is much more difficult than SISO-NCS

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