Network delay compensation method of two-input and two-output networked decoupling control systems

Abstract

The invention provides a network delay compensation method of two-input and two-output networked decoupling control systems (TITO-NDCS), and belongs to the technical field of bandwidth resource limited MIMO-NDCS. Aiming at the problems of loss of stability of the TITO-NDCS and influencing the stability of respective closed control loops and influencing the stability of the whole system due to network delay generated by the transmission process of network data between nodes in the TITO-NDCS in which two-input and two-output signals are mutually influenced and coupled and require to be decoupled, the method that the network data transmission process between all the real nodes in the TITO-NDCS 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, the synchronization requirement of clock signals can be reduced, the influence of the network delay on the stability of the TITO-NDCS 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 multiple-input multiple-output network decoupling control system with limited bandwidth resources. Background technique [0002] With the increasing complexity of the control object and the rapid development of computer, communication and sensing technology, the structure of modern control system tends to be distributed gradually. In the distributed control system, the closed-loop feedback control system composed of sensors and controllers, controllers and actuators through a real-time communication network is called networked control systems (NCS). The typical structure of NCS is as follows: figure 1 shown. [0003] Integrating the network into the control system to replace the point-to-point connection in the traditional computer control system has many advanta...

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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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