TITO-NDCS variable network delay compensation method

A TITO-NDCS and network delay technology, applied in the field of multi-input multi-output network decoupling control system, can solve the problems of many uncertain factors, complex influence, unrealistic clock signal synchronization, etc., to improve dynamic performance quality, The effect of reducing the impact

Inactive Publication Date: 2017-06-06
HAINAN UNIVERSITY
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Problems solved by technology

[0010] (2) The internal structure is much more complex than SISO-NCS and MIMO-NCS
[0011] (3) There may be uncertain factors in the accused
[0012] 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.
[0013] (4) Failure of control components
Time delay leads to system performance degradation and even system instability, and also brings difficulties to the analys

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[0149] The following will refer to the attached Image 6 Exemplary embodiments of the present invention are described in detail to make the above-mentioned features and advantages of the present invention more apparent to those skilled in the art.

[0150] The specific implementation steps are as follows:

[0151] For closed loop control loop 1:

[0152] Step 1: The sensor S1 node works in the time-driven mode, when the sensor S1 node is cycled for h 1 After the sampling signal of 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), and the output signal y of the decoupled actuator DA1 node 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);

[0153] Step 2: The sensor S1 node will feed back the signal y 1b (s), t...

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Abstract

The invention provides a TITO-NDCS variable network delay compensation method, and belongs to the technical field of bandwidth resource limited MIMO-NDCS. Aiming at the problems of loss of stability of TITO-NDCS and influencing the stability of each closed control loop and influencing the stability of the whole system due to network delay generated by transmission 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, and two-degree-of-freedom IMC and SPC are performed on the two loops respectively so that measurement, estimation or identification of the network delay between the nodes can be omitted, the synchronization requirement of node clock signals can be omitted, the influence of the variable network delay on the stability of the TITO-NDCS can be reduced and the system control performance quality can be improved.

Description

technical field [0001] A TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling control systems, NDCS) compensation method for variable network delay, involving automatic control technology, network communication technology and computer technology, especially related to bandwidth The technical field of resource-limited multiple-input multiple-output network decoupling control systems. Background technique [0002] With the development of network communication, computer and control technology, and the increasingly large-scale, wide-area, complex and networked development of production process control, more and more network technologies are applied to control systems. Networked control systems (NCS) refer to network-based real-time closed-loop feedback control systems. The typical structure of NCS is as follows: figure 1 shown. [0003] NCS can realize complex large systems and remote control, node resource sharing, and increase system flexibility and reliability. ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杜锋
Owner HAINAN UNIVERSITY
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