Long delay compensation method for two-input and two-output networked decoupling control systems

Abstract

The invention provides a long delay compensation method for two-input and two-output networked decoupling control systems, 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 SPC and IMC 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 clock signals can be reduced, the influence of long delay on the stability of the TITO-NDCS can be reduced and the system control quality can be improved.

Description

technical field [0001] The invention relates to the intersection of automatic control technology, network communication technology and computer technology, in particular to the technical field of multiple-input multiple-output network decoupling control systems with limited bandwidth resources. Background technique [0002] A closed-loop feedback control system formed by a real-time communication network is called a networked control system (NCS). NCS is a distributed control system that integrates communication network and control system. It also has the functions of signal processing, optimal decision-making and control operations. The typical structure of NCS is as follows: figure 1 shown. [0003] Compared with the traditional point-to-point direct control system, the biggest feature of NCS is that the sensors, controllers and actuators in the system are not directly connected point-to-point, but exchange data and control information through the public network, breaking...

AI Technical Summary

Problems solved by technology

[0011] (2) The internal structure is much more complex than SISO-NCS

[0012] (3) There may be uncertain factors in the accused

[0013] 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.

[0014] (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

[0020] (3) It is unrealistic to fully synchronize the clock signals of all nodes in different distribution locations in MIMO-NDCS

[0021] (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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