Two-freedom degree IMC TITO-NDCS network time delay compensation method

Abstract

The invention discloses a two-freedom degree IMC TITO-NDCS network time delay compensation method, and belongs to the MIMO-NDCS technology field having limited bandwidth resources. By aiming at influences and coupling between two-input and two-output signals, decoupling processing of TITO-NDCS is required, and because of the network time delay generated by transmission of network data among nodes, stabilities of various closed-loop control circuits are affected, and stability of a whole system is affected, and then the problem of the loss of the stability of the TITO-NDCS can be even caused. The method of using the process of the network data transmission among all of the actual nodes of the TITO-NDCS to replace a network time delay compensation model is provided, and two-freedom degree IMC is carried out on the two circuits, and therefore the measurement, the estimation, or the identification of the network time delay among the nodes are eliminated, a requirement on synchronization of node clock signals is lowered, the influences of the network time delay on the stability of the TITO-NDCS are reduced, and system control performance quality is improved.

Description

Technical field [0001] A two-degree-of-freedom IMC (Internal Model Control, IMC) TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling control systems, NDCS) network delay compensation method, involving automatic control technology, network The cross field of communication technology and computer technology, especially related to the technical field of multiple-input multiple-output network control systems with limited bandwidth resources. Background technique [0002] In a distributed control system, a closed-loop feedback control system formed by a real-time communication network between sensors and controllers, controllers and actuators is called Networked Control Systems (NCS). The typical structure of NCS is as figure 1 Shown. [0003] Compared with the traditional point-to-point structure control system, NCS can realize resource sharing, remote operation and control, extremely high diagnostic capability, easy installation and maintenance, and many advantages such a...

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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 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-NDCS

[0020] (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. Implementing delay compensation and control for MIMO-NDCS is much more difficult than MIMO-NCS and SISO-NCS

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