Variable time delay compensation method of two-input two-output network decoupling control system
A technology of decoupling control and network delay, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as complex influence, complex internal structure, and complexity
Inactive Publication Date: 2017-06-13
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 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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[0138] The following will refer to the attached Figure 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.
[0139] The specific implementation steps are as follows:
[0140] For closed loop control loop 1:
[0141] 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);
[0142] Step 2: The sensor S1 node will feed back the signal y 1b (s), ...
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A variable time delay compensation method of a two-input two-output network decoupling control system belongs to the technical field of MIMO-NDCS with limited bandwidth resource. In the TITO-NDCS in which two input signals and two output signals affect one another and are coupled and decoupling processing is required, because of network delay generated in a network data transmission process between nodes, not only is stability of a respective closed control loop reduced, but also stability of the whole system is reduced, and further un-stability of the TITO-NDCS is caused. According to the method of the invention, a network data transmission process between all real nodes in the TITO-NDCS replaces a network time delay compensation model between the nodes, and furthermore IMC and SPC are applied to two loops, thereby avoiding measurement, estimation or identification for network time delay between the nodes, avoiding a clock signal synchronization requirement, reducing effect of the variable network time delay to stability of the TITO-NDCS, and improving system control quality.
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 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. In recent years, it has been widely used in complex industrial process control, power...
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CPCG05B13/042
Inventor 杜锋
Owner HAINAN UNIVERSITY