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Compensation method for long network time delay of TITO-NDCS

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 control system analysis and design difficulties, complex influence, and many uncertain factors

Inactive Publication Date: 2017-06-13
HAINAN UNIVERSITY
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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 analysi

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[0151] The following will refer to the attached Figure 5 Exemplary embodiments of the present invention will be described in detail to make the above-mentioned features and advantages of the present invention more apparent to those skilled in the art.

[0152] The specific implementation steps are as follows:

[0153] For closed loop control loop 1:

[0154] 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 A1 node of the actuator 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);

[0155] Step 2: The sensor S1 node will feed back the signal y 1b (s), ...

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Abstract

A compensation method for long network time delay of a TITO-NDCS belongs to the technical field of an 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 even 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 two-freedom IMC and SPC are applied to two loops, thereby avoiding measurement, estimation or identification for network time delay between the nodes, reducing a clock signal synchronization requirement, reducing effect of the long network time delay to stability of the TITO-NDCS, and improving system control quality.

Description

technical field [0001] A TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling control systems, NDCS) compensation method for long network delays, involving the intersection of automatic control technology, network communication technology and computer technology, especially bandwidth resources The technical field of limited MIMO network decoupling control systems. Background technique [0002] In the network environment, sensors, controllers and actuators form a closed loop through the network medium to form a networked control system (Networked control systems, NCS). The typical structure of NCS is as follows: figure 1 shown. [0003] NCS injects new vitality into classic and modern control theory, and also poses new challenges to its system design: on the one hand, the introduction of the network will bring advantages such as saving investment and easy maintenance; on the other hand, it will also bring Latency, data packet loss and other complex phenomena, es...

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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