NPCCS unknown network time delay compensation method of SPC and IMC
A network delay and compensation method technology, applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve problems such as system performance degradation, difficulties, and unrealistic clock signal synchronization
Inactive Publication Date: 2018-11-13
HAINAN UNIVERSITY
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[0010] (1) Since network delay is related to factors such as network topology, communication protocol, network load, network bandwidth, and data packet size, for network delays greater than several or even dozens of sampling periods, it is necessary to establish each closed-loop control loop of NPCCS It is currently difficult to accurately predict, estimate or identify mathematical models of network delay in
[0011] (2) In NPCCS, the network delay in the process of transmitting network data from the previous network node to the next network node, no matter what kind of prediction or estimation method is used in the previous node, it is impossible to know the subsequent network delay in advance The exact value of the resulting network delay
Time delay leads to system performance degradation and even system instability, and also brings difficulties to the analysis and design of the control system
[0012] (3) It is unrealistic to completely synchronize the clock signals of all network nodes in different distribution locations in NPCCS
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[0136] The following will refer to the attached Figure 9 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.
[0137] The specific implementation steps are as follows:
[0138] The first step: the main sensor S1 node works in the time-driven mode, and its trigger signal is period h 1 sampling signal; when the main sensor S1 node is triggered, the main controlled object P 1 (s) output signal y 1 (s) Sampling to get the feedback signal y 1 (s); the feedback signal y 1 (s), the feedback network path through the main closed-loop control loop The unit transmits to the main controller C1 node, and the feedback signal y 1 (s) will experience network transmission delay τ 2 Only then can the main controller C1 node be reached;
[0139] Step 2: The main controller C1 node works in the event-driven mode, and is fed back the signal y 1 (s) A...
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The NPCCS unknown network time delay compensation method of SPC and IMC belongs to the single-input dual-output networked control system technology field with limited bandwidth resources. In the NPCCS, because of network time delay generated by network data when being transmitted among nodes, the control performance quality of the NPCCS is reduced and a system loses stability. Aiming at the aboveproblems, all real network data transmission processes in the NPCCS are used to replace a network time delay compensation model. SPC based on a controlled object end and IMC based on a controller endare implemented on primary and secondary closed-loop control loops. The measurement, estimation or identification of the network time delay among the nodes are avoided from a system structure, the influence of unknown network time delay on NPCCS stability is reduced, the control performance quality of the system is improved, and the compensation and control of the unknown network time delay are realized.
Description
technical field [0001] A NPCCS (Networked parallel cascade control systems, NPCCS) unknown network delay compensation method of SPC (Smith predictor control, SPC) and IMC (Internal model control, IMC), involving the intersection of process control, network communication and computer control technologies field, especially the technical field of single-input and double-output networked control systems with limited bandwidth resources. Background technique [0002] Cascade control systems (CCS) is an advanced control system widely used in process control engineering. CCS can quickly suppress the disturbance entering the auxiliary loop, and improve the dynamic performance and anti-interference ability of the closed-loop control system. CCS usually includes two closed-loop control loops, namely a primary closed-loop control loop (Primary closed control loop, PCCL) and a secondary closed-loop control loop (Secondary closed control loop, SCCL). [0003] CCS has two types of contr...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杜锋
Owner HAINAN UNIVERSITY