Two-DOF (degree of freedom) IMC (internal model control) and SPC (smith predictor control) method for compensating uncertain delay in TITO-NCS (two-input two-output networked control system)

Abstract

The invention belongs to the technical field of bandwidth resource limited MIMO-NCSs (multiple-input multiple-output networked control systems) and relates to a two-DOF (degree of freedom) IMC (internal model control) and SPC (smith predictor control) method for compensating uncertain delay in TITO-NCS (two-input two-output networked control system). In order to solve the problems that two-input two-output signals in a TITO-NCS (two-input two-output networked control system) have mutual effect, network delay due to the transmission of network data between nodes affects the stability of one closed-loop control circuit of the system and may also affect the stability of another closed-loop control circuit while even stability loss is caused to the TITO-NCS, it is presented that an inter-node network delay compensation model is replaced by network data transmission process between all true nodes in the TITO-NCS, with dynamic feedforward as well as two-DOF IMC and SPC applied to the two circuits; by using the method of the invention, it is possible to omit the measurement, estimation or identification of inter-node network delay, omit the requirement on node clock signal synchronization, reduce the effect of uncertain network delay upon TITO-NCS stability, and improve the control performance quality of the system.

Description

technical field [0001] A two-degree-of-freedom IMC (Internal model control, IMC) and SPC (Smith predictor control, SPC) TITO (Two-input and two-output, TITO) networked control systems (Networked control systems, NCS) uncertain delay compensation method, It involves the intersection of automatic control, network communication and computer technology, especially the technical field of multi-input multi-output network 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, no...

AI Technical Summary

Problems solved by technology

[0011] (3) There are many uncertain factors in the accused

[0012] In MIMO-NCS, there are many parameters involved, and there are many connections between the control loops, and the influence of the parameter change of the controlled object on the overall control performance will become more complicated.

[0013] (4) The control components are more likely to fail

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-NCS

[0020] (4) Since in MIMO-NCS, the input and output signals influence each other and may produce coupling effects, the internal structure of the system is more complex than that of SISO-NCS, and there are many uncertain factors. The control performance quality of each control loop Pros and cons and stability issues will have an impact and restriction on the performance quality and stability of the entire system, and its implementation of delay compensation and control is much more difficult than SISO-NCS

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