Two-input and two-output networked control system time delay compensation and dynamic feedforward plus IMC method

Abstract

The invention discloses a two-input and two-output networked control system time delay compensation and dynamic feedforward plus IMC (internal model control) method, which belongs to the MIMO-NCS technology field having limited bandwidth resources. By aiming at a TITO-NCS, mutual interferences between two-input and two-output signals occur, and because of the network time delay generated by transmission of network data among nodes, stability of own closed loop control circuit is affected, and stability of another closed loop control circuit is also affected, and the loss of the stability of the TITO-NCS can be even caused. The process of the network data transmission among all of the actual nodes of the TITO-NCS is used to replace a network time delay compensation model, and dynamic feedforward plus two-freedom degree IMC and one-freedom degree are carried out on the two closed loop control 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 eliminated, the influences of the network time delay on the stability of the TITO-NCS are reduced, and system control performance quality is improved.

Description

technical field [0001] A two-input two-output network control system time delay compensation and dynamic feed-forward plus IMC (Internal Model Control, IMC) method, related to automatic control technology, network communication technology and computer technology cross field, especially related to the limited bandwidth resources of multiple inputs and multiple Output network control system technical field. 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 re...

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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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