网络控制系统反馈和前向通道的随机时延补偿  

The compensation method for the random time-delay of the feedback channel and the forward channel in the networked control system

作　　者：付伟[1] 杨先一[1] 刘国权[1] 

机构地区：[1]重庆大学自动化学院,重庆沙坪坝400044

出　　处：《重庆大学学报（自然科学版）》2012年第10期130-135,159,共7页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(60974044)

摘　　要：针对网络化控制系统的网络诱导时延,提出了一种改进的补偿时延的预测控制方法。对于反馈通道,根据测量的反馈时延设置预测步长,采用柔性控制增量算法设计预测控制器对时延进行补偿。对于前向通道,前向时延相对控制器来说是未知的,为此在系统输出端和前向通道间添加一个反馈补偿环节,设计一个控制补偿器估算出历史时刻实际作用于被控对象的控制量与控制器在此时刻输出的控制量之间的误差,用该误差来补偿前向时延的影响。当被控对象参数缓慢变化或未知时,给出了渐消记忆递推最小二乘辨识算法的网络化反馈修正算法。最后对闭环系统的稳定性做了分析并通过仿真验证了该策略的有效性,保证了网络化控制系统的良好性能。An improved predictive control method is presented to compensate the random time delay in the networked control system. The feedback time delay is compensated by predictive controller based on softened increment input strategy. The forward time delay is unknown for controller, so an extra feedback loop is added to compensate the delay by estimating the error between the actual control signal effected on plant and the output of controller in historical moment. For the controlled system with unknown or slowly varying parameters, the networked feedback correction algorithm is discussed based on a modified recursive least-squares identi cation algorithm. The system stability is analyzed and the simulation results show that the time delay in the networked control system can be accurately compensated. The excellent network performance is ensured with this strategy.

关 键 词：网络化控制系统 随机时延 广义预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]