基于GPC的NCS非整数倍采样周期时延补偿方法

GPC-based delay compensation approach for NCS with delays of non-integral multiple of sampling period

研究具有非整数倍采样周期时延的网络控制系统(NCS)的时延补偿问题.针对NCS中的非整数倍采样周期时延,基于广义预测控制算法并结合线性插值方法,提出一种新的网络时延补偿方法.该方法能得到非整数倍采样周期的控制预测值,同时通过减小执行器读取缓冲区的周期,可有效减少由于执行器时间驱动而引起的等待时延,解决了非整数倍采样周期时延的补偿问题.最后通过仿真验证了该方法的有效性.

The delay compensation problem is investigated for networked control sysetm （NCS） with delay of nonintegral multiple of sampling period. A new delay compensation approach is proposed based on the state-space-based generalized predictive control （GPC） strategy and the linear interpolation method. The control sequences of nonintegral multiples of sampling period can be derived by using the newly proposed approach. Moreover, the waiting delay is efficiently reduced by decreasing the actuator＇s reading period. Finally, a simulation example shows the effectiveness of the proposed method.