基于网络模型的综合多速率采样预测控制器

A Comprehensive Multi-rate Predictive Controller Based on Networked Model

针对网络控制系统(NCS)中存在的网络延迟和数据丢包问题以及网络控制系统的多采样率特性,将预测控制器和网络延迟补偿器相结合,提出一种基于网络模型的综合多速率采样预测控制器。预测控制器利用多步预测、滚动优化、反馈校正控制策略补偿了传感器—控制器传输延迟,网络延迟补偿器补偿了控制器-执行器传输时延和一些未知网络延迟。仿真试验表明,该算法对网络延迟和数据丢包具有一定的补偿作用,提高了网络资源利用率并且保证闭环网络控制系统渐近稳定。

A class of multi-rate predictive controller based on networked model is proposed to the problems of network delay and package dropout of networked control systems （ NCS ） , based on the combination of predictive controller and network delay compensator. The network delay of sensor-controller is compensated by predictive controller and the network delay of controller-acter is compensated by network delay compensator. Computer simulations show that the algorithm compensates the network delay, optimizes the performance requirement of NCS, and improves the network efficiency. The proposed method can guarantee the stability of the closed-loop NCS.