多回路网络控制系统中调度与控制的协同设计方法

The Approach of Co-Design of Scheduling and Control in Multi-Loop Networked Control System

结合具有多控制回路的网络控制系统框架结构,设计了一种基于网络控制性能运行状态的调度器的算法,根据系统对控制性能的要求,通过实时调整各控制回路的采样周期,实现多控制回路NCS的系统性能优化,并通过一组仿真给予验证。仿真结果显示,所设计的调度器能够对多控制回路的网络控制系统的有限资源进行有效的调度,提高资源利用率。

Combined with multi-control loop network control system framework,An algorithm for scheduler based on network running performance is designed.The control performance of networked control systems with multri control loops can be optimized by adjusting sampling periods of loops.A simulation example of networked control systems based on CAN bus illustrates the effectiveness of the algorithm.The simulation results show that the scheduler designed in this paper can make an effective scheduling for the limited resources of multi-control loop network control system and improve the resource utilization.