摘要
针对具有丢包的网络控制系统中存在诱导时延问题,提出一种时滞补偿方法。首先将丢包建立为一个随机伯努利序列,利用设计的预估控制器得到各个时延值对应的控制量;其次通过时延补偿器选择相应的控制器作用于被控对象,进而建立一个随机系统模型;再者利用随机系统Lyapunov稳定性理论对建立的网络控制系统模型进行稳定性分析,求得补偿控制器。最后进行数值仿真,仿真结果说明采用这种方法可以有效的克服长时延、数据丢包对系统造成的负面影响,改善系统的动态性能。
For the network control system with data-dropout and induced delay,this paper introduced a method of compensation. First the problem of packet loss can be modeled as a Bernoulli random sequence,a control prediction generator is then designed to calculate the controller for each different delay,and the delay compensation controller can choose the corresponding controller for the controlled object. And then we can get a random control system model. We will study the stability of the obtained system and the expression of the network delay compensation controllers according to Lyapunov stability theory. At last a simulation is designed to show that this method can effectively overcome the effect of long time delay and packet loss on the system,improve the dynamic performance of the system.
出处
《哈尔滨理工大学学报》
CAS
北大核心
2017年第3期36-41,共6页
Journal of Harbin University of Science and Technology
基金
黑龙江省留学归国人员科学基金(LC2016027)
关键词
诱导时延
丢包
时延补偿器
随机系统
induced delay
data-dropout
delay compensation
random systems
