【摘要】 针对一类具有随机长时滞特性,且反馈状态不完全物理可测的网络控制系统,提出了一种时滞补偿策略.首先通过状态观测器估计系统的全部状态,然后基于对象模型计算系统在未来多个采样时刻的控制量,执行器节点根据当前网络延时选取相应的控制量,以实现对时滞控制量的补偿.分析了该补偿方法对控制系统稳定性的影响,得出了保证系统稳定的充分条件.通过倒立摆系统的数值仿真,证实该方法是正确和有效的.更多还原

【Abstract】 A kind of networked control system(NCS) was studied which was characterized by randomly varying long time-delays and whose feedback states was not measured fully and physically,and a method for compensating time-delays was put forward.All of states were estimated by a state observer and the multi-future control signals calculated according to the model of plant.The corresponding control signals based on the current network delay were adopted by the actuator to compensate the delayed control signals.The stability of the impaction compensation method was analyzed.A sufficient condition of the stability of NCS with stochastic time-delay compensation was derived.A simulation of an inverted-pendulum was given to illustrate the effectiveness and correctness of the proposed compensation method.更多还原