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针对网络控制系统中的随机延迟会恶化控制品质,甚至使系统变得不稳定这一问题,把标准预测函数控制算法推广到带随机延迟的网络控制系统中,提出了时戳预测函数控制算法.该算法通过时戳方法来估计网络在控制系统中引入的总延迟,根据系统离散的延迟状态空间模型来预测未来输出,并由预测函数控制的思想得到了适用于网络控制系统的控制规律.在基于TrueTime工具箱搭建的网络控制系统仿真平台上,对比了时戳预测函数算法和传统预测函数算法,系统响应曲线显示前者具有更好的控制品质.
Aiming at the problem that the random delay in the network control system will deteriorate the quality of control and even make the system unstable, the standard predictive function control algorithm is extended to the network control system with random delay, and the control algorithm of the timestamp predictive function is proposed. The algorithm estimates the total delay introduced by the network in the control system by using the timestamp method and predicts the future output according to the discrete delay state space model of the system. The control law applicable to the networked control system is obtained from the idea of predictive function. Based on TrueTime toolbox, this paper compares the timestamp prediction function algorithm with the traditional prediction function algorithm, and the system response curve shows that the former has better control quality.