Generalized Predictive Control Of Networked Control Systems With Delay And Its Application

In recent years,with the continuous development of technologies such as control,communication technology and signal processing,network control systems have become more and more widely used in the field of industrial control.The data transmission of each node of the network control system is carried out through the network,which will inevitably cause the problem of random delay of the network,which seriously affects the control performance of the control system.At the same time,research on motor synchronous control in the network environment has also become a hot spot.Aiming at the delay in the network control system,this paper uses the wavelet neural network algorithm to predict it and combines the fast generalized predictive control to compensate the delay in the network.The PI-type implicit generalized prediction with multiple inputs and multiple outputs is successfully designed.On the basis of this,the original motor synchronous control structure is improved,and an improved deviation coupling control structure is designed.Combined with the multivariable PI type implicit generalized prediction algorithm,the networked synchronous control of multiple motors is realized.The main contents of this paper mainly include:(1)Aiming at the problem of random communication delay in networked control systems,this paper proposes a wavelet neural network algorithm to predict the network delay,which solves the problems of difficult parameter adjustment and generalization.On this basis,the fast generalized prediction algorithm is used to actively compensate the network delay,which solves the limitation that the traditional algorithm can only compensate for the fixed delay.Finally,the correctness of the algorithm is verified by simulation experiments.(2)The traditional generalized predictive control can only solve the single-input single-output system,and the solution to the discriminating equation takes too long to solve the problem of the multi-input and multi-output system.In this paper,a multivariable PI implicit GPC predictive control algorithm is designed,which is characterized by decoupling multivariable systems and then controlling the decoupled system.Finally,the MATLAB simulation experiment shows that the algorithm is correct and feasible.(3)For the motor synchronous control system in the network environment,the current motor control mechanism cannot be well controlled.In this paper,an improved motor deviation coupling structure is proposed,which combines multivariable PI type implicit generalized predictive control algorithm to realize networked multi-motor synchronous control.Finally,the MATLAB simulation can prove the correctness of the algorithm.