A Design Method of Communication Disturbance Observer for Time-Delay Compensation, Taking the Dynamic Property of Network Disturbance Into Account
A Design Method of Communication Disturbance Observer for Time-Delay Compensation, Taking the Dynamic Property of Network Disturbance Into Account
复制标题
DOI：
10.1109/tie.2008.918635
复制
发表时间：
2008-05
影响因子：
7.7
通讯作者：
K. Natori;K. Ohnishi
中科院分区：
文献类型：
--
作者：
K. Natori;K. Ohnishi
本文提出了一种时滞控制系统的设计方法。由于计算机网络的广泛普及，基于网络的控制系统（NBCS）和其他网络应用需要时滞控制系统的控制策略。尽管基于模型或预测控制方法（如史密斯预测器）通常用于时滞补偿，但当时滞值不确定时，性能往往会恶化。在这种情况下，提出了一种基于网络干扰（ND）和通信干扰观测器（CDOB）概念的新颖的时延补偿方法。该方法对于时滞补偿具有与Smith预测器相同的效果。此外，由于该方法不需要时滞模型，因此可以灵活地应用于多种时滞控制系统。本文提出了一种考虑ND动态特性的恒定时延情况下CDOB的设计方法。 ND的动态特性导致了CDOB的两个设计条件。这些设计条件是考虑 CDOB 和 ND 动力学极点之间的关系而得出的。然后，在两种不同的延迟情况下给出了基于导出的设计条件的CDOB的实际设计过程。通过稳定性分析阐明了所设计的控制系统的稳定性。实验结果验证了所提出设计方法的有效性。最后，我们给出了随机延迟情况下的实验结果，作为时延补偿方法在实际 NBCS 中的实际应用的例子。
This paper presents a design method of time-delayed control systems. Because of the tremendous spread of computer networks, control strategies for time-delayed control systems are needed for network-based control systems (NBCSs) and other network applications. Although model-based or predictive control methods (like a Smith predictor) are often used for time-delay compensation, the performance often deteriorates when the value of time delay is uncertain. In these circumstances, a novel time-delay-compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed. The method has the same effectiveness for time-delay compensation as that of the Smith predictor. Furthermore, because the method works without delay-time model, it can be flexibly applied to many kinds of time-delayed control systems. In this paper, a design method of CDOB, considering the dynamic property of ND, is proposed in the situation of constant time delay. The dynamic property of ND leads to two design conditions of CDOB. Those design conditions are derived considering relationships between poles of CDOB and ND dynamics. Then, the actual design procedure of CDOB based on derived design conditions is presented in two different delay cases. The stability of the designed control systems is clarified by stability analysis. The validity of the proposed design method is verified by experimental results. Finally, we present experimental results in the case of random delay as an example of practical application of the time-delay compensation method to actual NBCSs.