Stability Analysis and Practical Design Procedure of Time Delayed Control Systems With Communication Disturbance Observer
Stability Analysis and Practical Design Procedure of Time Delayed Control Systems With Communication Disturbance Observer
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DOI：
10.1109/tii.2008.2002705
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发表时间：
2008-09
影响因子：
12.3
通讯作者：
K. Natori;R. Oboe;K. Ohnishi
中科院分区：
文献类型：
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作者：
K. Natori;R. Oboe;K. Ohnishi
在基于网络的控制系统（NBCSs）的研究领域中，时延问题是最重要的问题之一。时滞控制系统的有效镇定方法使NBCS能够灵活地应用于多种场合。提出了一种基于网络扰动（ND）和通信扰动观测器（CDOB）的时延补偿方法。该补偿方法具有与Smith预估器相同的效果。此外，由于该方法简单，不需要时延模型或时延测量，因此易于实现到各种应用中。然而，其设计方法至今尚未引起人们的关注。因此，本文提出了稳定性分析和研究的CDOB时滞控制系统的实际设计过程。首先介绍了ND的概念，阐述了时延补偿方法的有效性。然后分析了控制系统参数对稳定性的影响。分析了各参数对稳定性的影响规律。然后研究了时滞控制系统的一种实用设计方法。实验结果验证了设计方法的有效性。在实验中，我们也验证了系统在时变延迟情况下的性能。最后，将该方法与Smith预估器进行了比较研究。
In a research field of network-based control systems (NBCSs), the time delay problem is one of the most significant issues. Efficient stabilization methods of time delayed control systems enable NBCSs to be flexibly applied to many kinds of situations. A novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed. The compensation method has the same effectiveness as that of the Smith predictor. In addition, since the method is simple and does not need time delay model or time delay measurement, it can be easily implemented to various applications. However, the design method has not been concerned so far. This paper therefore presents stability analysis and studies a practical design procedure of the time delayed control systems with CDOB. At first, the concept of ND is introduced and the validity of the time delay compensation method is described. Then an analysis about the effects of parameters in control systems on stability is conducted. Characteristics of the effects of parameters on stability come out. Then we study a practical design procedure of the time delayed control systems. The validity of the design procedure is validated by experimental results. In the experiment, we also verify the performance of the system in the case of time-varying delay. Finally, comparative study of the method to the Smith predictor is presented.