EXPERIMENTAL-VERIFICATION OF A DELAY COMPENSATION ALGORITHM FOR INTEGRATED COMMUNICATION AND CONTROL-SYSTEMS

Advances in the technology of complex control systems demand high-spee d and reliable communications between the individual components and su bsystems for decision making and control. This can be accomplished by integrated communication and control systems which use asynchronous ti me-division-multiplexed networks. Unfortunately, these networks introd uce randomly varying distributed delays as a result of time-division m ultiplexing. A predictor-controller algorithm has been developed with the objective of mitigating the detrimental effects of the network-ind uced delays that are distributed between the sensor(s), controller and actuator(s) within a control loop. This paper presents the implementa tion and verification of the above delay compensation algorithm. Perfo rmance of the delay compensator has been experimentally verified on an IEEE 802.4 network testbed for velocity control of a d.c. servomotor.