CN101986228B - Compensation method of random time-delay of external forward and internal feedback path of network cascade control system - Google Patents

Compensation method of random time-delay of external forward and internal feedback path of network cascade control system Download PDF

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CN101986228B
CN101986228B CN2010105528735A CN201010552873A CN101986228B CN 101986228 B CN101986228 B CN 101986228B CN 2010105528735 A CN2010105528735 A CN 2010105528735A CN 201010552873 A CN201010552873 A CN 201010552873A CN 101986228 B CN101986228 B CN 101986228B
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杜锋
杜文才
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Hainan University
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Abstract

The invention provides a compensation method of random time-delay of the external forward and internal feedback paths of a network cascade control system, belonging to the technical field of the network control system. The method uses the actual external forward network path nodes of the network cascade control system and adopts the network data transmission process between the internal feedback network path nodes to replace the compensation model of network time-delay between the nodes, avoid the measurement, observation, estimation or identification of the network data transmission random time-delay between the nodes and remove the synchronization requirement on the node clock signal. By adopting the method, the influence of the random network time-delay on the system stability can be reduced and the performance quality of system control can be imprved. The method of the invention is suitable for the dynamic compensation and control of random network time-delay when the mathematicalmodels of the main controlled object and auxiliary controlled object are known and the network only exists in the external forward and internal feedback paths of the cascade control system.

Description

The outer forward direction of network cascade control system and the compensation method of internal feedback path random delay
Technical field
The present invention relates to the compensation method of the outer forward direction of network cascade control system and internal feedback path randomness network delay, belong to the network control system technical field.
Background technology
In recent years, the develop rapidly of computer networking technology, caused the deep reform of control technology and the generation of corresponding control new theory thereof. the feedback control system that forms closed loop by network be called as network control system (Network control systems, NCS).
The research of network control system grew up from the middle and later periods nineties 20th century, it has become one of focus of current automatic control and network communications technology development. network control system has that system's line is few, expansion is convenient, diagnosis safeguard simple, flexibility is high, can realize advantages such as resource-sharing and Long-distance Control, be widely used in the industrial process of many complexity such as automated manufacturing factory, power plant, robot, space flight and aviation and electrified transportation.
Network control system is mainly studied and how to be realized control system is carried out the real-time reliable network control, and the network own characteristic has caused the complexity of network control system. multiple users share communication line and changes in flow rate are irregular on the network, transmitting data stream is not unique through numerous computers and communication equipment and path, data cell in transmission because network congestion, reasons such as connection interruption can cause the sequential entanglement, data-bag lost. therefore, transfer of data in the network control system certainly exists time delay, packet loss, problems such as many bag transmission and network scheduling, system must consider and solve the consequent network bandwidth and real-time problem during design.
At present, research about network control system mainly is at single-circuit control system both at home and abroad, constant at network delay respectively, in time, become or at random, network delay is less than a sampling period or greater than a sampling period, single bag transmission or many bag transmission, have or not under the various conditions such as data-bag lost, it is carried out modeling and stability analysis, but rarely have paper that the network cascade control system is studied. control loop is called network cascade control system (NCCS) by the cascade control system of real-time network closure, is applicable to the typical structure block diagram of network cascade control system of the present invention as shown in Figure 1.
Because the network cascade control system is the network control system of closed loop more than, analysis to network delay influence is more complex more than single-circuit network control system with the research of systematic function. and the inner looping network delay will have a strong impact on rapidity and the antijamming capability of inner looping network control system, simultaneously also will be with the external loop network delay to the stability of whole network cascade control system with control quality and have a negative impact.
Difficult point for network delay research is:
(1) because network delay is relevant with factors such as network topology structure, communication protocol, offered load, the network bandwidth and packet sizes. to the network delay greater than several and even dozens of sampling period, set up accurately predict, the Mathematical Modeling of estimation or identification, almost be impossible at present.
(2) occur in the previous node network delay in node transmitting network data process backward, in previous node, no matter adopt which kind of prediction or method of estimation, all can not know the exact value of the network delay that produces thereafter in advance in advance. time delay causes systematic function to descend even causes system's instability, brings difficulty also for simultaneously analysis and the design of control system.
(3) will satisfy in the network cascade control system, all node clock signals in different distributions place are unpractical fully synchronously.
Existing only in main transformer at network send between (control) device node and execution (sub-control) the device node (outer feedforward network), and the network cascade control system as shown in Figure 2 of (internal feedback network) between secondary transmitter node and execution (sub-control) the device node, its input R (s) and output Y 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) e - τ 2 s - - - ( 1 )
In the formula: C 1(s) be master controller, C 2(s) be submaster controller; G 1(s) be main controlled device, G 2(s) be secondary controlled device; τ 1Expression send (control) device node to be transferred to the randomness network delay that produces between execution (sub-control) the device node from main transformer network data; τ 2Expression is transferred to the randomness network delay that execution (sub-control) device node produces with network data from secondary transmitter node.
Owing to comprise network delay τ in the denominator of the closed loop transfer function, shown in the equation (1) 1And τ 2Exponential term
Figure BSA00000355086300012
With
Figure BSA00000355086300013
The existence of time delay will worsen the control performance quality of system, even cause system's loss of stability, when serious system be broken down.
Reduce time delay to the sex key of system stability, just be to realize main transformer sent the network delay τ between (control) device node and execution (sub-control) the device node 1Exponential term And secondary transmitter is to the network delay τ that carries out between (sub-control) device node 2Exponential term
Figure BSA00000355086300022
From the denominator of equation (1), remove, namely realize not comprising in system's closed loop characteristic equation the exponential term of all-network time delay, yet and then realization is to the compensation of network delay., realize the compensation to network delay, at first must know the size of network delay. at present, the method that adopts usually is by to network delay τ both at home and abroad 1And τ 2Measurement, come delay compensation τ 1And τ 2Influence to the stability of a system. still, because to network delay τ 1And τ 2Accurate measurement need satisfy the synchronous requirement of node clock signal, if adopt hardware to realize that node clock signal is synchronous fully, then need bigger economy to drop into; If adopt software position signal, when then transmitting between node owing to correction signal, may meet with the influence of network delay, be difficult to realize that nodal clock is synchronous fully. if adopt network delay is estimated, observation, identification or forecast method obtain the size of network delay, then at first must know the accurate probability distribution of network delay, or Mathematical Modeling accurately, but because the size of network delay and concrete procotol, factors such as offered load size and network topology structure are relevant, to the estimation of network delay, observation, all may there be deviation in identification or prediction.
Therefore, how to exempt the requirement synchronous to node clock signal, release is to estimation, observation, identification or the prediction of network delay between the node, can obtain simultaneously between the node time delay value accurately again, and then realize that having become in the research of network cascade control system needs one of key issue that solves to the compensating action of the outer forward direction of network cascade control system and internal feedback path randomness network delay.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of network that relates to and exist only in main transformer and send between (control) device node and execution (sub-control) the device node (outer feedforward network), and the compensation method of the randomness network delay of the network cascade control system of (internal feedback network) between secondary transmitter node and execution (sub-control) the device node.
Purpose of the present invention:
In the network cascade control system, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release requirement synchronous to node clock signal, also exempt simultaneously the delay compensation method to measurement, estimation or the identification of randomness network delay between its node, realize the segmentation of network delay, real-time, online and dynamic compensation and control.
The method that the present invention adopts is:
The first step: adopt main transformer to send (control) device node to replace the compensation model of network delay therebetween to the live network data transmission procedure of carrying out between (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter send (control) device node how complicatedly and uncertain to have to the network path of carrying out (sub-control) device node from main transformer, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
Second step: adopt secondary transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure of carrying out between (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter how complicated and uncertain have from secondary transmitter node to the network path of carrying out (sub-control) device node, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
The 3rd step: at network cascade control system shown in Figure 2, implement the network delay collocation structure of the inventive method as shown in Figure 3.
In Fig. 3, from input R (s) and the output Y of system 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 2 ( s ) G 2 m ( s ) 1 + C 1 ( s ) C 2 m ( s ) G 2 m ( s ) G 1 m ( s ) 1 + C 2 m ( s ) G 2 m ( s ) + C 2 ( s ) [ G 2 ( s ) - G 2 m ( s ) ] e - τ 2 s 1 + C 2 ( s ) G 2 m ( s ) + C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) [ G 1 ( s ) - G 1 m ( s ) ] 1 + C 2 ( s ) G 2 m ( s ) - - - ( 2 )
When major-minor controlled device prediction model equals its true model, i.e. G 1m(s)=G 1(s), G 2m(s)=G 2(s), submaster controller satisfies C 2m(s)=C 2(s) time, formula (2) but abbreviation be
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) + ( s ) G 2 ( s ) - - - ( 3 )
In the closed loop transfer function, denominator of the network cascade control system shown in the formula (3), do not comprise network delay τ 1And τ 2Exponential term
Figure BSA00000355086300032
With
Figure BSA00000355086300033
Namely realized closed loop characteristic equation 1+C 1(s) C 2(s) G 2(s) G 1(s)+C 2(s) G 2(s)=0 do not comprise the exponential term of network delay in, thereby eliminated the influence of network delay to the stability of a system, improved the control performance quality of system, realized the compensate function to the randomness network delay.
The scope of application of the present invention:
The present invention is applicable in the network cascade control system, major-minor controlled device Mathematical Modeling is known, network exists only in main transformer and send between (control) device node and execution (sub-control) the device node (outer feedforward network path), and between secondary transmitter node and execution (sub-control) the device node (internal feedback network path), network delay can be greater than the compensation of randomness network delay and control of the network cascade control system in 1 and even dozens of sampling period.
The invention is characterized in that this method may further comprise the steps:
1, when sending (control) device node, main transformer is sampled cycle h 1During triggering, will adopt mode A to carry out work;
2, send (control) device node with control signal u when main transformer 1When (s) transmitting to execution (sub-control) device node by outer feedforward network path, will adopt mode B to carry out work;
3, be sampled cycle h when secondary transmitter node 2During triggering, will adopt mode C to carry out work;
4, when secondary transmitter node with model bias signal w 2When (s) transmitting to execution (sub-control) device node by the internal feedback network path, will adopt mode D to carry out work;
5, when carrying out (sub-control) device node controlled signal u 1(s) or (with) model bias signal w 2When (s) triggering, will adopt mode E to carry out work.
The step of mode A comprises:
A1: main transformer send (control) device node to work in the time type of drive, and it triggers the sampling period is h 1
A2: after main transformer send (control) device node to be triggered, to main controlled device G 1(s) output signal Y 1(s) and the prediction model G of main controlled device 1m(s) output signal y 1m(s) sample;
A3: to Y 1(s) and y 1m(s) implement additive operation, obtain model bias signal w 1(s);
A4: with the given signal R of system (s) and w 1(s) and m 1(s) implement additive operation, obtain external loop systematic error signal e 1(s);
A5: to e 1(s) implement master controller C 1(s) computing, controlled signal u 1(s);
A6: with u 1(s) as given signal, act on the predictive algorithm C of submaster controller 2m(s) with the prediction model G of secondary controlled device 2m(s) feedback loop of Gou Chenging, it is output as y Cg2m(s);
A7: with y Cg2m(s) act on G 1m(s), it is output as m 1(s).
The step of mode B comprises:
B1: main transformer send (control) device node with control signal u 1(s), transmit to carrying out (sub-control) device node by outer feedforward network path.
The step of mode C comprises:
C1: secondary transmitter node works in the time type of drive, and it triggers the sampling period is h 2
C2: after secondary transmitter node is triggered, to secondary controlled device G 2(s) output signal Y 2(s) and the prediction model G of secondary controlled device 2m(s) output signal y 2m(s) sample;
C3: to Y 2(s) and y 2m(s) implement additive operation, obtain model bias signal w 2(s).
The step of mode D comprises:
D1: secondary transmitter node is with model bias signal w 2(s), transmit to carrying out (sub-control) device node by the internal feedback network path.
The step of mode E comprises:
E1: carry out (sub-control) device node and work in event driven manner;
E2: carry out (sub-control) device node controlled signal u 1(s) or (with) model bias signal w 2(s) trigger;
E3: in carrying out (sub-control) device node, with u 1(s) deduct model bias signal w 2(s) and prediction model G 2m(s) output signal y G2m(s), obtain inner looping systematic error signal e 2(s);
E4: to e 2(s) implement sub-control algorithm C 2(s), controlled signal u 2(s);
E5: with u 2(s) as driving signal, to secondary controlled device G 2(s) implement control; Thereby change G 2(s) state, and then change G 1(s) state is realized G 1(s) and G 2(s) control action;
E6: in node, finish G simultaneously 2m(s) discreet value y 2m(s) calculating.
6, delay compensation method of the present invention is characterized in that it is by the embedded master controller C of main transmitter that main transformer send (control) device node 1(s) form, namely main transmitter and master controller share same node, and main transformer send (control) device node employing time driving triggered mode of operation, and (sampling period is h 1).
7, delay compensation method of the present invention is characterized in that carrying out (sub-control) device node is by the embedded submaster controller C of actuator 2(s) form, namely submaster controller and actuator share same node, and node adopts the event-driven triggered mode of operation, and (triggering signal is u 1(s) or (with) model bias signal w 2(s)).
8, delay compensation method of the present invention, it is characterized in that system comprises main transformer and send unit such as (control) device node, secondary transmitter node, execution (sub-control) device node, main controlled device and secondary controlled device, each unit carries out work according to the working method of setting separately.
9, delay compensation method of the present invention, it is characterized in that using really and send (control) device node to replace network delay compensation model therebetween to the network data transmission process of carrying out external loop feedforward network path (sub-control) device node from main transformer, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
10, delay compensation method of the present invention, it is characterized in that using really replacing network delay compensation model therebetween from secondary transmitter node to the network data transmission process of carrying out inner looping feedback network path (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
11, delay compensation method of the present invention is characterized in that exempting send (control) device node to measurement, observation, estimation or the identification of carrying out network delay (sub-control) device node from main transformer from structure.
12, delay compensation method of the present invention is characterized in that exempting secondary transmitter node to measurement, observation, estimation or the identification of carrying out network delay (sub-control) device node from structure.
13, delay compensation method of the present invention is characterized in that sending (control) device node, secondary transmitter node and the synchronous requirement of execution (sub-control) device node clock signal from the structure release to main transformer.
14, delay compensation method of the present invention is characterized in that realizing from structure the enforcement and concrete control strategy C of network delay compensation method 1(s) and C 2(s) selection is irrelevant.
15, delay compensation method of the present invention is characterized in that realizing that from structure the enforcement of network delay compensation method is irrelevant with the selection of concrete network communication protocol.
16, delay compensation method of the present invention is characterized in that as major-minor controlled device G 1(s), G 2(s) with its prediction model G 1m(s), G 2m(s) equate submaster controller C 2(s) with its prediction model C 2mWhen (s) equating, can realize the full remuneration to the outer forward direction of network cascade control system and internal feedback path randomness network delay, improve the control performance quality of system.
17, delay compensation method of the present invention, what it is characterized in that adopting is the compensation method that " soft " changes the control system structure, need not increases any hardware device again, and the software resource that utilizes existing network cascade control system intelligent node to carry just is enough to realize its compensate function.
18, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to that main transformer send (control) device node periodic sampling and signal is handled.
19, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to that main transformer send (control) device node transmitting network data.
20, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to secondary transmitter node periodic sampling and signal are handled.
21, delay compensation method of the present invention, the mode D of it is characterized in that are applicable to secondary transmitter node transmitting network data.
22, delay compensation method of the present invention, the mode E of it is characterized in that are applicable to execution (sub-control) device node enforcement sub-control algorithm, and secondary controlled device is implemented control action.
The present invention has following advantage:
1, send (control) device node to carrying out (sub-control) device node (external loop through path) owing to having exempted from structure to main transformer, and secondary transmitter node is to the measurement of carrying out (inner looping feedback network) randomness network delay between (sub-control) device node, observation, estimate or identification, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error that causes of time delay estimation model, avoided the required waste that expends the node storage resources of time delay identification, also avoided simultaneously because the compensating error that " the empty sampling " that time delay causes or " many samplings " bring.
2, owing to realized with the selection of concrete network communication protocol irrelevantly from structure, thereby both be applicable to the network cascade control system that adopts wired network protocol, also be applicable to the network cascade control system of wireless network protocol; Both be applicable to the deterministic network agreement, also be applicable to the procotol of uncertainty.
3, owing to realized with the selection of concrete network communication protocol irrelevant from structure, thereby both be applicable to heterogeneous network cascade control system based on wired network protocol, also be applicable to the heterogeneous network cascade control system based on wireless network protocol, also be applicable to the delay compensation of the network cascade control system of heterogeneous (as wired and wireless mixing) simultaneously.
4, owing to realized with the selection of the control strategy of concrete master (pair) controller irrelevant from structure, thereby both can be used for adopting the network cascade control system of conventional control, also can be used for adopting Based Intelligent Control or adopt the network cascade control system of complicated control strategy.
5, because the present invention adopts is the compensation method that " soft " changes the control system structure, thereby in its implementation procedure, need not to increase again any hardware device, the software resource that utilizes existing network cascade control system intelligent node to carry, just be enough to realize its compensate function, thereby can save hardware investment, be easy to be extended and applied.
Description of drawings
Fig. 1 exists only in network cascade control system block diagram in the through path for network.
Fig. 2 exists only in network cascade control system structure chart in the through path for network.
Fig. 3 is the outer forward direction of network cascade control system of the present invention and internal feedback path randomness delay compensation method structure chart
In the block diagram of Fig. 1, system is by input signal (R), and main transformer send (control) device (S 1/ C 1) node, outer feedforward network, secondary transmitter (S 2) node, the internal feedback network is carried out (sub-control) device (A/C 2) node, secondary controlled device (G 2) and output (Y 2), and main controlled device (G 1) and output (Y 1) form.
Built-in main controller in the main transmitter, namely main transmitter and master controller share same node (S 1/ C 1), node adopts the time type of drive to carry out work, and the triggering cycle is h 1, to the sampling of main controlled device implementation cycle, and to deviation signal enforcement C 1Control.
Secondary transmitter (S 2) be an isolated node, adopt the time type of drive to carry out work, the triggering cycle is h 2, the secondary controlled device implementation cycle is sampled.
The built-in submaster controller of actuator, namely actuator and submaster controller share same node (A/C 2), adopt event driven manner to carry out work, send (control) device (S by main transformer 1/ C 1) output signal node or (with) secondary transmitter (S 2) output signal of node triggers by network, the output signal of its node drives actuator, thereby changes secondary controlled device (G 2) state, and then change main controlled device (G 1) state.
The main transformer of system send (control) device (S among Fig. 1 1/ C 1) node, secondary transmitter (S 2) node and execution (sub-control) device (A/C 2) node all is intelligent node, not only possess storage computing and communication function, but also possess software configuration and control function, these nodes comprise now hardware such as intelligent node common in the industrial field bus control system (FCS) of extensive use and the Distributed Control System (DCS) or smart machine.
In the system of Fig. 2, the randomness network delay in the transfer of data has remarkable influence for stability and the control performance quality of system. and the transfer of data of network cascade control system is experiencing from main transformer send (control) device node to the network data transmission time delay τ that carries out (outer feedforward network path) (sub-control) device node 1, and secondary transmitter node is to the network data transmission time delay τ that carries out (inner looping feedback network path) between (sub-control) device node 2Influence. time delay is relevant with concrete factors such as procotol, offered load size and network topology structure, yet for the measurement of network delay or estimate or observation or identification have become realization to the crucial precondition of its compensation., each node distribution by network connection makes each node in the network cascade control system be difficult to satisfy the synchronous requirement of clock signal, simultaneously, because the randomness of network delay and sudden will accomplish that it is impossible that each step can both accurately be predicted.
In the system of Fig. 3, do not comprise from main transformer and send (control) device node to the network delay prediction model of carrying out (external loop through path) (sub-control) device node, do not comprise from secondary transmitter node to the network delay prediction model of carrying out (inner looping feedback network) (sub-control) device node yet. exempted randomness network delay τ 1And τ 2Measurement, estimation, observation or identification, also exempted (main transformer send (control) device, secondary transmitter, execution (sub-control) device) the synchronous requirement of node clock signal simultaneously. when major-minor controlled device and its prediction model, and submaster controller and prediction model thereof be when equating, can realize the output signal Y from the input signal R (s) of system to system 1(s) in the closed loop transfer function,, with network delay τ 1And τ 2Exponential term With
Figure BSA00000355086300062
From denominator, eliminate, namely realize not comprising in the closed loop characteristic equation network delay τ 1And τ 2Exponential term, thereby reduced the influence of time delay to the stability of a system, improved the control performance quality of system, realize compensation and control to the randomness network delay.
Embodiment
To make clearer above-mentioned and other feature and advantage of the present invention of those of ordinary skill in the art by describing exemplary embodiment of the present invention in detail with reference to accompanying drawing 3 below.
Concrete implementation step is as described below:
The first step: the main transformer that works in the time type of drive send (control) device node to main controlled device G 1(s) output signal Y 1(s) and its prediction model G 1m(s) output signal y 1m(s) (sampling period is h to carry out periodic sampling 1), and to Y 1(s) and y 1m(s) implement additive operation, obtain model bias signal w 1(s); Main transformer send (control) device node according to the given signal R of system (s), to w 1(s) with intranodal compensating unit output signal m 1(s) subtract each other, obtain error signal e 1(s), to e 1(s) implement C 1(s) control, its output signal is u 1(s): on the one hand, with u 1(s) as the prediction model C of this intranodal by submaster controller 2m(s) and the prediction model G of secondary controlled device 2m(s) the given input signal of the negative feedback loop of Gou Chenging; On the other hand, with u 1(s) as the given signal of carrying out (sub-control) device node;
Second the step: by external loop feedforward network path with u 1(s) be transferred to execution (sub-control) device node, and it is in running order to trigger its node;
The 3rd step: work in the secondary transmitter node of time type of drive to secondary controlled device G 2(s) output signal Y 2(s) and its prediction model G 2m(s) output signal y 2m(s) (sampling period is h to carry out periodic sampling 2), and to Y 2(s) and y 2m(s) implement additive operation, obtain model bias signal w 2(s);
The 4th the step: by inner looping feedback network path with w 2(s) be transferred to submaster controller/actuator node, and it is in running order to trigger its node;
The 5th step: carry out the controller C in (sub-control) device node 2(s) by u 1(s) or (with) w 2(s) after the triggering, with signal u 1(s) and w 2(s) and yG 2m(s) subtract each other, obtain error signal e 2(s); To e 2(s) implement C 2(s) control, its control output signal is u 2(s): on the one hand, with u 2(s) as G 2m(s) input signal; On the other hand, with u 2(s) drive actuator, thereby change secondary controlled device G 2(s) state, and then change main controlled device G 1(s) state;
The 6th step: return the first step.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
The content that is not described in detail in this specification belongs to this area professional and technical personnel's known prior art.

Claims (10)

1. the outer forward direction of network cascade control system and the compensation method of internal feedback path random delay is characterized in that this method may further comprise the steps:
(1). when main transformer send or controller node is sampled cycle h 1During triggering, will adopt mode A to carry out work;
(2). when main transformer give or controller node with control signal u 1When (s) passing through outer feedforward network path to execution or the transmission of submaster controller node, will adopt mode B to carry out work;
(3). when secondary transmitter node is sampled cycle h 2During triggering, will adopt mode C to carry out work;
(4). when secondary transmitter node with model bias signal w 2(s) by the internal feedback network path to carrying out or during the transmission of submaster controller node, will adopting mode D to carry out work;
(5). when carrying out or submaster controller node controlled signal u 1(s) or/and model bias signal w 2When (s) triggering, will adopt mode E to carry out work;
The step of described mode A comprises:
A1: main transformer send or controller node works in the time type of drive, and it triggers the sampling period is h 1
A2: after main transformer send or controller node is triggered, to main controlled device G 1(s) output signal Y 1(s) and the prediction model G of main controlled device 1m(s) output signal y 1m(s) sample;
A3: to Y 1(s) and y 1m(s) implement additive operation, obtain model bias signal w 1(s);
A4: with the given signal R of system (s) and w 1(s) and m 1(s) implement additive operation, obtain external loop systematic error signal e 1(s);
A5: to e 1(s) implement master controller C 1(s) computing, controlled signal u 1(s);
A6: with u 1(s) as given signal, act on the predictive algorithm C of submaster controller 2m(s) with the prediction model G of secondary controlled device 2m(s) feedback loop of Gou Chenging, it is output as y Cg2m(s);
A7: with y Cg2m(s) act on G 1m(s), it is output as m 1(s);
The step of described mode B comprises:
B1: main transformer give or controller node with control signal u 1(s), transmit to execution or submaster controller node by outer feedforward network path;
The step of described mode C comprises:
C1: secondary transmitter node works in the time type of drive, and it triggers the sampling period is h 2
C2: after secondary transmitter node is triggered, to secondary controlled device G 2(s) output signal Y 2(s) and the prediction model G of secondary controlled device 2m(s) output signal y 2m(s) sample;
C3: to Y 2(s) and y 2m(s) implement additive operation, obtain model bias signal w 2(s);
The step of described mode D comprises:
D1: secondary transmitter node is with model bias signal w 2(s), transmit to execution or submaster controller node by the internal feedback network path;
The step of described mode E comprises:
E1: execution or submaster controller node work in event driven manner;
E2: carry out or submaster controller node controlled signal u 1(s) or/and model bias signal w 2(s) trigger;
E3: in execution or submaster controller node, with u 1(s) deduct model bias signal w 2(s) and prediction model G 2m(s) output signal y G2m(s), obtain inner looping systematic error signal e 2(s);
E4: to e 2(s) implement sub-control algorithm C 2(s), controlled signal u 2(s);
E5: with u 2(s) as driving signal, to secondary controlled device G 2(s) implement control; Thereby change G 2(s) state, and then change G 1(s) state is realized G 1(s) and G 2(s) control action;
E6: in node, finish G simultaneously 2m(s) discreet value y 2m(s) calculating.
2. method according to claim 1 is characterized in that main transformer send or controller node is by the embedded master controller C of main transmitter 1(s) form, namely main transmitter and master controller share same node, and main transformer send or the controller node employing time drives triggered mode of operation, and its triggered time is sampling period h 1
3. method according to claim 1 is characterized in that execution or submaster controller node are by the embedded submaster controller C of actuator 2(s) form, namely submaster controller and actuator share same node, and node adopts the event-driven triggered mode of operation, and its triggering signal is u 1(s) or/and model bias signal w 2(s).
4. method according to claim 1, it is characterized in that system comprises that main transformer send or controller node, secondary transmitter node, execution or submaster controller node, main controlled device and secondary controlled device unit, each unit carries out work according to the working method of setting separately.
5. method according to claim 1, it is characterized in that with really from main transformer give or controller node to carry out or the submaster controller node the network data transmission process of external loop feedforward network path replace network delay compensation model therebetween, and with really from secondary transmitter node to carry out or the submaster controller node the network data transmission process of inner looping feedback network path replace network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay.
6. method according to claim 1, it is characterized in that from structure exempt to give from main transformer or controller node to carry out or the submaster controller node, and secondary transmitter node to carry out or the submaster controller node between measurement, observation, estimation or the identification of network delay; Main transformer is sent in release or controller node, secondary transmitter node and execution or the synchronous requirement of submaster controller node clock signal.
7. method according to claim 1 is characterized in that realizing from structure the enforcement and concrete control strategy C of network delay compensation method 1(s) and C 2(s) selection is irrelevant, and is irrelevant with the selection of concrete network communication protocol.
8. method according to claim 1 is characterized in that as major-minor controlled device G 1(s), G 2(s) with its prediction model G 1m(s), G 2m(s) equate submaster controller C 2(s) with its prediction model C 2mWhen (s) equating, can realize the full remuneration to the outer forward direction of network cascade control system and internal feedback path randomness network delay, improve the control performance quality of system.
9. method according to claim 1, what it is characterized in that adopting is the compensation method that " software " changes the control system structure, need not increases any hardware device again, and the software resource that utilizes existing network cascade control system intelligent node to carry just is enough to realize its compensate function.
10. method according to claim 1, the mode A of it is characterized in that is applicable to that main transformer send or controller node periodic sampling and signal handled; Mode B is applicable to that main transformer send or the controller node transmitting network data; Mode C is applicable to secondary transmitter node periodic sampling and signal is handled; Mode D is applicable to secondary transmitter node transmitting network data; Mode E is applicable to and carries out or submaster controller node enforcement sub-control algorithm, and secondary controlled device is implemented control action.
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