CN101995874A - Network delay compensation method between transmitter (controller) and actuator in layered structure - Google Patents
Network delay compensation method between transmitter (controller) and actuator in layered structure Download PDFInfo
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- CN101995874A CN101995874A CN2010105577252A CN201010557725A CN101995874A CN 101995874 A CN101995874 A CN 101995874A CN 2010105577252 A CN2010105577252 A CN 2010105577252A CN 201010557725 A CN201010557725 A CN 201010557725A CN 101995874 A CN101995874 A CN 101995874A
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Abstract
The invention provides a network delay compensation method between transmitter (controller) nodes and actuator nodes in a networked control system of a layered structure, belonging to the cross fields of network communication, computers, a control technology and the like. The method employs real network data transmission process between the transmitter (controller) nodes and the actuator nodes instead of a network delay compensation model among the nodes, thus exempting measurement, estimation or identification of network data transmission delay among the nodes and exempting the requirement of node clock signal synchronization. In the method of the invention, the influence of time delay on system stability can be reduced and the dynamic property quality of the system can be improved. The network delay compensation method is applicable to dynamic compensation and control of the network delay in the cases that the mathematical model of a controlled object is known or unknown or difficult in determining interference, a network only exists in the networked control system of the layered structure between the transmitter (controller) nodes and the actuator nodes, and the time delay is steady or time-varying or undetermined.
Description
Technical field
The present invention relates in the hierarchy network control system, network is present in and becomes the network delay compensation method send between (control) device and the actuator node, belongs to the network control system technical field.
Background technology
Network control system (Networked control systems NCS) is meant that controlled device is connected by network with controller, is applicable to network control system typical structure block diagram of the present invention as shown in Figure 1.
The characteristics of network control system are that information (with reference to input, system's output, control input etc.) exchanges between system element (sensing (control) device, actuator) by network. it has a lot of advantages; more flexible etc. as low-cost, easily installation and maintenance, system architecture; make the user of different location realize resource sharing and coordinated manipulation, now be widely used in the fields such as industrial process control, national defense and military, Aero-Space, energy traffic, environmental protection.
In Control Network System, all information are all transmitted by bus. on the one hand, introducing along with network, the information transmission uncertain problem also appears in the control system, can increase the complicacy of the analysis and the design of control system like this. on the other hand, because the information source in the network is a lot, information wants timesharing to take bus when transmission, and the communication bandwidth of network is limited, this just makes its transmission exist time delay inevitably. and the existence meeting of time delay brings hysteresis on the phase place to system, and phase lag is to cause the unsettled key factor of system. how to overcome the problem that network delay brings, thereby guaranteeing the stability of total system, is the major issue that needs solve.
Exist only in to become at as shown in Figure 2 network and send (control) device and the internodal network control system of actuator, it imports R (s) and closed loop transfer function, of exporting between the Y (s) is
In the formula: C (s) is a controller; G (s) is a controlled device; τ represents network delay that network data is produced when change send (control) device node to be transferred to the actuator node.
Owing to there is the exponential term e of network delay τ in the denominator of the closed loop transfer function, shown in the equation (1)
-τ s, 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 change is sent the exponential term e of the network delay τ between (control) device node and the actuator node
-τ sFrom the denominator of equation (1), remove, promptly realize not comprising in the closed loop secular equation exponential term of network delay, yet and then realization is to the compensating action of network delay., realize compensation to network delay, at first must know the size of network delay. at present, usually the method that adopts is by the measurement to network delay τ both at home and abroad, come the influence of delay compensation to system stability. still, owing to need satisfy the synchronous requirement of node clock signal:, then need bigger economy input if adopt hardware to realize that node clock signal is synchronous fully to the accurate measurement of network delay; If adopt software position signal, when then between node, transmitting, may meet with the influence of network delay owing to correction signal, be difficult to realize that nodal clock is synchronous fully; If adopt size to network delay is estimated, identification or forecast method obtain network delay, then must know the accurate probability distribution of network delay, or mathematical model accurately, but because the size of network delay may be at random, become in the time of also may being, its value is relevant with concrete factors such as procotol, offered load size and network topology structure, all may have error to the estimation or the identification of network delay.
Therefore, how to exempt and send (control) device node and the synchronous requirement of actuator node clock signal change, the estimation or the identification of network delay between (control) device node and the actuator node sent in release to change, can obtain simultaneously between the node time delay value accurately again, and then realize change is sent the compensation and the control of network delay between (control) device node and the actuator node, having become needs one of key issue that solves in the network control system.
Summary of the invention
In order to solve the problems of the technologies described above, to the invention provides a kind of network that relates to and exist only in to become and send the delay compensation method of the hierarchy network control system between (control) device node and the actuator node.
Purpose of the present invention:
Exist only at network and to become in the hierarchy network control system send between (control) device node and the actuator node, 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 of measurement, estimation or identification, realize real-time, online and dynamic compensation network delay to network delay.
The method that the present invention adopts is:
The first step: adopt to become and send (control) device node to replace the compensation model of network delay therebetween to real network data transmission process between the actuator node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicated and uncertain no matter send (control) device node to have to the network path the actuator node from change, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a 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: at network control system shown in Figure 2, the delay compensation of enforcement the inventive method is as shown in Figure 3.
In Fig. 3, be from the input R (s) of system and the closed loop transfer function, between the output Y (s)
In the denominator of closed loop transfer function,, do not comprise the exponential term e of network delay τ shown in the formula (2)
-τ s, promptly realized in its closed loop secular equation 1+C (s) G (s)=0, not comprising the exponential term of network delay, thereby eliminated the influence of network delay system stability, improved the control performance quality of system, realized compensate function to network delay.
The scope of application of the present invention:
The present invention is applicable to that network exists only in and becomes in the hierarchy network control system send between (control) device node and the actuator node, the controlled device mathematical model is known or be uncertain of, or interference is difficult to determine, its network delay can be at random, time becomes or uncertain, also can be the compensation and the control of known or definite network delay.
The invention is characterized in that this method may further comprise the steps:
1, when (control) device node is sent in change by the periodic sampling signal triggering, will adopt mode A to carry out work;
2, send (control) device node with error signal e when change
1(s), when the actuator node transmits, will adopt mode B to carry out work by the feedforward network path;
3, as the signal e of actuator node quilt from the feedforward network path
1When (s) triggering, will adopt mode C to carry out work.
The step of mode A comprises:
A1: become and send (control) device node to work in the time type of drive, its trigger pip is the periodic sampling signal;
A2: become send (control) device node to be triggered after, the output signal Y (s) of controlled device G (s) is sampled;
A3: the given signal R of system (s) is added and subtracted mutually with signal Y (s), obtain error signal e
1(s).
The step of mode B comprises:
B1: become and send (control) device node with error signal e
1(s), transmit to the actuator node by the feedforward network path.
The step of mode C comprises:
C1: the actuator node works in event driven manner, by the signal e from the feedforward network path
1(s) trigger;
C2: with e
1(s) with from the scene change send the output signal Y (s) of (control) device node to subtract each other, obtain error signal e
2(s);
C3: to e
2(s) implement conventional control or Intelligent Control Strategy C (s), its output signal is u (s);
C4: u (s) as carrying out drive signal, is implemented control to controlled device G (s).
4, delay compensation method of the present invention is characterized in that system comprises change and send unit such as (control) device, actuator and controlled device, and each unit carries out work according to the working method of setting separately.
5, delay compensation method of the present invention, it is characterized in that using and send (control) device node to replace network delay compensation model therebetween from change really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween to the network data transmission process the actuator node.
6, delay compensation method of the present invention is characterized in that controller C (s) is used for reducing (elimination) error signal e
2(s) to the influence of dynamic performance.
7, delay compensation method of the present invention is characterized in that need not to know fully the mathematical model of controlled device G (s), can realize the full remuneration to the feedforward network path time delay, improves the control of quality of system.
8, delay compensation method of the present invention is characterized in that sending measurement, estimation or the identification of (control) device node to the network delay the actuator node from the structure release to change.
9, delay compensation method of the present invention is characterized in that sending (control) device node and the synchronous requirement of actuator node clock signal from the structure release to change.
10, 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 control strategy.
11, 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.
12, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to become and send (control) device node periodic sampling and signal is handled.
13, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to become and send (control) device node transmitting network data.
14, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to actuator node enforcement control algolithm and controlled device are implemented controlling and driving.
The present invention has following advantage:
1, because from measurement, estimation or the identification of structure release to network delay, exempted the synchronous requirement of node clock signal, 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, irrelevant owing to realizing with the selection of concrete network communication protocol from structure, thereby both be applicable to the network control system that adopts wired network protocol, also be applicable to the wireless network protocol network control system; 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 control strategy irrelevantly from structure, thereby both can be used for adopting the network control system of conventional control, also can be used for the network control system that adopts Based Intelligent Control or adopt complicated control strategy.
4, the inventive method both can be used for constant time delay (comprising no propagation delay time), also can be used at random, time becomes and the nondeterministic network delay compensation.
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 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 send (control) device and the internodal network control system block scheme of actuator for network exists only in change.
Fig. 2 send (control) device and the internodal network control system structural drawing of actuator for network exists only in change.
Fig. 3 send network delay compensation method structural drawing between (control) device and actuator node for becoming in the hierarchy of the present invention
Existing only in change at Fig. 1 network send in (control) device and the internodal network control system block diagram of actuator, system comprises input signal R, output signal Y, controlled device (G), become and send the unit such as (control) device (S/C), feedback network path and actuator (A). wherein:
Become and to send (control) device (S/C) node employing time type of drive to carry out work, the triggering cycle is h, and controlled device (G) implementation cycle is sampled.
Actuator (A) node adopts event driven manner to carry out work, send the output signal of (control) device (S/C) node to trigger by the feedback network path by change. its output signal node changes the state of controlled device (G), realizes the control action to controlled device (G).
(control) device (S/C) node is sent in change among Fig. 1, actuator (A) node all is intelligent node, not only possess storage calculation function and communication function, and possess software configuration and control function, these nodes comprise now the 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.
Existing only in change at Fig. 2 network send in (control) device and the internodal network control system structure chart of actuator: system comprises input signal R, output signal Y, and controlled device (G), feedforward network postpones e-τsWith unit such as controller C.
Data transfer is experiencing from change and is sending the impact of (control) device node to the network transfer delay τ the actuator node among Fig. 2. time delay and concrete procotol, the factors such as offered load size and network topology structure are relevant, present or permanent, or at random, or the time become, or the characteristic such as uncertain, measurement for network delay, or estimate, or observation, yet or identification becomes the crucial precondition that realizes its compensation., the distributivity of each node by network connection is so that each node in the network control system is difficult to satisfy the requirement of clock synchronous, simultaneously, because the randomness of network delay and sudden will accomplish that each step can both Accurate Prediction be impossible.
Become in Fig. 3 hierarchy of the present invention and send method for compensating network delay structure chart between (control) device and actuator node: system comprises input signal R, output signal Y, and controlled device (G), feedforward network postpones e-τsWith unit such as controller C.
Owing to do not contain the prediction model of network delay among Fig. 3, exempted at random, time becomes or measurement, estimation, observation or the identification of uncertain network delay τ, also exempted simultaneously and sent (control) device node, the synchronous requirement of actuator node clock signal to change, realized the exponential term e with network delay τ-τsFrom the closed loop characteristic equation, eliminate, thereby reduced the impact of time delay to the stability of a system, improved the control performance quality of system, realized compensation and control to 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 below with reference to accompanying drawing 3.
Concrete implementation step is as described below:
The first step: the change that works in the time type of drive send (control) device node that the output signal Y (s) of controlled device G (s) is carried out periodic sampling; The given signal R of system (s) is added and subtracted mutually with Y (s), obtain error signal e
1(s); With e
1(s) transmit to the actuator node by the feedforward network path;
Second step: the actuator node that works in event driven manner is by feedforward network path signal e
1(s) trigger, e
1(s) with from the scene change send the output signal Y (s) of (control) device node to subtract each other, obtain error signal e
2(s); To e
2(s) implement conventional control or Intelligent Control Strategy C (s), its output signal is u (s); U (s) as carrying out drive signal, is implemented control to controlled device G (s);
The 3rd step: return the first step.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, 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 instructions belongs to this area professional and technical personnel's known prior art.
Claims (10)
1. become in the hierarchy and send network delay compensation method between (control) device and actuator node, it is characterized in that this method may further comprise the steps:
(1). when (control) device node is sent in change by the periodic sampling signal triggering, will adopt mode A to carry out work;
(2). when change send (control) device node with error signal e
1(s), when the actuator node transmits, will adopt mode B to carry out work by the feedforward network path;
(3). as the signal e of actuator node quilt from the feedforward network path
1When (s) triggering, will adopt mode C to carry out work.
2. compensation method according to claim 1 is characterized in that the step of described mode A comprises:
A1: become and send (control) device node to work in the time type of drive, its trigger pip is the periodic sampling signal;
A2: become send (control) device node to be triggered after, the output signal Y (s) of controlled device G (s) is sampled;
A3: the given signal R of system (s) is added and subtracted mutually with signal Y (s), obtain error signal e
1(s).
3. compensation method according to claim 1 is characterized in that the step of described mode B comprises:
B1: become and send (control) device node with error signal e
1(s), transmit to the actuator node by the feedforward network path;
4. compensation method according to claim 1 is characterized in that the step of described mode C comprises:
C1: the actuator node works in event driven manner, by the signal e from the feedforward network path
1(s) trigger;
C2: with e
1(s) with from the scene change send the output signal Y (s) of (control) device node to subtract each other, obtain error signal e
2(s);
C3: to e
2(s) implement conventional control or Intelligent Control Strategy C (s), its output signal is u (s);
C4: u (s) as carrying out drive signal, is implemented control to controlled device G (s).
5. method according to claim 1 is characterized in that system comprises change and send unit such as (control) device, actuator and controlled device, and each unit carries out work according to the working method of setting separately.
6. method according to claim 1, it is characterized in that using and send (control) device node to replace network delay compensation model therebetween from change really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween to the network data transmission process the actuator node.
7. method according to claim 1 is characterized in that need not to know fully the mathematical model of controlled device G (s), can realize the full remuneration to the feedforward network path time delay, improves the control of quality of system.
8. method according to claim 1, it is characterized in that sending measurement, estimation or the identification of (control) device node to change, exempt and send (control) device node and the synchronous requirement of actuator node clock signal change to the network delay the actuator node from the structure release.
9. method according to claim 1 is characterized in that realizing that from structure the enforcement of network delay compensation method is irrelevant with the selection of concrete control strategy, and is irrelevant with the selection of concrete network communication protocol.
10. method according to claim 1, the mode A of it is characterized in that is applicable to become and send (control) device node periodic sampling and signal is handled; Mode B is applicable to become and send (control) device node transmitting network data; Mode C is applicable to actuator node enforcement control algolithm and controlled device is implemented controlling and driving.
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2010
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Non-Patent Citations (2)
| Title |
|---|
| 《系统工程与电子技术》 20090331 杜锋等 基于改进Smith预估补偿的网络控制系统研究 661-665 第31卷, 第3期 * |
| 《西南交通大学学报》 20100228 杜锋等 基于新型Smith预估器的网络控制系统 65-69 第45卷, 第1期 * |
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Application publication date: 20110330 |