CN102004480B - Compensation method for unknown network delay of network cascade control system - Google Patents
Compensation method for unknown network delay of network cascade control system Download PDFInfo
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Abstract
The invention provides a compensation method for unknown network delay of a network cascade control system, belonging to the technical field of network control systems. The method adopts a network data transmission process among all forward and feedback network path nodes of the actual network cascade control system to replace a network delay compensation model thereof, avoids measurement, observation, estimate or identification for unknown delay of network data transmission among the nodes, and also avoids the synchronization requirement on node clock signals. The method can reduce the influence of unknown network delay on stability of the system and improve the control performance quality of the system. The method is suitable for dynamically compensating and controlling unknown network delay in all forward and feedback network paths of network simultaneously existing in the network cascade control system, when mathematical models of main auxiliary controlled objects are known or unknown, the system has unknown interference, and the network exists a certain amount of data packet losses.
Description
Technical field
The present invention relates to a kind of compensation method of network cascade control system unknown network time delay, belong to the network control system technical field.
Background technology
Along with being extensive use of and the continuous development of network technology of computer network, the structure of control system changes, network control system (networked control systems, NCS) arise at the historic moment. " network control system " refers to certain regional spot sensor, controller, the set of actuator and communication network, in order to data transfer between devices to be provided, make the user of different location in this zone realize resource-sharing and coordinated manipulation, be a kind of the full distributed of communication network and control system that integrate, networking is feedback control system in real time. and the control model of this networking has information resources and shares, the connecting line number reduces, be easy to expansion and maintenance, high efficiency, advantages such as high reliability, the flexibility that has simultaneously also improved system is safeguarded and failure diagnosis becomes simple and convenient.
But, because the network bandwidth is limited, the transmission of information can produce network delay inevitably, the existence of time delay makes poor system performance, when serious even have influence on the stability of system. simultaneously, because the not intellectual of network delay makes the analysis of network control system and design become difficult in the extreme.
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.
At network be present in simultaneously in all forward directions and the feedback network the network cascade control system as shown in Figure 2, its input R (s) with output Y
1(s) closed loop between is transmitted letter
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 is transferred to the unknown network time delay that the submaster controller node produces with network data from the master controller node; τ
2Expression is transferred to the unknown network time delay that the master controller node produces with network data from main transmitter node; τ
3Expression is transferred to the unknown network time delay that the submaster controller node produces with network data from secondary transmitter node; τ
4Expression is transferred to the unknown network time delay that the actuator node produces with network data from the submaster controller node;
Owing to comprise network delay τ in the denominator of the closed loop transfer function, shown in the equation (1)
1And τ
2, τ
3And τ
4Exponential term
With
With
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 with unknown network time delay τ
1And τ
2, τ
3And τ
4Exponential term
With
With
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
2, τ
3And τ
4Measurement, come delay compensation τ
1And τ
2, τ
3And τ
4Influence to the stability of a system. still, because to network delay τ
1And τ
2, τ
3And τ
4Accurate 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 compensating action to unknown network time delay in all path networks of network cascade control system, having become in the network cascade control system needs one of key issue that solves.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of compensation method of network cascade control system unknown network time delay.
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 to main transmitter, master controller, secondary transmitter and the synchronous requirement of actuator node clock signal, also exempt simultaneously the delay compensation method to measurement, estimation or the identification of unknown network time delay in the network cascade control system, realize the network delay segmentation in all forward directions and the feedback network, real-time, online and dynamic compensation and control.
The method that the present invention adopts is:
The first step: adopt main transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the master controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from main transmitter node to the network path the master controller 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.
Second step: adopt secondary transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the submaster controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from secondary transmitter node to the network path the submaster controller 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: adopt the master controller node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the submaster controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from the master controller node to the network path the submaster controller 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 4th step: adopt the submaster controller node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the actuator node, the system that structurally realizes does not comprise the compensation model of network delay therebetween, how complicatedly and uncertain no matter have from the submaster controller node to the network path the actuator 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 5th 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, do not comprise the prediction model of major-minor controlled device, from input R (s) and the output Y of system
1(s) closed loop transfer function, between is
In the closed loop transfer function, denominator of network cascade control system, do not comprise network delay τ shown in the formula (2)
1And τ
2, τ
3And τ
4Exponential term, namely realized closed loop characteristic equation 1+C
2(s) G
2(s)+C
1(s) C
2(s) G
2(s) G
1(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 unknown network time delay.
The scope of application of the present invention:
The present invention is applicable to that major-minor controlled device Mathematical Modeling is known or is uncertain of, there is unknown disturbances in system, there is a certain amount of data packet loss in network, and network is present in all forward directions of network cascade control system and dynamic compensation and the control of the unknown network time delay in the feedback network simultaneously.
The invention is characterized in that this method may further comprise the steps:
1, is sampled cycle h when main transmitter node
1During triggering, will adopt mode A to carry out work;
2, when main transmitter node with main controlled device G
1(s) output signal Y
1When (s) transmitting to the master controller node by the external feedback 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 secondary controlled device G
2(s) output signal Y
1When (s) transmitting to the submaster controller node by the internal feedback network path, will adopt mode D to carry out work;
5, when the master controller node by signal Y
1When (s) triggering, will adopt mode E to carry out work;
6, when the master controller node by outer feedforward network path with error signal e
1When (s) transmitting to the submaster controller node, will adopt mode F to carry out work;
7, when the submaster controller node by signal Y
2(s) or (with) signal e
1When (s) triggering, will adopt mode G to carry out work;
8, when the submaster controller node by interior feedforward network path with signal e
2When (s) transmitting to the actuator node, will adopt mode H to carry out work;
9, when the actuator node by signal e
2When (s) triggering, will adopt mode I to carry out work.
The step of mode A comprises:
A1: main transmitter node works in the time type of drive, and it triggers the sampling period is h
1
A2: after main transmitter node is triggered, to main controlled device G
1(s) output signal Y
1(s) sample.
The step of mode B comprises:
B1: main transmitter node is with signal Y
1(s), transmit to the master controller node by the external feedback 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) sample.
The step of mode D comprises:
D1: secondary transmitter node is with signal Y
2(s), transmit to the submaster controller node by the internal feedback network path.
The step of mode E comprises:
E1: the master controller node works in event driven manner, and by the signal Y from the external feedback network path
1(s) trigger;
E2: with the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain external loop systematic error signal e
1(s).
The step of mode F comprises:
F1: the master controller node is with error signal e
1(s), transmit to the submaster controller node by outer feedforward network path.
The step of mode G comprises:
G1: the submaster controller node works in event driven manner, and by the signal Y from the internal feedback network path
2(s) or (with) from the signal e of outer feedforward network path
1(s) trigger;
G2: with e
1(s) with signal Y
2(s) add and subtract mutually, obtain the inner looping error signal e
2(s).
The step of mode H comprises:
H
1: the submaster controller node is with error signal e
2(s), transmit to the actuator node by interior feedforward network path.
The step of mode I comprises:
I1: the actuator node works in event driven manner;
I2: the actuator node is by error signal e
2(s) trigger;
I3: with e
2(s) and Y
1(s) subtract each other, obtain error signal e
3(s);
I4: to e
3(s) implement master control algorithm C
1(s), controlled signal u
1(s);
I5: with u
1(s) and Y
2(s) subtract each other, obtain error signal e
4(s);
I6: with e
4(s) act on sub-control algorithm C
2(s), controlled signal u
2(s);
I7: 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.
10, delay compensation method of the present invention, it is characterized in that system comprises unit such as main transmitter node, secondary transmitter node, master controller node, submaster controller node, actuator node, main controlled device and secondary controlled device, each unit carries out work according to working method and the function set separately.
11, delay compensation method of the present invention it is characterized in that replacing network delay compensation model therebetween with the data transmission procedure of all real external loop network paths, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
12, delay compensation method of the present invention it is characterized in that replacing network delay compensation model therebetween with the data transmission procedure of all real inner looping network paths, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
13, delay compensation method of the present invention is characterized in that from measurement, observation, estimation or the identification of structure release to network delay between all nodes of network cascade control system.
14, delay compensation method of the present invention is characterized in that exempting the synchronous requirement of all node clock signals of network cascade control system from structure.
15, 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.
16, 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.
17, delay compensation method of the present invention, it is characterized in that when the Mathematical Modeling that need not to know the major-minor controlled device, just can realize the full remuneration to network cascade control system external loop and inner looping network path unknown network time delay on the structure, improve the control performance quality of system.
18, 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.
19, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to main transmitter node periodic sampling.
20, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to main transmitter node transmitting network data.
21, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to secondary transmitter node periodic sampling.
22, 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.
23, delay compensation method of the present invention, the mode E of it is characterized in that are applicable to that the master controller node handles signal.
24, delay compensation method of the present invention, the mode F of it is characterized in that are applicable to master controller node transmitting network data.
25, delay compensation method of the present invention, the mode G of it is characterized in that are applicable to that the submaster controller node handles signal.
26, delay compensation method of the present invention, the mode H of it is characterized in that are applicable to submaster controller node transmitting network data.
27, delay compensation method of the present invention, the mode I of it is characterized in that are applicable to that the actuator node is to secondary controlled device G
2(s) implement control, and signal handled.
The present invention has following advantage:
1, owing to exempted the internal external loop from structure, measurement, observation, estimation or the identification of all-network path unknown network time delay, 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 time variation.
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 for network be present in network cascade control system block diagram in all paths of external loop.
Fig. 2 for network be present in network cascade control system structure chart in all paths of external loop.
Fig. 3 is in the network cascade control system all-network path of the present invention, unknown network delay compensation method structure chart.
In the block diagram of Fig. 1, system is by input signal (R), main controlled device (G
1), main transmitter (S
1), external loop feedback network path, master controller (C
1), external loop feedforward network path; Secondary transmitter (S
2), inner looping feedback network path, submaster controller (C
2), inner looping feedforward network path, actuator (A), secondary controlled device (G
2) wait the unit to form.
Main transmitter (S
1) node adopts the time type of drive to carry out work, the triggering cycle is h
1, to main controlled device (G
1) the implementation cycle sampling.
Master controller (C
1) node adopts event driven manner to carry out work, by main transmitter (S
1) output signal of node triggers by the external feedback network path.
Submaster controller (C
2) node adopts event driven manner to carry out work, by secondary transmitter (S
2) output signal by inner looping feedback network path, or (with) by master controller (C
1) output signal of node triggers by external loop feedforward network path.
Secondary transmitter (S
2) node adopts the time type of drive to carry out work, the triggering cycle is h
2, to secondary controlled device (G
2) the implementation cycle sampling.
Actuator (A) node adopts event driven manner to carry out work, by submaster controller (C
2) node triggers by the control signal of inner looping feedforward network path, thereby driving actuator changes secondary controlled device (G
2) state, and then change main controlled device (G
1) state.
Main transmitter (the S of system among Fig. 1
1) node, secondary transmitter (S
2) node, master controller (C
1) node, submaster controller (C
2) node, and 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 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 unknown network time delay in the data transmission procedure 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 transmitter node and is being transferred to the unknown network time delay τ that the master controller node produces through the external feedback network path
2, the feedforward network path is transferred to the unknown network time delay τ that the submaster controller node produces outside master controller node warp
1, be transferred to the unknown network time delay τ that the actuator node produces from the submaster controller node through interior feedforward network path
3, and be transferred to the unknown network time delay τ that the submaster controller node produces from secondary transmitter node through the internal feedback network path
4Influence. 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 unknown 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, neither comprise from main transmitter node and be transferred to network delay prediction model between the master controller node through the external feedback network path, do not comprise yet from the master controller node through outside the feedforward network path be transferred to network delay prediction model between the submaster controller node; Do not comprise simultaneously from the submaster controller node yet and be transferred to network delay prediction model between the actuator node through interior feedforward network path, and be transferred to network delay prediction model between the submaster controller node from secondary transmitter node through the internal feedback network path. and then exempted unknown network time delay τ
1And τ
2, τ
3And τ
4Measurement, estimation, observation or identification, also exempted (main transmitter, secondary transmitter, master controller, submaster controller, actuator) the synchronous requirement of node clock signal simultaneously. when major-minor controlled device prediction model model true with it, 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
2, τ
3And τ
4Exponential term
With
With
From denominator, eliminate, namely realize not comprising in the closed loop characteristic equation network delay τ
1And τ
2, τ
3And τ
4Exponential 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 unknown network time 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: work in the main transmitter node of time type of drive to main controlled device G
1(s) output signal Y
1(s) (sampling period is h to carry out periodic sampling
1);
Second step: main transmitter node is with Y
1(s) be transferred to the master controller node by external loop feedback network path;
The 3rd step: work in the master controller node of event driven manner, by signal Y
1(s) trigger; With the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain error signal e
1(s); And with e
1(s) be transferred to the submaster controller node by external loop feedforward network path;
The 4th step: work in the secondary transmitter node of time type of drive to secondary controlled device G
2(s) output signal Y
2(s) (sampling period is h to carry out periodic sampling
2); And with Y
2(s) be transferred to the submaster controller node by inner looping feedback network path;
The 5th step: work in the submaster controller node of event driven manner, by signal e
1(s) or (with) Y
2(s) trigger; With e
1(s) and Y
2(s) add and subtract mutually, obtain error signal e
2(s); With e
2(s) transmit to the actuator node by inner looping feedforward network path;
The 6th step: work in the actuator node of event driven manner, by e
2(s) trigger; With e
2(s) and Y
1(s) subtract each other, obtain error signal e
3(s); To e
3(s) implement control algolithm C
1(s), it is output as u
1(s); With u
1(s) and Y
2(s) subtract each other, obtain error signal e
4(s); To e
4(s) implement control algolithm C
2(s), it is output as u
2(s); 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 7th 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 (8)
1. the compensation method of a network cascade control system unknown network time delay is characterized in that this method may further comprise the steps:
(1). when main transmitter node is sampled cycle h
1During triggering, will adopt mode A to carry out work;
(2). when main transmitter node with main controlled device G
1(s) output signal Y
1When (s) transmitting to the master controller node by the external feedback network path, 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 secondary controlled device G
2(s) output signal Y
2When (s) transmitting to the submaster controller node by the internal feedback network path, will adopt mode D to carry out work;
(5). when the master controller node by signal Y
1When (s) triggering, will adopt mode E to carry out work;
(6). when the master controller node by outer feedforward network path with error signal e
1When (s) transmitting to the submaster controller node, will adopt mode F to carry out work;
(7). when the submaster controller node by signal Y
2(s) or/and signal e
1When (s) triggering, will adopt mode G to carry out work;
(8). when the submaster controller node passes through interior feedforward network path with signal e
2When (s) transmitting to the actuator node, will adopt mode H to carry out work;
(9). when the actuator node by signal e
2When (s) triggering, will adopt mode I to carry out work;
The step of described mode A comprises:
A1: main transmitter node works in the time type of drive, and it triggers the sampling period is h
1
A2: after main transmitter node is triggered, to main controlled device G
1(s) output signal Y
1(s) sample;
The step of described mode B comprises:
B1: main transmitter node is with signal Y
1(s), transmit to the master controller node by the external feedback 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) sample;
The step of described mode D comprises:
D1: secondary transmitter node is with signal Y
2(s), transmit to the submaster controller node by the internal feedback network path;
The step of described mode E comprises:
E1: the master controller node works in event driven manner, and by the signal Y from the external feedback network path
1(s) trigger;
E2: with the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain external loop systematic error signal e
1(s);
The step of described mode F comprises:
F1: the master controller node is with error signal e
1(s), transmit to the submaster controller node by outer feedforward network path;
The step of described mode G comprises:
G1: the submaster controller node works in event driven manner, and by the signal Y from the internal feedback network path
2(s) or/and from the signal e of outer feedforward network path
1(s) trigger;
G2: with e
1(s) with signal Y
2(s) add and subtract mutually, obtain the inner looping error signal e
2(s);
The step of described mode H comprises:
H1: the submaster controller node is with error signal e
2(s), transmit to the actuator node by interior feedforward network path;
The step of described mode I comprises:
I1: the actuator node works in event driven manner;
I2: the actuator node is by error signal e
2(s) trigger;
I3: with e
2(s) and Y
1(s) subtract each other, obtain error signal e
3(s);
I4: to e
3(s) implement master control algorithm C
1(s), controlled signal is u
1(s);
I5: with u
1(s) and Y
2(s) subtract each other, obtain error signal e
4(s);
I6: with e
4(s) act on sub-control algorithm C
2(s), controlled signal u
2(s);
I7: 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.
2. method according to claim 1, it is characterized in that system comprises main transmitter node, secondary transmitter node, master controller node, submaster controller node, actuator node, main controlled device and secondary controlled device unit, each unit carries out work according to the working method of setting separately.
3. method according to claim 1 is characterized in that replacing network delay compensation model therebetween with the data transmission procedure of all real external loop network paths; Data transmission procedure with all real inner looping network paths replaces network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay.
4. method according to claim 1 is characterized in that from measurement, observation, estimation or the identification of structure release to network delay between the all-network node; The requirement that release is synchronous to the all-network node clock signal.
5. 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.
6. method according to claim 1, it is characterized in that need not to know the Mathematical Modeling of major-minor controlled device, just can realize the full remuneration to network cascade control system external loop and inner looping network path unknown network time delay on the structure, improve the control performance quality of system.
7. 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.
8. method according to claim 1, the mode A of it is characterized in that is applicable to main transmitter node periodic sampling; Mode B is applicable to main transmitter node transmitting network data; Mode C is applicable to secondary transmitter node periodic sampling; Mode D is applicable to secondary transmitter node transmitting network data; Mode E is applicable to that the master controller node handles signal; Mode F is applicable to master controller node transmitting network data; Mode G is applicable to that the submaster controller node handles signal; Mode H is applicable to submaster controller node transmitting network data; Mode I is applicable to that the actuator node is to secondary controlled device G
2(s) implement control, and signal is handled.
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