CN102004481B - Method for compensating unknown external feedback and inner loop network time delay of network cascade control system - Google Patents
Method for compensating unknown external feedback and inner loop network time delay of network cascade control system Download PDFInfo
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Abstract
The invention provides a method for compensating unknown external feedback and inner loop network time delay of a network cascade control system, which belongs to the technical field of network control systems. A network data transmission process between an external feedback network path node and an inner loop network path node of a true network cascade control system is used instead of a network time delay compensating model, so that the measurement, observation, estimation or identification of unknown network data transmission time delay between the nodes is eliminated and the requirement on the synchronization of a node clock signal is eliminated. The method can reduce the influence of unknown network time delay on the system stability and improves the system control performance and quality. The invention is suitable for dynamically compensating and controlling unknown network time delay when a network only exists in the external feedback and inner loop paths of the network cascade control system, the mathematical models of main and auxiliary controlled objects are known or uncertain, unknown interference exists in the system and a certain quantity of packet losses exist in the network.
Description
Technical field
The present invention relates to the compensation method of network cascade control system external feedback and inner looping unknown network time delay, belong to the network control system technical field.
Background technology
The control system that forms closed loop by network is called network control system (networked control system, NCS). on the one hand, network control system is scattered in close loop control circuit on the real-time serial network, broken through sealing and the limitation of traditional control system in the locational restriction of space physics and information, possessed the incomparable advantage of traditional control system. for example can realize resource sharing and operated from a distance and control, has higher diagnosis capability, I﹠M is easy, can effectively reduce the weight and volume of system, the dirigibility of raising system and reliability. still, communication network is introduced control system so that system presents the characteristic of many complexity, in the public data network except the control information that transmits closed-loop control system, also need to transmit many other data that have nothing to do with control task, because the network bandwidth is limited, the phenomenon such as resource contention and network congestion can cause data transmission delay inevitably. and the existence of network delay not only can reduce the control performance of system, also can cause system unstable.
At present, research about network control system mainly is for single-circuit control system both at home and abroad, research to the network cascade control system is less. and 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 on network delay impact is more complex more than single-circuit network control system with the research of system performance. 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 data package sizes. to the network delay greater than several and even dozens of sampling period, set up accurately predict, the mathematical model of estimation or identification, almost be impossible at present.
(2) occur in the backward network delay in node transmitting network data process of previous node, in previous node, no matter adopt which kind of prediction or method of estimation, all can not know in advance the exact value of the network delay that produces thereafter in advance. time delay causes system performance to descend even causes system unstable, brings difficulty also for simultaneously analysis and the design of control system.
(3) will satisfy in the network cascade control system, all node clock signal Complete Synchronizations in different distributions place are unpractical.
Exist only in network cascade control system as shown in Figure 2 in external loop feedback network and whole inner looping feedback and the through path, its input R (s) and output Y for network
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 unknown network time delay that main (pair) controller node produce from main transmitter node through the external feedback network path with network data; τ
2Expression is transferred to unknown network time delay that actuator node produce from master's (pair) controller node through interior feedforward network path with network data; τ
3Expression is transferred to unknown network time delay that main (pair) controller node produce from secondary transmitter node through the internal feedback network path with network data.
Owing to comprise network delay τ in the denominator of the closed loop transfer function, shown in the equation (1)
1, τ
2And τ
3Exponential term
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
1, τ
2And τ
3Exponential term
With
From the denominator of equation (1), remove, namely realize not comprising in system's closed loop secular 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 usually adopts both at home and abroad is by to network delay τ
1, τ
2And τ
3Measurement, come delay compensation τ
1, τ
2And τ
3Impact on system stability. still, because to network delay τ
1, τ
2And τ
3Measurement accuracy need to satisfy the synchronous requirement of node clock signal, if adopt hardware to realize the node clock signal Complete Synchronization, then need larger economic input; If adopt software position signal, when then transmitting between node owing to correction signal, may meet with the impact of network delay, if be difficult to realize the nodal clock Complete Synchronization. adopt network delay is estimated, observation, the method of identification or prediction obtains the size of network delay, then at first must know the accurate probability distribution of network delay, or mathematical model accurately, but because the size of network delay and concrete procotol, the 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, how to exempt estimation, observation, identification or prediction to network delay between the node, can obtain again simultaneously between the node accurately time delay value, and then realize that having become in the network cascade control system needs one of key issue that solves to the compensating action of unknown network time delay in network cascade control system external loop feedback network and whole inner looping feedback and the through path.
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 the external loop feedback network, and unknown network delay of network cascade control system compensation method in whole inner looping feedback and the through path.
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 node, master's (pair) controller node, secondary transmitter node and the synchronous requirement of actuator node clock signal, also exempt (external loop feedback network between its node simultaneously, and in whole inner looping feedback and the through path), the measurement of unknown network time delay, estimation or identification realize segmentation, in real time, online and dynamically compensation and control to network delay.
The method that the present invention adopts is:
The first step: adopt secondary transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between main (pair) controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter to the network path master's (pair) controller node how complicated and uncertain is arranged from secondary transmitter 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 main (pair) 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. no matter to the network path the actuator node how complicated and uncertain is arranged from master's (pair) 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 main transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between main (pair) controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter to the network path master's (pair) controller node how complicated and uncertain is arranged from main transmitter 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: for 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)
1, τ
2And τ
3Exponential term
With
Namely realized closed loop secular 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 impact of network delay on system stability, 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 in the network cascade control system, major-minor controlled device mathematical model is known or be uncertain of, there is unknown disturbances in system, there is a certain amount of data packet loss in network, and network exists only in dynamic compensation and the control of unknown network time delay in external loop feedback network and whole inner looping feedback and the through path.
The invention is characterized in that the 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 master's (pair) 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
2When (s) transmitting to master's (pair) controller node by the internal feedback network path, will adopt mode D to carry out work;
5, when master's (pair) controller node by Y
1(s) or (with) Y
2When (s) triggering, will adopt mode E to carry out work;
6, when master's (pair) controller node by interior feedforward network path with error signal e
2When (s) transmitting to the actuator node, will adopt mode F to carry out work;
7, when the actuator node by error signal e
2When (s) triggering, will adopt mode G 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 master's (pair) 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 master's (pair) controller node by the internal feedback network path.
The step of mode E comprises:
E1: main (pair) controller node works in event driven manner;
E2: main (pair) controller node is by Y
1(s) or (with) Y
2(s) trigger;
E3: with the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain the external loop error signal e
1(s);
E4: with signal e
1(s) and Y
2(s) add and subtract mutually, obtain the inner looping error signal e
2(s).
The step of mode F comprises:
F
1: main (pair) controller node by interior feedforward network path with error signal e
2(s) transmit to the actuator node.
The step of mode G comprises:
G1: the actuator node works in event driven manner;
G2: the actuator node is by error signal e
2(s) trigger;
G3: with e
2(s) with from the signal Y of the main transmitter in scene
1(s) subtract each other, obtain error signal e
3(s);
G4: to e
3(s) carry out C
1(s) control algorithm, its output signal are u
1(s);
G5: with u
1(s) with from the signal Y of on-the-spot secondary transmitter
2(s) signal subtraction obtains error signal e
4(s);
G6: to e
4(s) carry out C
2(s) control algorithm, its output signal are u
2(s);
G7: 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.
8, delay compensation method of the present invention, it is characterized in that main (pair) controller node is embedded in submaster controller by master controller and is formed. be that master controller and submaster controller share same node, consist of main (pair) controller node, and main (pair) controller node adopts the event-driven triggered mode of operation, and (trigger pip is Y
1(s) or (with) Y
2(s)).
9, delay compensation method of the present invention, it is characterized in that system comprises the unit such as main transmitter node, secondary transmitter node, master's (pair) 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.
10, delay compensation method of the present invention, it is characterized in that replacing network delay compensation model therebetween with the real network data transmission process from main transmitter node to external loop feedback network path master's (pair) controller 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, it is characterized in that replacing network delay compensation model therebetween with the real network data transmission process from master's (pair) controller node to inner looping feedforward network path the actuator node, 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 real network data transmission process from secondary transmitter node to inner looping feedback network path master's (pair) controller node, 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 exempting measurement, observation, estimation or identification from main transmitter node to network delay master's (pair) controller node from structure.
14, delay compensation method of the present invention is characterized in that exempting measurement, observation, estimation or the identification of master's (pair) controller node to network delay the actuator node from structure.
15, delay compensation method of the present invention is characterized in that exempting measurement, observation, estimation or the identification of secondary transmitter node to network delay master's (pair) controller node from structure.
16, delay compensation method of the present invention is characterized in that exempting main transmitter node, secondary transmitter node, master's (pair) controller node and the synchronous requirement of actuator node clock signal from structure.
17, delay compensation method of the present invention is characterized in that realizing from structure the enforcement and concrete control strategy C of method for compensating network delay
1(s) and C
2(s) selection is irrelevant.
18, delay compensation method of the present invention is characterized in that realizing that from structure the enforcement of method for compensating network delay is irrelevant with the selection of concrete network communication protocol.
19, delay compensation method of the present invention, it is known to it is characterized in that both being applicable to master or secondary controlled device mathematical model, also be applicable to main or the secondary controlled device mathematical model period of the day from 1 p.m. to 3 p.m. or when being uncertain of, to the compensation of network cascade control system external feedback and inner looping network path unknown network time delay, improve the control performance quality of system.
20, 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.
21, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to main transmitter node periodic sampling and signal are processed.
22, 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.
23, 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 processed.
24, 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.
25, delay compensation method of the present invention, the mode E of it is characterized in that are applicable to main (pair) controller node signal are processed.
26, delay compensation method of the present invention, the mode F of it is characterized in that are applicable to main (pair) controller node transmitting network data.
27, delay compensation method of the present invention, the mode G of it is characterized in that are applicable to the actuator node to secondary controlled device G
2(s) implement control, and signal processed.
The present invention has following advantage:
1, owing to exempted measurement, observation, estimation or the identification of unknown network time delay external circuit feedback path and whole inner looping feedback and the through path from structure, also exempted simultaneously 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, owing to realized with the selection of concrete network communication protocol irrelevantly from structure, thereby both be applicable to adopt the network cascade control system of 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 simultaneously the delay compensation of the network cascade control system of heterogeneous (such as wired and wireless mixing).
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 conventional network cascade control system of controlling, the network cascade control system that also can be used for adopting Based Intelligent Control or adopt the complex 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 is the network cascade control system block scheme that network exists only in external loop feedback network and whole inner looping feedback and through path.
Fig. 2 is the network cascade control system structural drawing that network exists only in external loop feedback network and whole inner looping feedback and through path.
Fig. 3 is network cascade control system external feedback of the present invention and inner looping unknown network delay compensation method structural drawing
In the block scheme of Fig. 1, system is by input signal (R), main controlled device (G
1), main transmitter (S
1), external loop feedback network path, main (pair) controller (C
1/ C
2); Secondary controlled device (G
2), secondary transmitter (S
2), inner looping feedback network path, inner looping feedforward network path, the unit such as actuator (A) 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) implementation cycle sampling, and sampled signal processed.
Main (pair) controller (C
1/ C
2) node is by master controller (C
1) in be embedded in submaster controller (C
2) composition, i.e. master controller (C
1) and submaster controller (C
2) shared same node. node adopts event driven manner to carry out work, and by main transmitter (S
1) node output signal by the external feedback network path or (with) by secondary transmitter (S
2) output signal trigger by inner looping feedback 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) implementation cycle sampling, and sampled signal processed.
Actuator (A) node adopts event driven manner to carry out work, is triggered by the control signal of master's (pair) controller node by inner looping feedforward network path, changes secondary controlled device (G thereby drive topworks
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, main (pair) controller (C
1/ C
2) node and actuator (A) node all be 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 widespread use and the Distributed Control System (DCS) (DCS) or smart machine.
In the system of Fig. 2, the unknown network time delay in the data transmission has significant impact for Systems balanth and control performance quality. and the data transmission of network cascade control system is experiencing from main transmitter node and is being transferred to the unknown network time delay τ that main (pair) controller node produces through the external feedback network path
1, be transferred to the unknown network time delay τ that the actuator node produces from master's (pair) controller node through interior feedforward network path
2, and be transferred to the unknown network time delay τ that main (pair) controller node produces from secondary transmitter node through the internal feedback network path
3Impact. time delay is relevant with the 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 the crucial precondition that realizes its compensation., the distributivity of each node by network connection is so that each node in the network cascade control system is difficult to satisfy the requirement of clock signal synchronization, simultaneously, because the not intellectual of network delay and sudden will accomplish that each step can both Accurate Prediction be impossible.
In the system of Fig. 3, do not comprise from main transmitter node and be transferred to the network delay prediction model of leading between (pair) controller node through the external feedback network path, do not comprise from master's (pair) 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 main (pair) controller node from secondary transmitter node through the internal feedback network path. exempted unknown network time delay τ
1, τ
2And τ
3Measurement, estimation, observation or identification, also exempted (main transmitter, secondary transmitter, master's (pair) 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
1, τ
2And τ
3Exponential term
With
From denominator, eliminate, namely realize not comprising in the closed loop secular equation network delay τ
1, τ
2And τ
3Exponential term, thereby reduced the impact of time delay on system stability, improved the control performance quality of system, realize compensation and control to the unknown network time delay.
Embodiment
The below will by describing exemplary embodiment of the present invention in detail with reference to accompanying drawing 3, make clearer above-mentioned and other feature and advantage of the present invention of those of ordinary skill in the art.
The 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 main (pair) controller node by external loop feedback network path;
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) (sampling period is h to carry out periodic sampling
2);
The 4th step: secondary transmitter node is with Y
2(s) be transferred to main (pair) controller node by inner looping feedback network path;
The 5th step: work in master's (pair) controller node of event driven manner, by signal Y
1(s) or (with) Y
2(s) trigger; Main (pair) controller node is with the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain the external loop error signal e
1(s); With signal e
1(s) deduct Y
2(s), obtain the inner looping error signal e
2(s);
The 6th step: main (pair) controller node is with error signal e
2(s) be transferred to the actuator node by inner looping feedforward network path;
The 7th step: the actuator node works in the Event triggered mode, by error signal e
2(s) after the triggering; In its node with e
2(s) deduct Y
1(s), obtain error signal e
3(s); To e
3(s) implement control algolithm C
1(s), its output signal is u
1(s); With u
1(s) and Y
2(s) signal subtraction obtains error signal e
4(s); To e
4(s) carry out C
2(s) control algorithm, its output signal are u
2(s); 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;
The 8th 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 instructions belongs to the known prior art of this area professional and technical personnel.
Claims (9)
1. network cascade control system external feedback and inner looping unknown network delay compensation method is characterized in that the 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 main or submaster 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 main or submaster controller node by the internal feedback network path, will adopt mode D to carry out work;
(5). when main or submaster controller node by Y
1(s) or/and Y
2When (s) triggering, will adopt mode E to carry out work;
(6). when main or submaster controller node by interior feedforward network path with error signal e
2When (s) transmitting to the actuator node, will adopt mode F to carry out work;
(7). when the actuator node by error signal e
2When (s) triggering, will adopt mode G 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 main or submaster 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 main or submaster controller node by the internal feedback network path;
The step of described mode E comprises:
E1: main or submaster controller node works in event driven manner;
E2: master or submaster controller node are by Y
1(s) or/and Y
2(s) trigger;
E3: with the given signal R of system (s) and Y
1(s) add and subtract mutually, obtain the external loop error signal e
1(s);
E4: with signal e
1(s) and Y
2(s) subtract each other, obtain the inner looping error signal e
2(s);
The step of described mode F comprises:
F1: main or submaster controller node by interior feedforward network path with error signal e
2(s) transmit to the actuator node;
The step of described mode G comprises:
G1: the actuator node works in event driven manner;
G2: the actuator node is by error signal e
2(s) trigger;
G3: with e
2(s) with from the signal Y of the main transmitter in scene
1(s) subtract each other, obtain error signal e
3(s);
G4: to e
3(s) carry out C
1(s) control algorithm, its output signal are u
1(s);
G5: with u
1(s) with from the signal Y of the secondary transmitter in scene
2(s) subtract each other, obtain error signal e
4(s);
G6: to e
4(s) carry out C
2(s) control algorithm, its output signal are u
2(s);
G7: 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 master or submaster controller node are comprised of the embedded submaster controller of master controller, be that master controller and submaster controller share same node, consist of main or submaster controller node, and main or submaster controller node adopts the event-driven triggered mode of operation, and its trigger pip is Y
1(s) or/and Y
2(s).
3. method according to claim 1, it is characterized in that system comprises main transmitter node, secondary transmitter node, master or 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.
4. method according to claim 1 is characterized in that replacing network delay compensation model therebetween with real network data transmission process from main transmitter node to external loop feedback network path main or the submaster controller node; Replace network delay compensation model therebetween with the real network data transmission process from main or submaster controller node to inner looping feedforward network path the actuator node; Replace network delay compensation model therebetween with real network data transmission process from secondary transmitter node to inner looping feedback network path main or the submaster controller node, thereby the system that structurally realizes does not comprise the compensation model of network delay.
5. method according to claim 1, it is characterized in that exempting from main transmitter node to main or the submaster controller node from structure, from main or submaster controller node to the actuator node, and measurement, observation, estimation or identification from secondary transmitter node to network delay main or the submaster controller node; Release is to main transmitter node, secondary transmitter node, master or submaster controller node and the synchronous requirement of actuator node clock signal.
6. method according to claim 1 is characterized in that realizing from structure the enforcement and concrete control strategy C of method for compensating network delay
1(s) and C
2(s) selection is irrelevant, and is irrelevant with the selection of concrete network communication protocol.
7. method according to claim 1, it is known to it is characterized in that both being applicable to master or secondary controlled device mathematical model, it is unknown or when being uncertain of also to be applicable to main or secondary controlled device mathematical model, to the compensation of network cascade control system external feedback and inner looping unknown network time delay, improve the control performance quality of system.
8. 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.
9. method according to claim 1, the mode A of it is characterized in that is applicable to main transmitter node periodic sampling and signal is processed; Mode B is applicable to main transmitter node transmitting network data; Mode C is applicable to secondary transmitter node periodic sampling and signal is processed; Mode D is applicable to secondary transmitter node transmitting network data; Mode E is applicable to main or the submaster controller node is processed signal; Mode F is applicable to main or submaster controller node transmitting network data; Mode G is applicable to the actuator node to secondary controlled device G
2(s) implement control, and signal is processed.
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| 杜锋.基于新型Smith预估器的网络控制系统研究.《中国博士学位论文全文数据库 信息科技辑》.2008,(第12期),I140-51. * |
| 杜锋等.基于改进Smith预估补偿的网络控制系统研究.《系统工程与电子技术》.2009,第31卷(第3期),661-665. * |
| 杜锋等.基于新型Smith预估器的网络控制系统.《西南交通大学学报》.2010,第45卷(第1期),65-69. * |
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