CN102033529B - Method for compensating for unknown network time delay in forward path of network cascade control system - Google Patents

Method for compensating for unknown network time delay in forward path of network cascade control system Download PDF

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CN102033529B
CN102033529B CN201010552885.8A CN201010552885A CN102033529B CN 102033529 B CN102033529 B CN 102033529B CN 201010552885 A CN201010552885 A CN 201010552885A CN 102033529 B CN102033529 B CN 102033529B
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杜锋
杜文才
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Hainan University
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Abstract

The invention provides a method for compensating for an unknown network time delay in a forward path of a network cascade control system and belongs to the technical field of network control systems. A real network data transmission process between forward path nodes is adopted to substitute for a network time delay compensation model between the nodes; the measurement, the observation, the estimation or the identification of a network data transmission unknown time delay between the forward path nodes are eliminated; and the requirement on the synchronization of a node clock signal is eliminated. By the method, the influence of the unknown network time delay on the stability of the system can be reduced and the control performance quality of the system is improved. The method is applied to the dynamic compensation and control of the unknown network time delay only existing in the forward path of the network cascade control system, in which the main and secondary controlled target mathematical models are known or unknown, the network has a certain amount of packets, and the network time delay can be more than several even over ten sampling periods.

Description

The compensation method of unknown network time delay in forward path of network cascade control system
Technical field
The present invention relates to the compensation method of unknown network time delay in forward path of network cascade control system, belong to the network control system technical field.
Background technology
Network control system (Networked control systems, NCS) each parts (transmitter, controller and actuator etc.) that refer to control system pass through communication network, the real-time closed-loop control system connected and composed. with the control system of point-to-point in the past, compare, network control system has resource-sharing, be easy to installation and maintenance, yet the advantages such as low expense., because network bandwidth resources is limited, inevitably exist the problems such as Internet resources competition and network congestion in network, thereby cause the problems such as data-bag lost or propagation delay time.
In actual industrial process is controlled, cascade control system is most widely used important control structure except the single loop FEEDBACK CONTROL. cascade control system belongs to complex control system, due to cascade control system, to improve adjustment process very effective, there is good control performance, thereby obtain a wide range of applications in the fields such as actual industrial production process control and robot control. along with the extensive use of Distributed Control System and fieldbus, transmit real-time control information by dedicated network or fieldbus more and more in cascade control system. in cascade control system, control loop is by the control system of real-time network closure, be referred to as network cascade control system (NCCS), be applicable to the typical structure block diagram of network cascade control system of the present invention as shown in Figure 1.
The network cascade control system is the special network control system of a class, it fully combines the advantage of network control system and cascade control system, not only can greatly reduce system cost, improve the system diagnostics maintenance levels, can also overcome fast internal disturbance, improve the system works frequency. therefore, necessary cascade control system in network control system is carried out to deep research.
Because Networked Cascade Control System is the network control system of closed loop more than, the analysis that network delay is affected and the research of systematic function are more complex more than the single loop network control system. but owing in inside and outside close loop control circuit, having introduced network, inevitably will produce network delay and data-bag lost. time delay and data packet loss will reduce the performance of control system, even cause system unstable. when network delay is greater than several and even dozens of during the sampling period, so far there is no preferably control strategy or compensation method both at home and abroad meets and controls quality requirement.
Existing only in main transformer for network send (control) device node and secondary the change to send between (control) device node (outer feedforward network), and the secondary network cascade control system as shown in Figure 2 of giving (interior feedforward network) between (control) device node and actuator node that becomes, its input R (s) and output Y 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) e - τ 1 s C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) + C 2 ( s ) e - τ 2 s G 2 ( s ) - - - ( 1 )
In formula: C 1(s) be master controller, C 2(s) be submaster controller; G 1(s) be main quilt control object, G 2(s) be sub-quilt control object; τ 1expression is sent (control) device node to be transferred to secondary the change from main transformer network data and is sent the unknown network time delay produced between (control) device node; τ 2expression becomes network data to send (control) device node to be transferred to the unknown network time delay that the actuator node produces from pair.
Comprise network delay τ in denominator due to the closed loop transfer function, shown in equation (1) 1and τ 2exponential term
Figure BSA00000355069300012
with
Figure BSA00000355069300013
the existence of time delay will worsen the control performance quality of system, even cause the system loss of stability, when serious, can make system break down.
Reduce time delay to the sex key of system stability, just be to realize main transformer is sent (control) device node and secondary the change to send the network delay τ between (control) device node 1exponential term
Figure BSA00000355069300014
and the pair change send (control) device node to the network delay τ between the actuator node 2exponential term
Figure BSA00000355069300015
from the denominator of equation (1), remove, realize not comprising in system 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 usually adopted both at home and abroad is by network delay τ 1and τ 2measurement, carry out delay compensation τ 1and τ 2impact on the stability of a system. still, due to network delay τ 1and τ 2measurement accuracy need to meet the synchronous requirement of node clock signal, if adopt hardware to realize the node clock signal Complete Synchronization, need larger economic input; If adopt software position signal, while transmitting between node due to correction signal, may meet with the impact of network delay, be difficult to realize the nodal clock Complete Synchronization; If adopt to network delay estimated, the method for observation, identification or prediction obtains the size of network delay, at first must know the accurate probability distribution of network delay, or Mathematical Modeling accurately, but, because the size of network delay is relevant with the concrete factors such as procotol, offered load size and network topology structure, to the estimation of network delay, observation, identification or prediction, all may there is deviation.
Therefore, how to exempt the requirement synchronous to node clock signal, estimation, observation, identification or the prediction of release to network delay between node, can obtain again between node time delay value accurately simultaneously, and then realize compensation and the control to unknown network time delay in forward path of network cascade control system, become in the research of network cascade control system and needed one of key issue solved.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of network that relates to and exist only in main transformer and send (control) device node and secondary the change to send between (controls) device node (outer feedforward network), and the unknown network delay of network cascade control system compensation method of (interior feedforward network) between (control) device node and actuator node is sent in secondary change.
Purpose of the present invention:
In the network cascade control system, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release requirement synchronous to node clock signal, also exempt the delay compensation method to measurement, estimation or the identification of unknown network time delay between its node, realize segmentation, the compensation in real time, online and dynamically to network delay and control simultaneously.
The method that the present invention adopts is:
The first step: adopt main transformer to send (control) device node to send the live network data transmission procedure between (control) device node to replace the compensation model of network delay therebetween to secondary the change, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter from main transformer, send (control) device node to send the network path (control) device node that how complicated and uncertain is arranged to secondary the change, also no matter include therebetween how many routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in control procedure, just realized the compensate function to its time delay in the information stream transmission process.
Second step: adopt secondary the change to send (control) device node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the actuator node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter from pair, become and send (control) device node, to the network path the actuator node, how complicated and uncertain is arranged, also no matter include therebetween how many routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in control procedure, just realized the compensate function to its time delay in the information stream transmission process.
The 3rd step: for the network cascade control system shown in Fig. 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 the input R (s) of system to output Y 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = e - τ 1 s e - τ 2 s C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) - - - ( 2 )
In closed loop transfer function, denominator shown in formula (2), do not comprise network delay τ 1and τ 2exponential term
Figure BSA00000355069300022
with
Figure BSA00000355069300023
realized closed loop characteristic equation 1+C 1(s) C 2(s) G 2(s) G 1(s)+C 2(s) G 2(s) do not comprise the exponential term of network delay in=0, thereby eliminated the impact of network delay on 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:
It is known or be uncertain of that the present invention is applicable to major-minor controlled device Mathematical Modeling, there is a certain amount of data packet loss in network, network delay can be greater than the several and even dozens of sampling period, network exists only in main transformer and send (control) device node and secondary the change to send between (control) device node (outer feedforward network), and dynamic compensation and the control of the unknown network delay of network cascade control system of (interior feedforward network) between (control) device node and actuator node are sent in secondary change.
The invention is characterized in that the method comprises the following steps:
1, when sending (control) device node, main transformer is sampled cycle h 1during triggering, will adopt mode A to carry out work;
2, send (control) device node by error signal e when main transformer 0(s), while sending the transmission of (control) device node by outer feedforward network path to the pair change, will adopt mode B to carry out work;
3, when becoming, pair send (control) device node to be sampled cycle h 2during triggering, will adopt mode C to carry out work;
4, when becoming, pair send (control) device node by error signal e 0(s), while triggering, will adopt mode D to carry out work;
5, when becoming, pair send (control) device node by error signal e 1(s), while transmitting to the actuator node by interior feedforward network path, will adopt mode E to carry out work;
6, when the actuator node by signal e 1(s), while triggering, will adopt mode F to carry out work.
The step of mode A comprises:
A1: main transformer send (control) device node to work in the time type of drive, and it triggers the sampling period is h 1;
A2: after main transformer send (control) device node to be triggered, to main quilt control object G 1(s) output signal Y 1(s) sampled;
A3: by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain the external loop error signal e 0(s).
The step of mode B comprises:
B1: main transformer send (control) device node by error signal e 0(s), by outer feedforward network path, to pair, become and send the transmission of (control) device node.
The step of mode C comprises:
C1: the secondary change send (control) device node to work in the time type of drive, and it triggers the sampling period is h 2;
C2: after secondary change send (control) device node to be triggered, to sub-quilt control object G 2(s) output signal Y 2(s) sampled.
The step of mode D comprises:
D1: error signal e 0(s) trigger secondary the change and send (control) device node, pair now becomes send (control) device node to work in event driven manner;
D2: by e 0and Y (s) 2(s) add and subtract mutually, obtain error signal e 1(s).
The step of mode E comprises:
E1: the secondary change send (control) device node by error signal e 1(s), by interior feedforward network path, to the actuator node, transmit.
The step of mode F comprises:
F1: the actuator node works in event driven manner;
F2: the actuator node is by error signal e 1(s) trigger;
F3: by e 1and Y (s) 1(s) subtract each other, obtain error signal e 2(s);
F4: to e 2(s) implement control algolithm C 1(s), the control signal of its output is u 1(s);
F5: by u 1and Y (s) 2(s) subtract each other, obtain error signal e 3(s);
F6: to e 3(s) implement control algolithm C 2(s), the control signal of its output is u 2(s);
F7: by u 2(s) as driving signal, to sub-quilt control object G 2(s) implement to control, thereby change G 2(s) state, and then change G 1(s) state,
Realization is to G 1and G (s) 2(s) control action.
7, delay compensation method of the present invention, it is characterized in that main transformer send (control) device node to be comprised of the embedded master controller of main transmitter, main transmitter and master controller share same node, and main transformer send (control) device node employing time driving triggered mode of operation, and (sampling period is h 1).
8, delay compensation method of the present invention, it is characterized in that secondary the change send (control) device node to be comprised of the embedded submaster controller of secondary transmitter, be that secondary transmitter and submaster controller share same node, the secondary transmitter employing time drives triggered mode of operation, and (sampling period is h 2), and submaster controller adopts the event-driven triggered mode of operation, (triggering signal is e 0(s)).
9, delay compensation method of the present invention, it is characterized in that system comprises main transformer and send (control) device node, the secondary change to send the ，Ge unit, unit such as (control) device node, actuator node, main quilt control object and sub-quilt control object to carry out work according to the working method of setting separately.
10, delay compensation method of the present invention, it is characterized in that with sending (control) device node to send the network data transmission process of external loop feedforward network path (control) device node to replace network delay compensation model therebetween to secondary the change from main transformer really, 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 with becoming and send (control) device node to replace network delay compensation model therebetween to the network data transmission process of inner looping feedforward network path the actuator node from pair really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
12, delay compensation method of the present invention, is characterized in that exempting send (control) device node to send measurement, observation, estimation or the identification of network delay (control) device node to secondary change from main transformer from structure; Release becomes and send measurement, observation, estimation or the identification of (control) device node to network delay between the actuator node pair.
13, delay compensation method of the present invention, is characterized in that exempting and sending (control) device node, the secondary change to send (control) device node and the synchronous requirement of actuator node clock signal to main transformer from structure.
14, 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 1and C (s) 2(s) selection is irrelevant, simultaneously also irrelevant with the selection of concrete network communication protocol.
15, delay compensation method of the present invention, is characterized in that just can realizing the full remuneration to unknown network time delay in forward path of network cascade control system without the Mathematical Modeling that knows the major-minor controlled device, improves the control performance quality of system.
16, delay compensation method of the present invention, what it is characterized in that employing is the compensation method that " soft " changes the control system structure, without increasing 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 again.
17, delay compensation method of the present invention, the mode A of it is characterized in that is applicable to main transformer and send (control) device node periodic sampling and signal is processed.
18, delay compensation method of the present invention, the mode B of it is characterized in that is applicable to main transformer and send (control) device node transmitting network data.
19, delay compensation method of the present invention, the mode C of it is characterized in that is applicable to secondary the change and send (control) device node periodic sampling and signal is processed.
20, delay compensation method of the present invention, the mode D of it is characterized in that is applicable to secondary the change and send (control) device node to be processed signal.
21, delay compensation method of the present invention, the mode E of it is characterized in that is applicable to secondary the change and send (control) device node transmitting network data.
22, delay compensation method of the present invention, the mode F of it is characterized in that is applicable to the actuator node and implements to control and drive function.
The present invention has following advantage:
1, owing to having exempted from structure, to main transformer, send (control) device node to send (control) device node (external loop through path) to secondary the change, and secondary the change sent the measurement of (control) device node to (inner looping through path) unknown network time delay between the actuator node, observation, estimate or identification, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error caused of time delay estimation model, avoided the required waste that expends the node storage resources of time-delay identification, the compensating error that " empty sampling " or " many samplings " that has simultaneously also avoided causing due to time delay brings.
2, owing to having realized that from structure the selection with concrete network communication protocol is irrelevant, 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 having realized that from structure the selection with concrete network communication protocol is irrelevant, thereby both be applicable to the 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 having realized that from structure the selection with concrete master (or secondary) controller control strategy is irrelevant, 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.
What 5, adopt due to the present invention is the compensation method that " soft " changes the control system structure, thereby in its implementation procedure without increasing 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.
The accompanying drawing explanation
Fig. 1 is that network exists only in the network cascade control system block diagram in through path.
Fig. 2 is that network exists only in the network cascade control system structure chart in through path.
Fig. 3 is unknown network time delay in forward path of network cascade control system compensation method structure chart of the present invention
In the block diagram of Fig. 1, system is by input signal (R), and main transformer send (control) device (S 1/ C 1) node, outer feedforward network, the secondary change sent (control) device (S 2/ C 2) node, interior feedforward network, actuator (A) node, sub-quilt control object (G 2) and output (Y 2), and main quilt control object (G 1) and output (Y 1) institute form.
Built-in main controller in main transmitter, main transmitter and master controller share same node (S 1/ C 1), node adopts the time type of drive to carry out work, and the triggering cycle is h 1, to the sampling of main quilt control object implementation cycle, and deviation signal is implemented to C 1control.
Built-in submaster controller in secondary transmitter, secondary transmitter and submaster controller share same node (S 2/ C 2), wherein: secondary transmitter adopts the time type of drive to carry out work, and the triggering cycle is h 2, the sub-quilt control object implementation cycle is sampled; And submaster controller adopts event driven manner to carry out work, by main transformer, send (control) device (S 1/ C 1) output signal of node triggers by outer feedforward network.
Actuator (A) is an isolated node, adopts event driven manner to carry out work, by pair, is become and is sent (control) device (S 2/ C 2) output signal node triggers by interior feedforward network, and driving actuator, thereby change sub-quilt control object (G 2) state, and then change main quilt control object (G 1) state.
In Fig. 1, the main transformer of system send (control) device (S 1/ C 1) node, the secondary change sent (control) device (S 2/ C 2) node and actuator (A) node be all intelligent node, not only possess storage computing and communication function, but also 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 Distributed Control System (DCS) or smart machine.
In the system of Fig. 2, the unknown network time delay in transfer of data has significant impact for stability and the control performance quality of system. and the transfer of data of network cascade control system is experiencing from main transformer send (control) device node to the secondary network data transmission time delay τ that send (external loop through path) (control) device node that becomes 1, and secondary the change sent the network data transmission time delay τ of (control) device node to (inner looping through path) between the actuator node 2impact. 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 realized its compensation., the distributivity of each node connected by network makes each node in the network cascade control system be difficult to meet the requirement of clock signal synchronization. simultaneously, due to the unknown of network delay and sudden, accomplish that each step can Accurate Prediction be impossible.
In the system of Fig. 3, do not comprise from main transformer and send (control) device node to the secondary network delay prediction model that send (external loop through path) (control) device node that becomes, do not comprise from pair yet and become and send the network delay prediction model of (control) device node to (inner looping through path) the actuator node. exempted unknown network time delay τ 1and τ 2measurement, estimation, observation or identification, also exempted the requirement to node (main transformer send (controls) device, secondary change to send (control) device, actuator) clock signal synchronization simultaneously. when the major-minor controlled device equates with its prediction model, can realize the output signal Y from the input signal R (s) of system to system 1(s) in closed loop transfer function,, by network delay τ 1and τ 2exponential term
Figure BSA00000355069300051
with
Figure BSA00000355069300052
eliminate from denominator, realize in the closed loop characteristic equation not comprising network delay τ 1and τ 2exponential term, thereby reduced the impact of time delay on the stability of a system, improved the control performance quality of system, realize dynamic compensation and control to the unknown network time delay.
Embodiment
Below will, by with reference to accompanying drawing 3, describing exemplary embodiment of the present invention in detail, the person of ordinary skill in the art is more clear that above-mentioned and other feature and advantage of the present invention.
Concrete implementation step is as described below:
The first step: the main transformer that works in the time type of drive send (control) device node to main quilt control object G 1(s) output signal Y 1(s) (sampling period is h to carry out periodic sampling 1), and by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain error signal e 0(s);
Second step: the pair that works in the time type of drive becomes send (control) device node to sub-quilt control object G 2(s) output signal Y 2(s) (sampling period is h to carry out periodic sampling 2);
The 3rd step: main transformer send (control) device node to pass through external loop feedforward network path by signal e 0(s) be transferred to secondary the change and send (control) device node;
The 4th step: the secondary change sent (control) device signal e that node is transmitted by external loop feedforward network path 0(s) trigger (Event triggered working method), implement signal e in its node 0(s) with signal Y 2(s) the phase plus and minus calculation, obtain error signal e 1(s);
The 5th step: the secondary change send (control) device node to pass through interior feedforward network path by signal e 1(s) to the actuator node, transmit;
The 6th step: work in the actuator node of event driven manner by e 1(s) signal triggers, and in its node, implements e 1(s) subtract Y 1(s) computing, obtain error signal e 2(s); To e 2(s) implement C 1(s) control strategy, its output signal is u 1(s); By u 1(s) deduct Y 2(s), obtain error signal e 3(s); To e 3(s) implement C 2(s) control strategy, its output signal is u 2(s), by u 2(s) drive actuator, thereby change sub-quilt control object G 2(s) state, and then change main quilt control object G 1(s) state, realize G 1and G (s) 2(s) control action;
The 7th step: return to the first step.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
The content be not described in detail in this specification belongs to the known prior art of professional and technical personnel in the field.

Claims (10)

1. the compensation method of unknown network time delay in forward path of network cascade control system is characterized in that the method comprises the following steps:
(1). when being embedded in the main transformer that master controller forms, main transmitter send controller node to be sampled cycle h 1during triggering, will adopt mode A to carry out work;
(2). when main transformer send controller node by error signal e 0(s), while being embedded in to secondary transmitter the secondary transducer controller node transmission that submaster controller forms by outer feedforward network path, will adopt mode B to carry out work;
(3). when secondary transducer controller node is sampled cycle h 2during triggering, will adopt mode C to carry out work;
(4). when secondary transducer controller node by error signal e 0(s), while triggering, will adopt mode D to carry out work;
(5). when secondary transducer controller node by error signal e 1(s), while transmitting to the actuator node by interior feedforward network path, will adopt mode E to carry out work;
(6). when the actuator node by signal e 1(s), while triggering, will adopt mode F to carry out work;
The step of described mode A comprises:
A1: main transformer send controller node to work in the time type of drive, and it triggers the sampling period is h 1;
A2: after main transformer send controller node to be triggered, to main quilt control object G 1(s) output signal Y 1(s) sampled;
A3: by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain the external loop error signal e 0(s);
The step of described mode B comprises:
B1: main transformer send controller node by error signal e 0(s), by outer feedforward network path, to secondary transducer controller node, transmit;
The step of described mode C comprises:
C1: secondary transducer controller node works in the time type of drive, and it triggers the sampling period is h 2;
C2: after secondary transducer controller node is triggered, to sub-quilt control object G 2(s) output signal Y 2(s) sampled;
The step of described mode D comprises:
D1: error signal e 0(s) trigger secondary transducer controller node, secondary transducer controller node now works in event driven manner;
D2: by e 0and Y (s) 2(s) add and subtract mutually, obtain error signal e 1(s);
The step of described mode E comprises:
E1: secondary transducer controller node is by error signal e 1(s), by interior network path forward, to the actuator node, transmit;
The step of described mode F comprises:
F1: the actuator node works in event driven manner;
F2: the actuator node is by error signal e 1(s) trigger;
F3: by e 1and Y (s) 1(s) subtract each other, obtain error signal e 2(s);
F4: to e 2(s) implement control algolithm C 1(s), the control signal of its output is u 1(s);
F5: by u 1and Y (s) 2(s) subtract each other, obtain error signal e 3(s);
F6: by e 3(s) implement control algolithm C 2(s), the control signal of its output is u 2(s);
F7: by u 2(s) as driving signal, to sub-quilt control object G 2(s) implement to control, thereby change G 2(s) state, and then change G 1(s) state, realize G 1and G (s) 2(s) control action.
2. method according to claim 1, it is characterized in that main transformer send controller node to be embedded in master controller by main transmitter and formed, main transmitter and master controller share same node, and main transformer send the controller node employing time to drive triggered mode of operation, and the sampling period is h 1.
3. method according to claim 1, it is characterized in that secondary transducer controller node is embedded in submaster controller by secondary transmitter and is formed, be that secondary transmitter and submaster controller share same node, the secondary transmitter employing time drives triggered mode of operation, and the sampling period is h 2, and submaster controller adopts the event-driven triggered mode of operation, triggering signal is e 0(s).
4. method according to claim 1, it is characterized in that system comprises main transformer and send controller node, secondary transducer controller node, actuator node, main quilt control object and ，Ge unit, sub-quilt control object unit to carry out work according to the working method of setting separately.
5. method according to claim 1, it is characterized in that with sending controller node to replace network delay compensation model therebetween to the network data transmission process of external loop feedforward network path secondary transducer controller node from main transformer really, and replace network delay compensation model therebetween by the real network data transmission process from secondary transducer 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.
6. method according to claim 1, it is characterized in that exempting and sending controller node to secondary transducer controller node to main transformer from structure, and secondary transducer controller node is to measurement, observation, estimation or the identification of network delay between the actuator node; Release is sent controller node, secondary transducer controller node and the synchronous requirement of actuator node clock signal to main transformer.
7. 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 1and C (s) 2(s) selection is irrelevant, irrelevant with the selection of concrete network communication protocol.
8. method according to claim 1, is characterized in that just can realizing the full remuneration to unknown network time delay in forward path of network cascade control system without the Mathematical Modeling that knows the major-minor controlled device, improves the control performance quality of system.
9. method according to claim 1, what it is characterized in that employing is the compensation method that " software " changes the control system structure, without increasing 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 again.
10. method according to claim 1, the mode A of it is characterized in that is applicable to main transformer and send the controller node periodic sampling and signal is processed; Mode B is applicable to main transformer and send the controller node transmitting network data; Mode C is applicable to secondary transducer controller node periodic sampling and signal is processed; Mode D is applicable to secondary transducer controller node signal is processed; Mode E is applicable to secondary transducer controller node transmitting network data; Mode F is applicable to the actuator node and implements to control and drive function.
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