CN102033531B - Time-varying delay compensation method for external forward and internal feedback channel of network cascade control system - Google Patents

Time-varying delay compensation method for external forward and internal feedback channel of network cascade control system Download PDF

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CN102033531B
CN102033531B CN2010105529865A CN201010552986A CN102033531B CN 102033531 B CN102033531 B CN 102033531B CN 2010105529865 A CN2010105529865 A CN 2010105529865A CN 201010552986 A CN201010552986 A CN 201010552986A CN 102033531 B CN102033531 B CN 102033531B
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杜锋
杜文才
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Hainan University
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Abstract

The invention provides a time-varying delay compensation method for an external forward and internal feedback channel of a network cascade control system, which belongs to the technical field of network control systems. A network delay compensation model is replaced by a network data transmission process between an external forward channel node and an internal feedback channel node of a real network cascade control system, so that measurement, observation, estimation or identification of network data transmission time-varying delay between the nodes is avoided and the requirement on the synchronization of node clock signals is eliminated. Due to the adoption of the method, the influence of time-varying network delay on system stability can be reduced and the control performance quality ofthe system is improved. The method is suitable for dynamic compensation and control of time-varying network delay when a main controlled object mathematical model is known or unknown, an auxiliary controlled object mathematical model is known, a certain number of data packet losses can exist in a network and the network only exists in the external forward and internal feedback channel of the network cascade control system.

Description

Become delay compensation method when outer forward direction of network cascade control system and internal feedback path
Technical field
The present invention relates to the compensation method of outer forward direction of network cascade control system and internal feedback path time-varying network time delay, belong to the network control system technical field.
Background technology
Network control system (Networked control systems, NCS) being a kind of full distributed, real-time feedback control system of networking. network control system is automatic field deep change again, it has complied with industrial control system little by little to trend decentralized, networked, the intelligent direction development, have many advantages such as low cost, low-power consumption, ease for maintenance, high reliability, more and more widely be applied to fields such as industrial process control, energy traffic, Aero-Space and Long-distance Control.
Because the introducing of network, make and have network delay in the message transmitting procedure in the control system, this time delay may be fix, become in the time of also may being. the existence of network delay will make the degradation of system even make system's instability, therefore must consider the influence of network inducement delay during Control System Design, this also is one of basic problem of greatest concern in the network control system.
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, and the typical structure block diagram that is applicable to network cascade control system of the present invention is 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 system performance. and the inner looping network delay will have a strong impact on the rapidity and the antijamming capability of inner looping network control system, and the while also will have a negative impact with stability and the controlling performance of external loop network delay to whole network cascade control system.
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 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 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 system performance to descend even causes system's instability, brings difficulty also for simultaneously the analysis and the design of control system.
(3) will satisfy in the network cascade control system, all node clock signals in different distributions place are unpractical fully synchronously.
Existing only in main transformer at network send between (control) device node and execution (sub-control) the device node (outer feedforward network), and the network cascade control system as shown in Figure 2 of (internal feedback network) between secondary transmitter node and execution (sub-control) the device node, its input R (s) and output Y 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) e - τ 1 s C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) e - τ 2 s - - - ( 1 )
In the formula: C 1(s) be master controller, C 2(s) be submaster controller; G 1(s) be main controlled device, G 2(s) be secondary controlled device; τ 1Expression send (control) device node to be transferred to the time-varying network time delay that is produced between execution (sub-control) the device node from main transformer network data; τ 2Expression is transferred to the time-varying network time delay that execution (sub-control) device node is produced with network data from secondary transmitter node.
Owing to comprise network delay τ in the denominator of the closed loop transfer function, shown in the equation (1) 1And τ 2Exponential term
Figure BSA00000354940800012
With
Figure BSA00000354940800013
The existence of time delay will worsen the control performance quality of system, even cause system's loss of stability, when serious system be broken down.
Reduce time delay to the sex key of system stability, just be to realize main transformer sent the network delay τ between (control) device node and execution (sub-control) the device node 1Exponential term
Figure BSA00000354940800014
And secondary transmitter is to the network delay τ that carries out between (sub-control) device node 2Exponential term
Figure BSA00000354940800015
From the denominator of equation (1), remove, promptly 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 compensation to network delay, at first must know the size of network delay. at present, the method that adopts usually is by to network delay τ both at home and abroad 1And τ 2Measurement, come delay compensation τ 1And τ 2Influence to system stability. still, because to network delay τ 1And τ 2Accurate measurement need satisfy the synchronous requirement of node clock signal, if adopt hardware to realize that node clock signal is synchronous fully, then need bigger economy input; If adopt software position signal, when then between node, transmitting 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 model accurately, but because the size of network delay and concrete procotol, factors such as offered load size and network topology structure are relevant, to the estimation of network delay, observation, all may there be deviation in identification or prediction.
Therefore, how to exempt the requirement synchronous to node clock signal, release is to estimation, observation, identification or the prediction of network delay between the node, can obtain simultaneously between the node time delay value accurately again, and then realize that having become in the research of network cascade control system needs one of key issue that solves to the compensating action of outer forward direction of network cascade control system and internal feedback path time-varying network time delay.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of network that relates to and exist only in main transformer and send between (control) device node and execution (sub-control) the device node (outer feedforward network), and the compensation method of the time-varying network time delay of the network cascade control system of (internal feedback network) between secondary transmitter node and execution (sub-control) the device node.
Purpose of the present invention:
In the network cascade control system, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release requirement synchronous to node clock signal, also exempt simultaneously delay compensation method, realize the segmentation of network delay, real-time, online and dynamic compensation and control to measurement, estimation or the identification of time-varying network time delay between its node.
The method that the present invention adopts is:
The first step: adopt main transformer to send (control) device node to replace the compensation model of network delay therebetween to the live network data transmission procedure of carrying out between (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter send (control) device node how complicatedly and uncertain to have to the network path of carrying out (sub-control) device node from main transformer, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
Second step: adopt secondary transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure of carrying out between (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter how complicatedly and uncertain have to the network path of carrying out (sub-control) device node from secondary transmitter node, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
The 3rd step: at network cascade control system shown in Figure 2, the network delay collocation structure of enforcement the inventive method is as shown in Figure 3.
In Fig. 3, from the input R (s) and the output Y of system 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = e - τ 1 s C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 2 ( s ) [ G 2 ( s ) - G 2 m ( s ) ] e - τ 2 s + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) - - - ( 2 )
When secondary controlled device prediction model equals its true model, i.e. G 2m(s)=G 2(s) time, formula (2) but abbreviation be
Y 1 ( s ) R ( s ) = e - τ 1 s C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 2 ( s ) G 2 ( s ) + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) - - - ( 3 )
In the closed loop transfer function, denominator of the network cascade control system shown in the formula (3), do not comprise network delay τ 1And τ 2Exponential term
Figure BSA00000354940800023
With Promptly realized closed loop secular 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, improved the control performance quality of system, realized compensate function the time-varying network time delay to system stability.
The scope of application of the present invention:
The present invention is applicable in the network cascade control system, main controlled device mathematical model is known or be uncertain of, secondary controlled device mathematical model is known, can there be certain data packet loss in network, network exists only in main transformer and send between (control) device node and execution (sub-control) the device node (outer feedforward network path), and the dynamic compensation and the control of the time-varying network time delay of (internal feedback network path) between secondary transmitter node and execution (sub-control) the device node.
The invention is characterized in that this method may further comprise the steps:
1, when sending (control) device node, main transformer is sampled cycle h 1During triggering, will adopt mode A to carry out work;
2, send (control) device node with error signal e when main transformer 1(s), when carrying out the transmission of (sub-control) device node, will adopt mode B to carry out work by outer feedforward network path;
3, be sampled cycle h when secondary transmitter node 2During triggering, will adopt mode C to carry out work;
4, when secondary transmitter node with model bias signal w 2(s), when carrying out the transmission of (sub-control) device node, will adopt mode D to carry out work by the internal feedback network path;
5, when carrying out (sub-control) device node by error signal e 1(s) or (with) model bias signal w 2When (s) triggering, will adopt mode E to carry out work.
The step of mode A comprises:
A1: main transformer send (control) device node to work in the time type of drive, and it triggers the sampling period is h 1
A2: after main transformer send (control) device node to be triggered, to main controlled device G 1(s) output signal Y 1(s) sample;
A3: with given signal R of system (s) and Y 1(s) add and subtract mutually, obtain the external loop error signal e 1(s).
The step of mode B comprises:
B1: main transformer send (control) device node with error signal e 1(s), transmit to carrying out (sub-control) device node by outer feedforward network path.
The step of mode C comprises:
C1: secondary transmitter node works in the time type of drive, and it triggers the sampling period is h 2
C2: after secondary transmitter node is triggered, to secondary controlled device G 2(s) output signal Y 2(s) and the prediction model G of secondary controlled device 2m(s) output signal y 2m(s) sample;
C3: to Y 2(s) and y 2m(s) implement additive operation, obtain model bias signal w 2(s).
The step of mode D comprises:
D1: secondary transmitter node is with model bias signal w 2(s), transmit to carrying out (sub-control) device node by the internal feedback network path.
The step of mode E comprises:
E1: carry out (sub-control) device node and work in event driven manner;
E2: carry out (sub-control) device node by error signal e 1(s) or (with) model bias signal w 2(s) trigger;
E3: in carrying out (sub-control) device node, with e 1(s) with signal Y 1(s) subtract each other, obtain the inner looping error signal e 2(s);
E4: to e 2(s) implement control algolithm C 1(s), its output u 1(s) with model bias signal w 2(s) with from the output signal Y of the secondary transmitter in scene 2(s) subtract each other, obtain the inner looping error signal e 3(s);
E5: to e 3(s) implement control algolithm C 2(s), controlled signal u 2(s);
E6: with u 2(s) as drive 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. simultaneously, in node, finish G 2m(s) discreet value y 2m(s) calculating.
6, delay compensation method of the present invention, it is characterized in that main transformer send (control) device node to be made up of the embedded master controller of main transmitter, the shared same node of promptly main transmitter and master controller, main transformer send (control) device node employing time to drive triggered mode of operation, and (sampling period is h 1).
7, delay compensation method of the present invention, it is characterized in that carrying out (sub-control) device node is made up of the embedded submaster controller of actuator, be the shared same node of submaster controller and actuator, node adopts the event-driven triggered mode of operation, and (trigger pip is e 1(s) or signal w 2(s)).
8, delay compensation method of the present invention, it is characterized in that system comprises main transformer and send unit such as (control) device node, secondary transmitter node, execution (sub-control) device node, main controlled device and secondary controlled device, each unit carries out work according to the working method of setting separately.
9, delay compensation method of the present invention, it is characterized in that using really and send (control) device node to replace network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween to the network data transmission process of carrying out external loop feedforward network path (sub-control) device node from main transformer.
10, delay compensation method of the present invention, it is characterized in that using really replacing network delay compensation model therebetween to the network data transmission process of carrying out inner looping feedback network path (sub-control) device node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween from secondary transmitter node.
11, delay compensation method of the present invention is characterized in that exempting send (control) device node to measurement, observation, estimation or the identification of carrying out network delay (sub-control) device node from main transformer from structure.
12, delay compensation method of the present invention is characterized in that exempting secondary transmitter node to measurement, observation, estimation or the identification of carrying out network delay (sub-control) device node from structure.
13, delay compensation method of the present invention is characterized in that sending (control) device node, secondary transmitter node and the synchronous requirement of execution (sub-control) device node clock signal from the structure release to main transformer.
14, delay compensation method of the present invention is characterized in that realizing from structure the enforcement and concrete control strategy C of network delay compensation method 1(s) and C 2(s) selection is irrelevant.
15, delay compensation method of the present invention is characterized in that realizing that from structure the enforcement of network delay compensation method is irrelevant with the selection of concrete network communication protocol.
16, delay compensation method of the present invention is characterized in that as secondary controlled device G 2(s) with its prediction model G 2mWhen (s) equating, can realize full remuneration, improve the control performance quality of system outer forward direction of network cascade control system and internal feedback path time-varying network time delay.
17, delay compensation method of the present invention, what it is characterized in that adopting is the compensation method that " soft " changes the control system structure, need not increases any hardware device again, and the software resource that utilizes existing network cascade control system intelligent node to carry just is enough to realize its compensate function.
18, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to that main transformer send (control) device node periodic sampling and signal is handled.
19, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to that main transformer send (control) device node transmitting network data.
20, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to secondary transmitter node periodic sampling and signal are handled.
21, delay compensation method of the present invention, the mode D of it is characterized in that are applicable to secondary transmitter node transmitting network data.
22, delay compensation method of the present invention, the mode E of it is characterized in that are applicable to execution (sub-control) device node enforcement control algolithm, and secondary controlled device is implemented control action.
The present invention has following advantage:
1, send (control) device node to carrying out (sub-control) device node (external loop through path) owing to having exempted to main transformer from structure, and secondary transmitter node is to the measurement of carrying out (inner looping feedback network) time-varying network time delay between (sub-control) device node, observation, estimate or identification, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error that causes of time delay estimation model, avoided the required waste that expends the node storage resources of time delay identification, also avoided simultaneously because the compensating error that " the empty sampling " that time delay causes or " many samplings " bring.
2, owing to realized with the selection of concrete network communication protocol irrelevantly from structure, thereby both be applicable to the network cascade control system that adopts wired network protocol, also be applicable to the network cascade control system of wireless network protocol; Both be applicable to the deterministic network agreement, also be applicable to the procotol of uncertainty.
3, owing to realized with the selection of concrete network communication protocol irrelevant from structure, thereby both be applicable to heterogeneous network cascade control system based on wired network protocol, also be applicable to heterogeneous network cascade control system, also be applicable to the delay compensation of the network cascade control system of heterogeneous (as wired and wireless mixing) simultaneously based on wireless network protocol.
4, owing to realized with the selection of the control strategy of concrete master (pair) controller irrelevant from structure, thereby both can be used for adopting the network cascade control system of conventional control, also can be used for adopting Based Intelligent Control or adopt the network cascade control system of complicated control strategy.
5, because the present invention adopts is the compensation method that " soft " changes the control system structure, thereby in its implementation procedure, need not to increase again any hardware device, the software resource that utilizes existing network cascade control system intelligent node to carry, just be enough to realize its compensate function, thereby can save hardware investment, be easy to be extended and applied.
Description of drawings
Fig. 1 exists only in network cascade control system block scheme in the through path for network.
Fig. 2 exists only in network cascade control system structural drawing in the through path for network.
Fig. 3 becomes the delay compensation method structural drawing when being outer forward direction of network cascade control system of the present invention and internal feedback path
In the block scheme of Fig. 1, system is by input signal (R), and main transformer send (control) device (S 1/ C 1) node, outer feedforward network, secondary transmitter (S 2) node, the internal feedback network is carried out (sub-control) device (A/C 2) node, secondary controlled device (G 2) and output (Y 2), and main controlled device (G 1) and output (Y 1) form.
Built-in main controller in the main transmitter, the shared same node (S of promptly main transmitter and master controller 1/ C 1), node adopts the time type of drive to carry out work, and the triggering cycle is h 1,, and sampled signal handled main controlled device implementation cycle sampling.
Secondary transmitter (S 2) be an isolated node, adopt the time type of drive to carry out work, the triggering cycle is h 2, the secondary controlled device implementation cycle is sampled.
The built-in submaster controller of actuator, the i.e. shared same node (A/C of actuator and submaster controller 2), adopt event driven manner to carry out work, send (control) device (S by main transformer 1/ C 1) output signal node or (with) secondary transmitter (S 2) output signal of node triggers by network, the output signal of its node drives topworks, thereby changes secondary controlled device (G 2) state, and then change main controlled device (G 1) state.
The main transformer of system send (control) device (S among Fig. 1 1/ C 1) node, secondary transmitter (S 2) node and execution (sub-control) device (A/C 2) node all is intelligent node, not only possess storage computing and communication function, but also possess software configuration and control function, these nodes comprise now hardware such as intelligent node common in the industrial field bus control system (FCS) of widespread use and the Distributed Control System (DCS) (DCS) or smart machine.
In the system of Fig. 2, the time-varying network time delay in the data transmission has remarkable influence for the stability and the control performance quality of system. and the data transmission of network cascade control system is experiencing from main transformer send (control) device node to the network data transmission time delay τ that carries out (outer feedforward network path) (sub-control) device node 1, and secondary transmitter node is to the network data transmission time delay τ that carries out (inner looping feedback network path) between (sub-control) device node 2Influence. time delay is relevant with concrete factors such as procotol, offered load size and network topology structure, yet for the measurement of network delay or estimate or observation or identification have become the crucial precondition of realization to its compensation., each node distribution that connects by network makes each node in the network cascade control system be difficult to satisfy the synchronous requirement of clock signal, simultaneously, because the time change and sudden of network delay will accomplish that it is impossible that each step can both accurately be predicted.
In the system of Fig. 3, do not comprise from main transformer and send (control) device node, do not comprise from secondary transmitter node yet to the network delay prediction model of carrying out (inner looping feedback network) (sub-control) device node to the network delay prediction model of carrying out (external loop through path) (sub-control) device node. exempted time-varying network time delay τ 1And τ 2Measurement, estimation, observation or identification, also exempted simultaneously (main transformer send (control) device, secondary transmitter, execution (sub-control) device) the synchronous requirement of node clock signal. when secondary controlled device equates with its prediction model, can realize output signal Y from the input signal R (s) of system to system 1(s) in the closed loop transfer function,, with network delay τ 1And τ 2Exponential term With
Figure BSA00000354940800052
From denominator, eliminate, promptly realize not comprising in the closed loop secular equation network delay τ 1And τ 2Exponential term, thereby reduced the influence of time delay to system stability, improved the control performance quality of system, realize compensation and control to the time-varying 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 below with reference to accompanying drawing 3.
Concrete implementation step is as described below:
The first step: the main transformer that works in the time type of drive send (control) device node to main controlled device G 1(s) output signal Y 1(s) (sampling period is h to carry out periodic sampling 1); With given signal R of system (s) and Y 1(s) add and subtract mutually, obtain error signal e 1(s);
Second the step: by external loop feedforward network path with e 1(s) be transferred to execution (sub-control) device node, and it is in running order to trigger its node;
The 3rd step: the secondary transmitter node that works in the time type of drive is to secondary controlled device G 2(s) output signal Y 2(s) and secondary controlled device prediction model G 2m(s) output signal y 2m(s) (sampling period is h to carry out periodic sampling 2), and to Y 2(s) and y 2m(s) implement additive operation, obtain model bias signal w 2(s);
The 4th the step: by inner looping feedback network path with w 2(s) be transferred to execution (sub-control) device node, and it is in running order to trigger its node;
The 5th step: carry out (sub-control) device node by e 1(s) or (with) w 2(s) after the triggering, with signal e 1(s) and Y 1(s) subtract each other, obtain error signal e 2(s); To e 2(s) implement C 1(s) control, its output signal is u 1(s); With u 1(s) and w 2(s) and Y 2(s) subtract each other, obtain error signal e 3(s); To e 3(s) implement C 2(s) control, its output signal is u 2(s); With u 2(s) drive topworks, thereby change secondary controlled device G 2(s) state, and then change main controlled device G 1(s) state. simultaneously, in its node, finish G 2m(s) discreet value y 2m(s) calculating;
The 6th step: return the first step.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
The content that is not described in detail in this instructions belongs to this area professional and technical personnel's known prior art.

Claims (10)

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