CN102033534B - Method for compensating for varying network time delay in external feedback and inner loop network paths of network cascade control system - Google Patents

Method for compensating for varying network time delay in external feedback and inner loop network paths of network cascade control system Download PDF

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CN102033534B
CN102033534B CN201010557534.6A CN201010557534A CN102033534B CN 102033534 B CN102033534 B CN 102033534B CN 201010557534 A CN201010557534 A CN 201010557534A CN 102033534 B CN102033534 B CN 102033534B
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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 varying network time delay in external feedback and inner loop network paths of a network cascade control system and belongs to the technical field of network control systems. Real network data transmission processes between external feedback network path nodes and between inner loop network path nodes are 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 varying time delay between the nodes are eliminated; and the requirement on the synchronization of a node clock signal is eliminated. By the method, the influence of the varying network varying 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 varying network time delay only existing in the external feedback and inner loop network paths of the network cascade control system, in which the main controlled target mathematical model is known or unknown, the secondary controlled target mathematical model is known, and the network has a certain amount of packets.

Description

Network cascade control system external feedback and inner looping time-varying network delay compensation method
Technical field
The present invention relates in the network cascade control system, the compensation method of external feedback and inner looping network path time-varying network time delay, belong to the network control system technical field.
Background technology
The real-time distributed control system that feedback loop connects by network is called network control system (Networked Control Systems, NCS). and this system maybe will be applied in fields such as large scale industry Process Control System, building automatic, Intelligent Vehicle System, spacecraft, naval vessel and tele-manipulators.
NCS can realize resource-sharing and remote operation and control, there is higher diagnosis capability, I&M is easy, can effectively reduce the weight and volume of system, the flexibility of raising system and reliability. still, NCS is bringing the various whiles easily by shared network resource to control system, brought new challenge also to the research of system and control theory. network delay, packet loss makes the analysis of network control system become more complicated with many bag transmission problems. its middle controller, time delay between actuator and transmitter is by channel competition, the overhead that physical signalling coding and communication protocol processing etc. bring. time delay is at the control performance that has reduced in varying degrees system, even cause the unstable of system. while especially on network, having a plurality of control loop, network delay can make between each loop to produce coupling, thereby make the analysis and design of network control system more complicated. therefore, network delay is that NCS analyzes one of key factor with design, must reduce time delay as far as possible, reduce its uncertainty, to overcome its adverse effect to control system.
At present, research about network control system is mainly 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, the analysis that network delay is affected and the research of systematic function are more complex more than single-circuit network control system. and the inner looping network delay will have a strong impact on rapidity and the antijamming capability of inner looping network control system, also will together with the external loop network delay, stability and the control quality to whole network cascade control system have a negative impact simultaneously.
Difficult point for network delay research is:
(1) relevant with factors such as network topology structure, communication protocol, offered load, the network bandwidth and data package sizes due to network delay. to being greater than network delay several and even the dozens of sampling period, set up accurately predict, the Mathematical Modeling of estimation or identification, be almost impossible at present.
(2) occur in the previous node network delay in node transmitting network data process backward, no matter adopt which kind of prediction or method of estimation in previous node, all can not know in advance the exact value of the network delay produced thereafter in advance. time delay causes systematic function decline even to cause system unstable, brings difficulty also to analysis and the design of control system simultaneously.
(3) will meet in the network cascade control system, all node clock signal Complete Synchronizations in different distributions place are unpractical.
Exist only in the network cascade control system as shown in Figure 2 in external loop feedback network and whole inner looping feedback and through path for network, its input R (s) and output Y 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) e - τ 1 s + C 2 ( s ) e - τ 2 s G 2 ( s ) e - τ 3 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 transferred to through the external feedback network path time-varying network time delay that main (pair) controller node produces from main transmitter node by network data; τ 2expression is transferred to through interior feedforward network path the time-varying network time delay that the actuator node produces from master's (pair) controller node by network data; τ 3expression is transferred to through the internal feedback network path time-varying network time delay that main (pair) controller node produces from secondary transmitter node by network data.
Comprise network delay τ in denominator due to the closed loop transfer function, shown in equation (1) 1, τ 2and τ 3exponential term
Figure BSA00000359713400012
with
Figure BSA00000359713400013
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 by time-varying network time delay τ 1, τ 2and τ 3exponential term with
Figure BSA00000359713400021
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 1, τ 2and τ 3measurement, carry out delay compensation τ 1, τ 2and τ 3impact on the stability of a system. still, due to network delay τ 1, τ 2and τ 3measurement 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, realize the nodal clock Complete Synchronization if be difficult to. adopt network delay is estimated, observation, the method of 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 due to the size of network delay and concrete procotol, the factors such as offered load size and network topology structure are relevant, estimation to network delay, observation, all may there be deviation in identification or prediction.
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 the compensating action of time-varying network time delay in network cascade control system external loop feedback network and whole inner looping feedback and through path has been become in the 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 the external loop feedback network, and the dynamic compensation method of network cascade control system time-varying network time delay in whole inner looping feedback and 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 through path), the measurement of time-varying network time delay, estimation or identification, realize segmentation, the compensation in real time, online and dynamically to network delay and control.
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 from secondary transmitter node, to the network path master's (pair) controller 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.
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 from master's (pair) controller 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, 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 from main transmitter node, to the network path master's (pair) controller 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 4th 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, from input R (s) and the output Y of system 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = e - τ 2 s C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + e - τ 2 s C 1 ( s ) C 2 ( s ) [ G 2 ( s ) - G 2 m ( s ) ] e - τ 3 s + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) - - - ( 2 )
When sub-quilt control object 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 2 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 network cascade control system, do not comprise network delay τ shown in formula (3) 1, τ 2and τ 3exponential term
Figure BSA00000359713400024
with
Figure BSA00000359713400025
realized closed loop characteristic equation 1+C 2(s) G 2(s)+C 1(s) C 2(s) G 2(s) G 1(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 time-varying 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 main quilt control mathematical model of controlled plant, sub-quilt control mathematical model of controlled plant is known, can there be a certain amount of data packet loss in network, and network exists only in dynamic compensation and the control of the time-varying network time delay in network cascade control system external loop feedback network and whole inner looping feedback and through path.
The invention is characterized in that the method comprises the following steps:
1, be sampled cycle h when main transmitter node 1during triggering, will adopt mode A to carry out work;
2, when main transmitter node by main quilt control object G 1(s) output signal Y 1(s), while 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 by model error signal w 2(s), while 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) w 2(s), while triggering, will adopt mode E to carry out work;
6, when master's (pair) controller node by interior feedforward network path by error signal e 2(s), while transmitting to the actuator node, will adopt mode F to carry out work;
7, when the actuator node by error signal e 2(s), while 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 quilt control object G 1(s) output signal Y 1(s) sampled.
The step of mode B comprises:
B1: main transmitter node is by signal Y 1(s), by the external feedback network path, to master's (pair) controller node, transmit.
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 sub-quilt control object G 2(s) output signal Y 2and the prediction model G of sub-quilt control object (s) 2m(s) output signal y 2m(s) sampled;
C3: to Y 2and y (s) 2m(s) implement additive operation, obtain model error signal w 2(s).
The step of mode D comprises:
D1: secondary transmitter node is by model error signal w 2(s), by the internal feedback network path, to master's (pair) controller node, transmit.
The step of mode E comprises:
E1: main (pair) controller node works in event driven manner;
E2: main (pair) controller node is by Y 1or w (s) 2(s) trigger;
E3: by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain error signal e 1(s);
E4: by signal e 1(s) deduct w 2(s), obtain error signal e 2(s).
The step of mode F comprises:
F 1: main (pair) controller node by interior feedforward network path by error signal e 2(s) to the actuator node, transmit.
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: by 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 is u 1(s);
G5: by u 1(s) with from the signal Y of on-the-spot secondary transmitter 2(s) signal subtraction, obtain error signal e 4(s);
G6: to e 4(s) carry out C 2(s) control algorithm, its output signal is u 2(s);
G7: 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; Simultaneously, complete G in node 2m(s) discreet value y 2m(s) calculating.
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, form main (pair) controller node, and main (pair) controller node adopts the event-driven triggered mode of operation, and (triggering signal is signal Y 1(s) or (with) w 2(s).
9, delay compensation method of the present invention, it is characterized in that system comprises the ，Ge unit, unit such as main transmitter node, secondary transmitter node, master's (pair) controller node, actuator node, main quilt control object and sub-quilt control object and 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 using the network data transmission process from main transmitter node to external loop feedback network path master's (pair) controller node really to replace network delay compensation model therebetween, 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 using the network data transmission process from master's (pair) controller node to inner looping feedforward network path the actuator node really to replace network delay compensation model therebetween, 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 using the network data transmission process from secondary transmitter node to inner looping feedback network path master's (pair) controller node really to replace network delay compensation model therebetween, 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 to network delay the actuator node to master's (pair) controller node from structure.
15, delay compensation method of the present invention, is characterized in that exempting measurement, observation, estimation or the identification to network delay master's (pair) controller node to secondary transmitter 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 1and C (s) 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, is characterized in that as sub-quilt control object G 2(s) with its prediction model G 2m(s) while equating, can realize the full remuneration to network cascade control system external feedback and inner looping network path time-varying network time delay, improve the control performance quality of system.
20, 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.
21, delay compensation method of the present invention, the mode A of it is characterized in that is applicable to main transmitter node periodic sampling and signal is processed.
22, delay compensation method of the present invention, the mode B of it is characterized in that is 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 is applicable to secondary transmitter node periodic sampling and signal is processed.
24, delay compensation method of the present invention, the mode D of it is characterized in that is 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 is applicable to main (pair) controller node signal is processed.
26, delay compensation method of the present invention, the mode F of it is characterized in that is 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 is applicable to the actuator node to sub-quilt control object G 2(s) implement to control, and signal processed.
The present invention has following advantage:
1, due to measurement, observation, estimation or the identification of having exempted time-varying network time delay in external circuit feedback path and whole inner looping feedback and through path from structure, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error caused of time delay estimation model, avoided to 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 the control strategy of concrete master (pair) controller 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 the network cascade control system block diagram 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 structure chart 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 time-varying network delay compensation method structure chart
In the block diagram of Fig. 1, system is by input signal (R), main quilt control object (G 1), main transmitter (S 1), external loop feedback network path, main (pair) controller (C 1/ C 2); Sub-quilt control object (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 quilt control object (G 1) the implementation cycle sampling, and sampled signal is 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 by inner looping feedback network path, trigger.
Secondary transmitter (S 2) node adopts the time type of drive to carry out work, the triggering cycle is h 2, to sub-quilt control object (G 2) the implementation cycle sampling, and sampled signal is processed.
Actuator (A) node adopts event driven manner to carry out work, and the control signal by master's (pair) controller node by inner looping feedforward network path triggers, thereby drives actuator to change sub-quilt control object (G 2) state, and then change main quilt control object (G 1) state.
Main transmitter (the S of system in Fig. 1 1) node, secondary transmitter (S 2) node, main (pair) controller (C 1/ C 2) node and actuator (A) node be all intelligent node, not only possess storage calculation function and communication function, and possess software configuration and control function, these nodes comprise now the hardware such as intelligent node common in the industrial field bus control system (FCS) of extensive use and Distributed Control System (DCS) or smart machine.
In the system of Fig. 2, the time variation network transfer 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 transmitter node and is being transferred to through the external feedback network path time-varying network time delay τ that main (pair) controller node produces 1, from master's (pair) controller node, through interior feedforward network path, be transferred to the time-varying network time delay τ that the actuator node produces 2, and be transferred to through the internal feedback network path time-varying network time delay τ that main (pair) controller node produces from secondary transmitter node 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 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 time variation 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 transmitter node and be transferred to the network delay prediction model between main (pair) controller node through the external feedback network path, do not comprise from master's (pair) controller node yet and be transferred to the network delay prediction model between the actuator node through interior feedforward network path, and be transferred to the network delay prediction model between main (pair) controller node from secondary transmitter node through the internal feedback network path. exempted time-varying 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 while equating, 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 1, τ 2and τ 3exponential term
Figure BSA00000359713400061
with
Figure BSA00000359713400062
eliminate from denominator, realize in the closed loop characteristic equation not comprising network delay τ 1, τ 2and τ 3exponential term, thereby reduced the impact of time delay on the stability of a system, improved the control performance quality of system, realize compensation and control to the time-varying 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: work in the main transmitter node of time type of drive to main quilt control object G 1(s) output signal Y 1(s) (sampling period is h to carry out periodic sampling 1);
Second step: main transmitter node is by 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 sub-quilt control object G 2(s) output signal Y 2and its prediction model G (s) 2m(s) output signal y 2m(s) (sampling period is h to carry out periodic sampling 2), and to Y 2and y (s) 2m(s) implement additive operation, obtain model error signal w 2(s);
The 4th step: secondary transmitter node is by w 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) w 2(s) trigger; Main (pair) controller node is by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain the external loop error signal e 1(s); By signal e 1(s) deduct w 2(s), obtain the inner looping error signal e 2(s);
The 6th step: main (pair) controller node is by 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 triggering; In its node by 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); By u 1and Y (s) 2(s) signal subtraction, obtain error signal e 4(s); To e 4(s) carry out C 2(s) control algorithm, its output signal is u 2(s); 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; Simultaneously, complete G in node 2m(s) discreet value y 2m(s) calculating;
The 8th 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 (9)

1. network cascade control system external feedback and inner looping time-varying network delay compensation method is characterized in that the method comprises the following 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 by main quilt control object G 1(s) output signal Y 1(s), while being embedded in to master controller the major-minor controller node transmission that submaster controller forms 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 by model error signal w 2(s), while transmitting to the major-minor controller node by the internal feedback network path, will adopt mode D to carry out work;
(5). when the major-minor controller node by signal Y 1(s) or/and w 2(s), while triggering, will adopt mode E to carry out work;
(6). when the major-minor controller node by interior feedforward network path by error signal e 2(s), while transmitting to the actuator node, will adopt mode F to carry out work;
(7). when the actuator node by error signal e 2(s), while 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 quilt control object G 1(s) output signal Y 1(s) sampled;
The step of described mode B comprises:
B1: main transmitter node is by signal Y 1(s), by the external feedback network path, to the major-minor controller node, transmit;
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 sub-quilt control object G 2(s) output signal Y 2and the prediction model G of sub-quilt control object (s) 2m(s) output signal y 2m(s) sampled;
C3: to Y 2and y (s) 2m(s) implement additive operation, obtain model error signal w 2(s);
The step of described mode D comprises:
D1: secondary transmitter node is by model error signal w 2(s), by the internal feedback network path, to the major-minor controller node, transmit;
The step of described mode E comprises:
E1: the major-minor controller node works in event driven manner;
E2: the major-minor controller node is by Y 1or w (s) 2(s) trigger;
E3: by the given signal R of system (s) and Y 1(s) add and subtract mutually, obtain error signal e 1(s);
E4: by signal e 1(s) deduct w 2(s), obtain error signal e 2(s);
The step of described mode F comprises:
F1: the major-minor controller node by interior feedforward network path by error signal e 2(s) to the actuator node, transmit;
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: by 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 is u 1(s);
G5: by u 1(s) with from the signal Y of the secondary transmitter in scene 2(s) signal subtraction, obtain error signal e 4(s);
G6: to e 4(s) carry out C 2(s) control algorithm, its output signal is u 2(s);
G7: 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; Simultaneously, complete G in node 2m(s) discreet value y 2m(s) calculating.
2. method according to claim 1, it is characterized in that the major-minor controller node is embedded in submaster controller by master controller and is formed, be that master controller and submaster controller share same node, form the major-minor controller node, and the major-minor controller node adopts the event-driven triggered mode of operation, and triggering signal is signal Y 1(s) or/and w 2(s).
3. method according to claim 1, it is characterized in that system comprises main transmitter node, secondary transmitter node, major-minor controller node, actuator node, main quilt control object and sub-quilt control object unit, each unit carries out work according to working method and the function set separately.
4. method according to claim 1, is characterized in that replacing network delay compensation model therebetween by the real network data transmission process from main transmitter node to external loop feedback network path the major-minor controller node; Replace network delay compensation model therebetween by the real network data transmission process from the major-minor controller node to inner looping feedforward network path the actuator node; Replace network delay compensation model therebetween by the network data transmission process of inner looping feedback network path saving from secondary transmitter node to the major-minor controller really, 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 the major-minor controller node from structure, from the major-minor controller node to the actuator node, and measurement, observation, estimation or identification from secondary transmitter node to network delay the major-minor controller node; Release is to main transmitter node, secondary transmitter node, major-minor 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 1and C (s) 2(s) selection is irrelevant, irrelevant with the selection of concrete network communication protocol.
7. method according to claim 1, is characterized in that as sub-quilt control object G 2(s) with its prediction model G 2m(s) while equating, can realize the full remuneration to network cascade control system external feedback and inner looping network path time-varying network time delay, improve the control performance quality of system.
8. 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.
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 the major-minor controller node signal is processed; Mode F is applicable to major-minor controller node transmitting network data; Mode G is applicable to the actuator node to sub-quilt control object G 2(s) implement to control, and signal is processed.
CN201010557534.6A 2010-11-18 2010-11-18 Method for compensating for varying network time delay in external feedback and inner loop network paths of network cascade control system Expired - Fee Related CN102033534B (en)

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