CN102033535B - Time delay compensation method with double-control function between transmitter (controller) and actuator - Google Patents
Time delay compensation method with double-control function between transmitter (controller) and actuator Download PDFInfo
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- CN102033535B CN102033535B CN2010105575505A CN201010557550A CN102033535B CN 102033535 B CN102033535 B CN 102033535B CN 2010105575505 A CN2010105575505 A CN 2010105575505A CN 201010557550 A CN201010557550 A CN 201010557550A CN 102033535 B CN102033535 B CN 102033535B
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Abstract
The invention provides a time delay compensation method with a double-control function between a transmitter (controller) and an actuator, belonging to the interdisciplinary field between network communication technology and control technology. The invention replaces the network time delay compensation model between the transmitter (controller) node and the actuator node with the network data transmission process between the true transmitter (controller) node and the actuator node, thereby avoiding the measurement, estimation or identification of the network data transmission time delay between nodes and ignoring the requirement for node clock signal synchronization. When the controlled object preestimates a deviation between the model parameter and the true model parameter, a second controller can enhance the robustness and antijamming capacity of the system. The method can be used for reducing the influence of network time delay on the system stability and improving the quality of the system control performance. The invention is suitable for network control system time delay compensation and control when the mathematical model of the controlled object is given or not completely given and the network only exists between the transmitter (controller) node and the actuator node.
Description
Technical field
The present invention relates to network and exist only in and become the method for compensating network delay with the dual control function send between (control) device and the actuator node, belong to the network control system technical field.
Background technology
The closed-loop feedback control system that consists of based on Real Time Communication Network is called network control system (Networked control systems, NCS), is applicable to network control system typical structure block diagram of the present invention as shown in Figure 1.
Network control system has demonstrated fully the future development of control system to networked, integrated, distribution, node intelligent, realized that Internet resources are shared, and increased flexibility and the reliability of system. still, because the network bandwidth is limited, the transmission of information can produce network delay inevitably, the existence of time delay is so that poor system performance, when serious even have influence on Systems balanth. simultaneously, since randomness and the uncertainty of network delay, the in the extreme difficulty so that the analysis and design of network control system becomes.
Exist only in to become for as shown in Figure 2 network and send (control) device and the internodal network control system of actuator, it inputs R (s) and closed loop transfer function, of exporting between the Y (s) is
In the formula: C
1(s) be controller; G (s) is controlled device; τ represents network delay that network data is produced when change send (control) device node to be transferred to the actuator node.
Owing to there being the exponential term e of network delay τ in the denominator of the closed loop transfer function, shown in the equation (1)
-τ s, 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 change is sent the exponential term e of the network delay τ between (control) device node and the actuator node
-τ sFrom the denominator of equation (1), remove, namely realize not comprising in the closed loop secular equation exponential term of network delay, yet and then realization is to the compensating action of network delay., realize the compensation to network delay, at first must know the size of network delay. at present, usually the method that adopts both at home and abroad is by the measurement to network delay τ, come delay compensation on the impact of system stability. still, because the Measurement accuracy to network delay need to satisfy the synchronous requirement of node clock signal, if adopt hardware to realize the node clock signal Complete Synchronization, then need larger economic input; If adopt software position signal, when then transmitting between node owing to correction signal, may meet with the impact of network delay, be difficult to realize the nodal clock Complete Synchronization; If adopt to network delay estimate, the method for identification or prediction obtains the size of network delay, then must know the accurate probability distribution of network delay, or mathematical model accurately, but because the size of network delay may be random, become in the time of also may being, its value is relevant with the concrete factors such as procotol, offered load size and network topology structure, all may have deviation to estimation or the identification of network delay.
Therefore, how to exempt and send (control) device node and actuator node clock signal synchronous requirement to change, release is sent the estimation of network delay between (control) device node and actuator node or is debated knowledge change, can obtain again simultaneously between the node accurately time delay value, and then realize change is sent the compensating action of network delay between (control) device node and the actuator node, having become network control system needs a difficulties solving in studying.
Summary of the invention
In order to solve the problems of the technologies described above, to the invention provides a kind of network that relates to and exist only in and become the Delays In Networked Control System compensation method send between (control) device node and the actuator node.
Purpose of the present invention:
Exist only in for network and to become in the network control system send between (control) device node and the actuator node, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release requirement synchronous to node clock signal, also exempt simultaneously the delay compensation method of measurement, estimation or identification to its network delay, realize in real time, online and dynamically compensation and control to network delay.
The method that the present invention adopts is:
The first step: adopt to become and send (control) device node to replace the compensation model of network delay therebetween to real network data transmission process between the actuator node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter send (control) device node to the network path the actuator node how complicated and uncertain to be arranged from change, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
Second step: exist only in for network shown in Figure 2 and to become the network control system send between (control) device node and the actuator node, the delay compensation of enforcement the inventive method is as shown in Figure 3.
In Fig. 3, from the input R (s) of system and the closed loop transfer function, between the output Y (s) be
As controlled device prediction model G
mWhen (s) equaling controlled device G (s), formula (2) but abbreviation be
In the denominator of closed loop transfer function,, do not comprise the exponential term e of network delay τ shown in the formula (3)
-τ s, namely realized at its closed loop secular equation 1+C
1(s) do not comprise the exponential term of network delay among the G (s)=0, thereby eliminated the impact of network delay on system stability, improved the control performance quality of system, realized the compensate function to network delay.
As controlled device prediction model G
mWhen (s) being not equal to controlled device G (s), second controller C
2(s) can strengthen system robustness and antijamming capability.
The scope of application of the present invention:
The present invention is applicable to network and exists only in and become in the network control system send between (control) device node and the actuator node, the controlled device mathematical model is known or not exclusively know, its network delay can be at random, time becomes or uncertain, also can be known or definite network delay compensation and control.
The invention is characterized in that the method may further comprise the steps:
1, when change send (control) device node to be triggered by the periodic sampling signal, will adopt mode A to carry out work;
2, send (control) device node with control signal u when change
1When (s) transmitting to the actuator node by the feedforward network path, will adopt mode B to carry out work;
3, when the actuator node by signal u
1When (s) triggering, will adopt mode C to carry out work.
The step of mode A comprises:
A1: become and send (control) device node to work in the time type of drive, its trigger pip is the periodic sampling signal;
A2: after change send (control) device node to be triggered, to output signal Y (s) and the controlled device prediction model G of controlled device G (s)
m(s) output signal y
Gm(s) sample;
A3: with Y (s) and y
Gm(s) implement additive operation, obtain the model bias signal w (s) of controlled device;
A4: with the given signal R of system (s) and w (s) and y
m(s) implement additive operation, obtain error signal e (s);
A5: e (s) is implemented control algolithm C
1(s), controlled signal u
1(s).
The step of mode B comprises:
B1: become and send (control) device node with control signal u
1(s), transmit to the actuator node by the feedforward network path.
The step of mode C comprises:
C1: the actuator node works in event driven manner, and controlled signal u
1(s) trigger;
C2: in the actuator node, according to the size of the model bias signal w (s) of controlled device, second controller C
2(s) implement conventional control or Intelligent Control Strategy, its output signal is u
2(s);
C3: with u
1(s) and u
2(s) difference u
3(s) as the Execution driven signal, controlled device G (s) is implemented control;
C4: finish controlled device prediction model G
m(s) output signal y
Gm(s) calculating.
4, delay compensation method of the present invention is characterized in that system comprises change and send the unit such as (control) device, actuator, second controller, controlled device and its prediction model, and each unit carries out work according to the working method of setting separately.
5, delay compensation method of the present invention, it is characterized in that using and send (control) device to replace network delay compensation model therebetween to the network data transmission process the actuator node from change really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
6, delay compensation method of the present invention is characterized in that controller C
1(s) be used for reducing (elimination) error signal e (s) to the impact of dynamic performance.
7, delay compensation method of the present invention is characterized in that as true controlled device G (s) and its prediction model G
m(s) during indifference (w (s)=0), can realize the full remuneration to the feedforward network path time delay, improve the control quality of system.
8, delay compensation method of the present invention is characterized in that as true controlled device G (s) and its prediction model G
mWhen (s) poor (w (s) ≠ 0) being arranged, second controller C
2(s) can strengthen robustness and the antijamming capability of system.
9, delay compensation method of the present invention is characterized in that sending measurement, estimation or the identification of (control) device to the network delay the actuator node from the structure release to change.
10, delay compensation method of the present invention is characterized in that sending (control) device and the synchronous requirement of actuator node clock signal from the structure release to change.
11, 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 control strategy.
12, 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.
13, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to become and send (control) device periodic sampling and signal is processed.
14, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to become and send (control) device transmitting network data.
15, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to the actuator node and implement the second control and carry out function.
The present invention has following advantage:
1, because from measurement, estimation or the identification of structure release to network delay, exempted the synchronous requirement of node clock signal, and then avoided the inaccurate evaluated error that causes of time delay estimation model, avoided the required waste that expends the node storage resources of time-delay identification, also avoided simultaneously because the compensating error that " the empty sampling " that time delay causes or " many samplings " bring.
2, owing to realizing with the selection of concrete network communication protocol irrelevantly from structure, thereby both be applicable to adopt the network control system of wired network protocol, also be applicable to the wireless network protocol network control system; Both be applicable to the deterministic network agreement, also be applicable to the procotol of uncertainty.
3, owing to having realized with the selection of concrete control strategy irrelevantly from structure, thereby both can be used for adopting the network control system of conventional control, the network control system that also can be used for adopting Based Intelligent Control or adopt the complex control strategy.
4, the inventive method both can be used for constant time delay (comprising without propagation delay time), also can be used for random, time to become and the nondeterministic network delay compensation.
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 control system intelligent node to carry, just be enough to realize its compensate function, thereby can save hardware investment, be easy to be extended and applied.
Description of drawings
Fig. 1 is that network exists only in and becomes the network control system block scheme send between (control) device node and the actuator node.
Fig. 2 is that network exists only in and becomes the network control system structural drawing send between (control) device node and the actuator node.
Fig. 3 is that the structural drawing of the Delays In Networked Control System compensation method between (control) device node and the actuator node is sent in change of the present invention.
Exist only at Fig. 1 network and to become in the network control system block scheme send between (control) device node and the actuator node, system comprises input signal R, output signal Y, controlled device (G), become and send (control) device (S/C), the feedforward network path, the unit such as actuator (A). wherein:
Become and to send (control) device (S/C) node employing time type of drive to carry out work, the triggering cycle is h, and controlled device (G) implementation cycle is sampled.
Actuator (A) node adopts event driven manner to carry out work, send (control) device (S/C) node to trigger by the control signal of feedforward network path by change, its output signal node changes the state of controlled device (G), realizes the control action to controlled device (G).
(control) device (S/C) node is sent in change among Fig. 1, and actuator (A) node all is intelligent node, not only possess storage calculation function and communication function, and all possess software configuration and control function, these nodes comprise now the hardware such as intelligent node common in the industrial field bus control system (FCS) of widespread use and the Distributed Control System (DCS) (DCS) or smart machine.
Exist only at Fig. 2 network and to become in the network control system structural drawing send between (control) device node and the actuator node, system comprises input signal R, output signal Y, controlled device (G), feedforward network delay e
-τ s, controller C
1Deng the unit.
Data transfer is experiencing from change and is sending the impact of (control) device node to the network data transmission time delay τ the actuator node among Fig. 2. time delay and concrete procotol, the factors such as offered load size and network topology structure are relevant, present or permanent, or random, or the time become, or the characteristic such as uncertain, measurement for network delay, or estimate, or observation, yet or identification becomes the crucial precondition that realizes its compensation., the distributivity of each node by network connection is so that each node in the network control system is difficult to satisfy the requirement of clock synchronous, simultaneously, because the randomness of network delay and sudden will accomplish that each step can both Accurate Prediction be impossible.
In Delays In Networked Control System compensation method structural drawing between (control) device node and the actuator node was sent in Fig. 3 change of the present invention, system comprised input signal R, output signal Y, controlled device (G), controlled device prediction model (G
m), feedforward network postpones e
-τ s, controller C
1, second controller C
2Deng the unit.
Owing to not containing the prediction model of network delay among Fig. 3, exempted random, time have been become or measurement, estimation, observation or the identification of uncertain network delay τ, also exempted simultaneously and sent (control) device node and the synchronous requirement of actuator node clock signal to change, and realized the exponential term e with network delay τ
-τ sFrom the closed loop secular equation, eliminate, thereby reduced the impact of time delay on system stability, improved the control performance quality of system, realized compensation and control to network delay.
Embodiment
The below will by describing exemplary embodiment of the present invention in detail with reference to accompanying drawing 3, make clearer above-mentioned and other feature and advantage of the present invention of those of ordinary skill in the art.
The implementation step is as described below:
The first step: the change that works in the time type of drive send (control) device node that controlled output signal Y to G (s) (s) and controlled device are estimated mould G
m(s) output signal y
Gm(s) carry out periodic sampling; And to Y (s) and y
Gm(s) implement additive operation, obtain model bias signal w (s); With given signal R (s) and w (s) and y
m(s) implement additive operation, obtain error signal e (s); E (s) is implemented control algolithm C
1(s), controlled signal u
1(s); With control signal u
1(s), transmit to the actuator node by the feedforward network path;
Second step: work in the actuator node of event driven manner by feedforward network path signal u
1(s) trigger; With control signal u
1(s) put on G
m(s), obtain model output signal y
Gm(s); According to the size of the model bias signal w (s) of controlled device, second controller C
2(s) implement conventional control or Intelligent Control Strategy, its output signal is u
2(s); With u
1(s) and u
2(s) difference u
3(s) as the Execution driven signal, controlled device G (s) is implemented control;
The 3rd step: return the first step.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
The content that is not described in detail in this instructions belongs to the known prior art of this area professional and technical personnel.
Claims (8)
1. become give or controller and actuator between with the delay compensation method of dual control function, it is characterized in that the method may further comprise the steps:
(1). send or controller node when being triggered by the periodic sampling signal when change, will adopt mode A to carry out work;
(2). when change give or controller node with control signal u
1When (s) transmitting to the actuator node by the feedforward network path, will adopt mode B to carry out work;
(3). when the actuator node by signal u
1When (s) triggering, will adopt mode C to carry out work;
The step of described mode A comprises:
A1: change send or controller node works in the time type of drive, and its trigger pip is the periodic sampling signal;
A2: after change is sent or controller node is triggered, to output signal Y (s) and the controlled device prediction model G of controlled device G (s)
m(s) output signal y
Gm(s) sample;
A3: with Y (s) and y
Gm(s) implement additive operation, obtain the model bias signal w (s) of controlled device;
A4: with the given signal R of system (s) and w (s) and y
m(s) implement additive operation, obtain error signal e (s);
A5: e (s) is implemented control algolithm C
1(s), controlled signal u
1(s);
The step of described mode B comprises:
B1: become give or controller node with control signal u
1(s), transmit to the actuator node by the feedforward network path;
The step of described mode C comprises:
C1: the actuator node works in event driven manner, and controlled signal u
1(s) trigger;
C2: in the actuator node, according to the size of the model bias signal w (s) of controlled device, second controller C
2(s) implement conventional control or Intelligent Control Strategy, its output signal is u
2(s);
C3: with u
1(s) and u
2(s) difference u
3(s) as the Execution driven signal, controlled device G (s) is implemented control;
C4: finish controlled device prediction model G
m(s) output signal y
Gm(s) calculating.
2. method according to claim 1 is characterized in that system comprises change and send or controller, actuator, second controller, controlled device and prediction model unit thereof, and each unit carries out work according to the working method of setting separately.
3. method according to claim 1, it is characterized in that sending or controller replaces network delay compensation model therebetween to the network data transmission process the actuator node from change really with all, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
4. method according to claim 1 is characterized in that controller C
1(s) be used for reducing or eliminating error signal e (s) to the impact of dynamic performance.
5. method according to claim 1 is characterized in that as true controlled device G (s) and its prediction model G
m(s) during indifference (w (s)=0), can realize the full remuneration to the feedforward network path time delay, improve the control quality of system; As true controlled device G (s) and its prediction model G
mWhen (s) poor (w (s) ≠ 0) being arranged, second controller C
2(s) can strengthen robustness and the antijamming capability of system.
6. method according to claim 1, it is characterized in that from structure exempt to change give or controller to measurement, estimation or the identification of the network delay the actuator node; Release is sent change or controller and the synchronous requirement of actuator node clock signal.
7. method according to claim 1 is characterized in that realizing that from structure the enforcement of method for compensating network delay is irrelevant with the selection of concrete control strategy, and is irrelevant with the selection of concrete network communication protocol.
8. method according to claim 1, the mode A of it is characterized in that is applicable to become and send or controller cycle sampling and signal processed; Mode B is applicable to become and send or the controller transmitting network data; Mode C is applicable to the actuator node and implements the second control and carry out function.
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Non-Patent Citations (3)
| Title |
|---|
| 杜锋.基于新型Smith预估器的网络控制系统研究.《中国博士学位论文全文数据库 信息科技辑》.2008,(第12期),I140-51. * |
| 杜锋等.基于改进Smith预估补偿的网络控制系统研究.《系统工程与电子技术》.2009,第31卷(第3期),661-665. * |
| 杜锋等.基于新型Smith预估器的网络控制系统.《西南交通大学学报》.2010,第45卷(第1期),65-69. * |
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