CN102063105B - Method for compensating uncertain network delay of forward passage of network cascade control system - Google Patents

Method for compensating uncertain network delay of forward passage of network cascade control system Download PDF

Info

Publication number
CN102063105B
CN102063105B CN201010552939.0A CN201010552939A CN102063105B CN 102063105 B CN102063105 B CN 102063105B CN 201010552939 A CN201010552939 A CN 201010552939A CN 102063105 B CN102063105 B CN 102063105B
Authority
CN
China
Prior art keywords
node
network
signal
control
controller node
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201010552939.0A
Other languages
Chinese (zh)
Other versions
CN102063105A (en
Inventor
杜锋
杜文才
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hainan University
Original Assignee
Hainan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hainan University filed Critical Hainan University
Priority to CN201010552939.0A priority Critical patent/CN102063105B/en
Publication of CN102063105A publication Critical patent/CN102063105A/en
Application granted granted Critical
Publication of CN102063105B publication Critical patent/CN102063105B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Feedback Control In General (AREA)

Abstract

The invention provides a method for compensating uncertain network delay of a forward passage of a network cascade control system, belonging to the technical field of a network control system technology. A real network data transmission process among forward passage nodes is adopted instead of a network delay compensation model; the measurement, observation, estimation and identification of the uncertain delay of network data transmission among the forward passage nodes are omitted; and requirements on the clock signal synchronization of the nodes are eliminated. By adopting the method, the influence of uncertain network delay on the system stability can be reduced, and the control performance quality of the system is improved. The method provided by the invention is suitable for compensating and controlling the uncertain delay for which the mathematical models of the primary and secondary controlled objects are known, the network only exists in the forward passage of the network cascade control system, and the network delay is greater than several or even dozens of sampling periods.

Description

Method for compensating uncertain network delay of forward passage of network cascade control system
Technical field
The present invention relates to the compensation method of uncertain network delay of forward passage of network cascade control system, belong to the network control system technical field.
Background technology
The closed-loop feedback control system formed based on Real Time Communication Network is called network control system (Networked control systems, NCS), network control system is usually by transmitter, controller, the nodes such as actuator form. with the system of traditional point-to-point structure, compare, network control system can make complicated control system realize the integrated of level and vertical direction, strengthened the flexibility of system, diagnosticability and the maintainability of system have been improved, reduced mounting cost. still, constraint due to communication bandwidth, compete the communication resource between each node, must produce network delay during communication, the existence of time delay will reduce the performance of system, even cause that system is unstable.
Along with control, the development of network and communications technology with interpenetrate, the structure of control system becomes increasingly complex, spatial distribution is more and more extensive, requirement to system control performance is more and more stricter. at present, research about network control system is mainly for single-circuit control system both at home and abroad, constant at network delay respectively, in time, become or random, network delay is less than a sampling period or is 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 to modeling and stability analysis, but rarely have paper to be studied the network cascade control system. control loop is called network cascade control system (NCCS) by the cascade control system of real-time network closure, be 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 mainly 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.
Existing only in main transformer for network send (control) device node and secondary the change to send between (control) device node (outer feedforward network), and the secondary network cascade control system as shown in Figure 2 of giving (interior feedforward network) between (control) device node and actuator node that becomes, its input R (s) and output Y 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) e - τ 1 s C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) + C 2 ( s ) e - τ 2 s G 2 ( s ) - - - ( 1 )
In formula: C 1(s) be master controller, C 2(s) be submaster controller; G 1(s) be main quilt control object, G 2(s) be sub-quilt control object; τ 1expression is sent (control) device node to be transferred to secondary the change from main transformer network data and is sent the uncertainty network delay produced between (control) device node; τ 2expression becomes network data to send (control) device node to be transferred to the uncertainty network delay that the actuator node produces from pair.
Comprise network delay τ in denominator due to the closed loop transfer function, shown in equation (1) 1and τ 2exponential term
Figure BSA00000354967400012
with
Figure BSA00000354967400013
the existence of time delay will worsen the control performance quality of system, even cause the system loss of stability, when serious, can make system break down.
Reduce time delay to the sex key of system stability, just be to realize main transformer is sent (control) device node and secondary the change to send the network delay τ between (control) device node 1exponential term
Figure BSA00000354967400014
and the pair change send (control) device node to the network delay τ between the actuator node 2exponential term
Figure BSA00000354967400015
from the denominator of equation (1), remove, realize not comprising in system closed loop characteristic equation the exponential term of all-network time delay, yet and then realization is to the compensation of network delay., realize the compensation to network delay, at first must know the size of network delay. at present, the method usually adopted both at home and abroad is by network delay τ 1and τ 2measurement, carry out delay compensation τ 1and τ 2impact on the stability of a system. still, due to network delay τ 1and τ 2measurement accuracy need to meet the synchronous requirement of node clock signal, if adopt hardware to realize the node clock signal Complete Synchronization, need larger economic input; If adopt software position signal, while transmitting between node due to correction signal, may meet with the impact of network delay, be difficult to realize the nodal clock Complete Synchronization; If adopt to network delay estimated, the method for observation, identification or prediction obtains the size of network delay, at first must know the accurate probability distribution of network delay, or Mathematical Modeling accurately, but, because the size of network delay is relevant with the concrete factors such as procotol, offered load size and network topology structure, to the estimation of network delay, observation, identification or prediction, all may there is deviation.
Therefore, how to exempt the requirement synchronous to node clock signal, estimation, observation, identification or the prediction of release to network delay between node, can obtain again between node time delay value accurately simultaneously, and then realize compensation and the control to uncertain network delay of forward passage of network cascade control system, become in the research of network cascade control system and needed one of key issue solved.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of network that relates to and exist only in main transformer and send (control) device node and secondary the change to send between (controls) device node (outer feedforward network), and the nondeterministic network delay of network cascade control system compensation method of (interior feedforward network) between (control) device node and actuator node is sent in secondary change.
Purpose of the present invention:
In the network cascade control system, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release requirement synchronous to node clock signal, also exempt the delay compensation method to measurement, estimation or the identification of uncertainty network delay between its node, realize segmentation, the compensation in real time, online and dynamically to network delay and control simultaneously.
The method that the present invention adopts is:
The first step: adopt main transformer to send (control) device node to send the live network data transmission procedure between (control) device node to replace the compensation model of network delay therebetween to secondary the change, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter from main transformer, send (control) device node to send the network path (control) device node that how complicated and uncertain is arranged to secondary the change, also no matter include therebetween how many routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in control procedure, just realized the compensate function to its time delay in the information stream transmission process.
Second step: adopt secondary the change to send (control) device node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the actuator node, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween. no matter from pair, become and send (control) device node, to the network path the actuator node, how complicated and uncertain is arranged, also no matter include therebetween how many routers or (with) intermediate link, the network delay that information flow experiences is exactly real network delay in control procedure, just realized the compensate function to its time delay in the information stream transmission process.
The 3rd step: for the network cascade control system shown in Fig. 2, implement the network delay collocation structure of the inventive method as shown in Figure 3.
In Fig. 3, from input R (s) and the output Y of system 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s e - τ 2 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 2 ( s ) G 2 ( s ) 1 + C 1 ( s ) e - τ 1 s e - τ 2 s C 2 ( s ) G 2 ( s ) [ G 1 ( s ) - G 1 m ( s ) ] 1 + C 2 ( s ) G 2 ( s ) + C 1 ( s ) C 2 m ( s ) G 2 m ( s ) G 1 m ( s ) 1 + C 2 m ( s ) G 2 m ( s ) - - - ( 2 )
When master's (pair) controlled device prediction model equals its true model, i.e. G 1m(s)=G 1(s), G 2m(s)=G 2(s), submaster controller meets C 2m(s)=C 2(s) time, formula (2) but abbreviation be
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 1 s e - τ 2 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) + C 2 ( s ) G 2 ( s ) - - - ( 3 )
In the closed loop transfer function, denominator of the network cascade control system shown in formula (3), do not comprise network delay τ 1and τ 2exponential term
Figure BSA00000354967400023
with realized closed loop characteristic equation 1+C 1(s) C 2(s) G 2(s) G 1(s)+C 2(s) G 2(s) do not comprise the exponential term of network delay in=0, thereby eliminated the impact of network delay on the stability of a system, improved the control performance quality of system, realized the compensate function to the uncertainty network delay.
The scope of application of the present invention:
The present invention is applicable in the network cascade control system, main (pair) controlled device Mathematical Modeling is known, network exists only in main transformer and send (control) device node and secondary the change to send between (control) device node (outer feedforward network), and compensation and the control of the nondeterministic network delay of network cascade control system of (interior feedforward network) between (control) device node and actuator node are sent in secondary change.
The invention is characterized in that the method comprises the following steps:
1, when sending (control) device node, main transformer is sampled cycle h 1during triggering, will adopt mode A to carry out work;
2, send (control) device node by control signal u when main transformer 1(s), while sending the transmission of (control) device node by outer feedforward network path to the pair change, will adopt mode B to carry out work;
3, when becoming, pair send (control) device node to be sampled cycle h 2during triggering, will adopt mode C to carry out work;
4, when becoming, pair send (control) device node controlled signal u 1(s), while triggering, will adopt mode D to carry out work;
5, when becoming, pair send (control) device node by signal e 2(s), while transmitting to the actuator node by interior feedforward network path, will adopt mode E to carry out work;
6, when the actuator node by signal e 2(s), while triggering, will adopt mode F to carry out work.
The step of mode A comprises:
A1: main transformer send (control) device node to work in the time type of drive, and it triggers the sampling period is h 1;
A2: after main transformer send (control) device node to be triggered, to main quilt control object G 1(s) output signal Y 1and the prediction model G of main quilt control object (s) 1m(s) output signal y 1m(s) sampled;
A3: to Y 1and y (s) 1m(s) implement additive operation, obtain model bias signal w 1(s);
A4: by the given signal R of system (s) and w 1and m (s) 1(s) implement additive operation, obtain external loop systematic error signal e 1(s);
A5: to e 1(s) implement master controller C 1(s) computing, controlled signal u 1(s);
A6: by u 1(s), as given signal, act on the predictive algorithm C of submaster controller 2m(s) with the prediction model G of sub-quilt control object 2m(s) feedback loop formed, it is output as y cg2m(s);
A7: by y cg2m(s) act on G 1m(s), it is output as m 1(s).
The step of mode B comprises:
B1: main transformer send (control) device node by control signal u 1(s), by outer feedforward network path, to pair, become and send the transmission of (control) device node.
The step of mode C comprises:
C1: the secondary change send (control) device node to work in the time type of drive, and it triggers the sampling period is h 2;
C2: after secondary change send (control) device node to be triggered, to sub-quilt control object G 2(s) output signal Y 2(s) sampled.
The step of mode D comprises:
D1: drive signal u 1(s) trigger secondary the change and send (control) device node, pair now becomes send (control) device node to work in event driven manner;
D2: in (control) device node is sent in the pair change, by u 1and Y (s) 2(s) add and subtract mutually, obtain output signal node e 2(s).
The step of mode E comprises:
E1: the secondary change send (control) device node by signal e 2(s), by interior feedforward network path, to the actuator node, transmit.
The step of mode F comprises:
F1: the actuator node works in event driven manner;
F2: the actuator node is by signal e 2(s) trigger;
F3: by e 2and Y (s) 2(s) subtract each other, obtain error signal e 3(s);
F4: to e 3(s) implement control algolithm C 2(s), the control signal of its node output is u 2(s);
F5: 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.
7, delay compensation method of the present invention, is characterized in that main transformer send (control) device node to be comprised of the embedded master controller of main transmitter, and main transmitter and master controller share same node; Main transformer send (control) device node employing time to drive triggered mode of operation, and (sampling period is h 1).
8, delay compensation method of the present invention, is characterized in that secondary the change send (controls) device node to be embedded in submaster controller by secondary transmitter to be formed, i.e. the shared same node of secondary transmitter and submaster controller; The secondary transmitter employing time drives triggered mode of operation, and (sampling period is h 2), and submaster controller adopts the event-driven triggered mode of operation, (triggering signal is u 1(s)).
9, delay compensation method of the present invention, it is characterized in that system comprises main transformer and send (control) device node, the secondary change to send the ，Ge unit, unit such as (control) device node, actuator node, main quilt control object and sub-quilt control object to carry out work according to the working method of setting separately.
10, delay compensation method of the present invention, it is characterized in that with sending (control) device node to send the network data transmission process of external loop feedforward network path (control) device node to replace network delay compensation model therebetween to secondary the change from main transformer really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
11, delay compensation method of the present invention, it is characterized in that with becoming and send (control) device node to replace network delay compensation model therebetween to the network data transmission process of inner looping feedforward network path the actuator node from pair really, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween.
12, delay compensation method of the present invention, is characterized in that exempting send (control) device node to send measurement, observation, estimation or the identification of network delay (control) device node to secondary change from main transformer from structure.
13, delay compensation method of the present invention, is characterized in that exempting pair being become and send measurement, observation, estimation or the identification of (control) device node to network delay the actuator node from structure.
14, delay compensation method of the present invention, is characterized in that exempting and sending (control) device node, the secondary change to send (control) device node and the synchronous requirement of actuator node clock signal to main transformer from structure.
15, 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.
16, 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.
17, delay compensation method of the present invention, is characterized in that as major-minor controlled device G 1and G (s) 2(s) with its prediction model G 1mand G (s) 2m(s) equate, and the submaster controller prediction model meets C 2m(s) equal C 2(s) time, can realize the full remuneration to uncertain network delay of forward passage of network cascade control system, improve the control performance quality of system.
18, 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.
19, delay compensation method of the present invention, the mode A of it is characterized in that is applicable to main transformer and send (control) device node periodic sampling and signal is processed.
20, delay compensation method of the present invention, the mode B of it is characterized in that is applicable to main transformer and send (control) device node transmitting network data.
21, delay compensation method of the present invention, the mode C of it is characterized in that is applicable to secondary the change and send (control) device node periodic sampling.
22, delay compensation method of the present invention, the mode D of it is characterized in that is applicable to secondary the change and send (control) device node to be processed signal.
23, delay compensation method of the present invention, the mode E of it is characterized in that is applicable to secondary the change and send (control) device node transmitting network data.
24, delay compensation method of the present invention, the mode F of it is characterized in that is applicable to the actuator node and implements to drive and control function.
The present invention has following advantage:
1, owing to having exempted from structure, to main transformer, send (control) device node to send (control) device node (external loop through path) to secondary the change, and secondary the change sent the measurement of (control) device node to (inner looping through path) uncertainty network delay between the actuator node, observation, estimate or identification, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error caused of time delay estimation model, avoided the required waste that expends the node storage resources of time-delay identification, the compensating error that " empty sampling " or " many samplings " that has simultaneously also avoided causing due to time delay brings.
2, owing to having realized that from structure the selection with concrete network communication protocol is irrelevant, thereby both be applicable to adopt the network cascade control system of wired network protocol, also be applicable to the network cascade control system of wireless network protocol; Both be applicable to the deterministic network agreement, also be applicable to the procotol of uncertainty.
3, owing to having realized that from structure the selection with concrete network communication protocol is irrelevant, thereby both be applicable to the heterogeneous network cascade control system based on wired network protocol, also be applicable to the heterogeneous network cascade control system based on wireless network protocol, also be applicable to the delay compensation of the network cascade control system of heterogeneous (as wired and wireless mixing) simultaneously.
4, owing to having realized that from structure the selection with concrete master (or secondary) controller control strategy is irrelevant, thereby both can be used for adopting the conventional network cascade control system of controlling, the network cascade control system that also can be used for adopting Based Intelligent Control or adopt the complex control strategy.
What 5, adopt due to the present invention is the compensation method that " soft " changes the control system structure, thereby in its implementation procedure without increasing again any hardware device, the software resource that utilizes existing network cascade control system intelligent node to carry, just be enough to realize its compensate function, thereby can save hardware investment, be easy to be extended and applied.
The accompanying drawing explanation
Fig. 1 is that network exists only in the network cascade control system block diagram in through path.
Fig. 2 is that network exists only in the network cascade control system structure chart in through path.
Fig. 3 is method for compensating uncertain network delay of forward passage of network cascade control system structure chart of the present invention
In the block diagram of Fig. 1, system is by input signal (R), and main transformer send (control) device (S 1/ C 1) node, outer feedforward network, the secondary change sent (control) device (S 2/ C 2) node, interior feedforward network, actuator (A) node, sub-quilt control object (G 2) and output (Y 2), and main quilt control object (G 1) and output (Y 1) institute form.
Built-in main controller in main transmitter, main transmitter and master controller share same node (S 1/ C 1), node adopts the time type of drive to carry out work, and the triggering cycle is h 1, to the sampling of main quilt control object implementation cycle, and deviation signal is implemented to C 1control.
Built-in submaster controller in secondary transmitter, secondary transmitter and submaster controller share same node (S 2/ C 2), wherein: secondary transmitter adopts the time type of drive to carry out work, and the triggering cycle is h 2, the sub-quilt control object implementation cycle is sampled; And submaster controller adopts event driven manner to carry out work, by main transformer, send (control) device (S 1/ C 1) output signal of node triggers by outer feedforward network.
Actuator (A) is an isolated node, adopts event driven manner to carry out work, by pair, is become and is sent (control) device (S 2/ C 2) output signal of node triggers by interior feedforward network, and drive actuator, thus sub-quilt control object (G changed 2) state, and then change main quilt control object (G 1) state.
In Fig. 1, the main transformer of system send (control) device (S 1/ C 1) node, the secondary change sent (control) device (S 2/ C 2) node and actuator (A) node be all intelligent node, not only possess storage computing and communication function, but also possess software configuration and control function, these nodes comprise now the hardware such as intelligent node common in the industrial field bus control system (FCS) of extensive use and Distributed Control System (DCS) or smart machine.
In the system of Fig. 2, the uncertainty network delay in transfer of data has significant impact for stability and the control performance quality of system. and the transfer of data of network cascade control system is experiencing from main transformer send (control) device node to the secondary network data transmission time delay τ that send (external loop through path) (control) device node that becomes 1, and secondary the change sent the network data transmission time delay τ of (control) device node to (inner looping through path) between the actuator node 2impact. time delay is relevant with the concrete factors such as procotol, offered load size and network topology structure, yet for the measurement of network delay or estimate or observation or identification have become the crucial precondition realized its compensation., the distributivity of each node connected by network makes each node in the network cascade control system be difficult to meet the requirement of clock signal synchronization. simultaneously, due to the uncertainty of network delay and sudden, accomplish that each step can Accurate Prediction be impossible.
In the system of Fig. 3, do not comprise from main transformer and send (control) device node to the secondary network delay prediction model that send (external loop through path) (control) device node that becomes, do not comprise from pair yet and become and send the network delay prediction model of (control) device node to (inner looping through path) the actuator node. exempted uncertainty network delay τ 1and τ 2measurement, estimation, observation or identification, also exempted the requirement to node (main transformer send (controls) device, secondary change to send (control) device, actuator) clock signal synchronization simultaneously. when the major-minor controlled device equates with its prediction model, can realize the output signal Y from the input signal R (s) of system to system 1(s) in closed loop transfer function,, by network delay τ 1and τ 2exponential term with
Figure BSA00000354967400052
eliminate from denominator, realize in the closed loop characteristic equation not comprising network delay τ 1and τ 2exponential term, thereby reduced the impact of time delay on the stability of a system, improved the control performance quality of system, realize dynamic compensation and control to the uncertainty network delay.
Embodiment
Below will, by with reference to accompanying drawing 3, describing exemplary embodiment of the present invention in detail, the person of ordinary skill in the art is more clear that above-mentioned and other feature and advantage of the present invention.
Concrete implementation step is as described below:
The first step: the main transformer that works in the time type of drive send (control) device node to main quilt control object G 1(s) output signal Y 1and its prediction model G (s) 1m(s) output signal y 1m(s) (sampling period is h to carry out periodic sampling 1), and to Y 1and y (s) 1m(s) implement additive operation, obtain model bias signal w 1(s);
Second step: the pair that works in the time type of drive becomes send (control) device node to sub-quilt control object G 2(s) output signal Y 2(s) (sampling period is h to carry out periodic sampling 2);
The 3rd step: main transformer send (control) device node according to the given signal R of system (s), to w 1(s) with the interior compensating unit output signal m of node 1(s) subtract each other, obtain error signal e 1(s), to e 1(s) implement C 1(s) control, its output signal is u 1(s): on the one hand, by u 1(s) as in this node by the prediction model C of submaster controller 2mand the prediction model G of sub-quilt control object (s) 2m(s) the given input signal of the negative feedback loop formed; On the other hand, by u 1(s) become as pair the given signal that send (control) device node;
The 4th step: by external loop feedforward network path by u 1(s) be transferred to secondary the change and send (control) device node, and it is in running order to trigger its node;
The 5th step: in (control) device node is sent in the pair change, by u 1and Y (s) 2(s) add and subtract mutually, obtain output signal node e 2(s);
The 6th step: the secondary change send (control) device node to pass through interior feedforward network path by e 2(s) signal transmits to the actuator node;
The 7th step: work in the actuator node of event driven manner by e 2(s) signal triggers, by e 2and Y (s) 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); By u 2(s), as driving signal, change sub-quilt control object G 2(s) state, and then change main quilt control object G 1(s) state;
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 (10)

1. method for compensating uncertain network delay of forward passage of network cascade control system is characterized in that the method comprises the following steps:
(1). when being embedded in the main transformer that master controller forms, main transmitter send controller node to be sampled cycle h 1during triggering, will adopt mode A to carry out work;
(2). when main transformer send controller node by control signal u 1(s), while being embedded in to secondary transmitter the secondary transducer controller node transmission that submaster controller forms by outer feedforward network path, will adopt mode B to carry out work;
(3). when secondary transducer controller node is sampled cycle h 2during triggering, will adopt mode C to carry out work;
(4). as secondary transducer controller node controlled signal u 1(s), while triggering, will adopt mode D to carry out work;
(5). when secondary transducer controller node by signal e 2(s), while transmitting to the actuator node by interior feedforward network path, will adopt mode E to carry out work;
(6). when the actuator node by signal e 2(s), while triggering, will adopt mode F to carry out work;
The step of described mode A comprises:
A1: main transformer send controller node to work in the time type of drive, and it triggers the sampling period is h 1;
A2: after main transformer send controller node to be triggered, to main quilt control object G 1(s) output signal Y 1and the prediction model G of main quilt control object (s) 1m(s) output signal y 1m(s) sampled;
A3: to Y 1and y (s) 1m(s) implement additive operation, obtain model bias signal w 1(s);
A4: by the given signal R of system (s) and w 1and m (s) 1(s) implement additive operation, obtain external loop systematic error signal e 1(s);
A5: to e 1(s) implement master controller C 1(s) computing, controlled signal u 1(s);
A6: by u 1(s), as given signal, act on the predictive algorithm C of submaster controller 2m(s) with the prediction model G of sub-quilt control object 2m(s) negative feedback loop formed, it is output as y cg2m(s);
A7: by y cg2m(s) act on G 1m(s), it is output as m 1(s);
The step of described mode B comprises:
B1: main transformer send controller node by control signal u 1(s), by outer feedforward network path, to secondary transducer controller node, transmit;
The step of described mode C comprises:
C1: secondary transducer controller node works in the time type of drive, and it triggers the sampling period is h 2;
C2: after secondary transducer controller node is triggered, to sub-quilt control object G 2(s) output signal Y 2(s) sampled;
The step of described mode D comprises:
D1: drive signal u 1(s) trigger secondary transducer controller node, secondary transducer controller node now works in event driven manner;
D2: in secondary transducer controller node, by u 1and Y (s) 2(s) add and subtract mutually, obtain output signal node e 2(s);
The step of described mode E comprises:
E1: secondary transducer controller node is by signal e 2(s), by interior feedforward network path, to the actuator node, transmit;
The step of described mode F comprises:
F1: the actuator node works in event driven manner;
F2: the actuator node is by signal e 2(s) trigger;
F3: by e 2and Y (s) 2(s) subtract each other, obtain error signal e 3(s);
F4: to e 3(s) implement control algolithm C 2(s), the control signal of its node output is u 2(s);
F5: by u 2(s) as driving signal, to sub-quilt control object G 2(s) implement to control, thereby change G 2(s) state, and then change G 1(s) state, realize G 1and G (s) 2(s) control action.
2. method according to claim 1, it is characterized in that main transformer send controller node to be embedded in master controller by main transmitter and formed, main transmitter and master controller share same node, and main transformer send the controller node employing time to drive triggered mode of operation, and the sampling period is h 1.
3. method according to claim 1, it is characterized in that secondary transducer controller node is embedded in submaster controller by secondary transmitter and is formed, be that secondary transmitter and submaster controller share same node, the secondary transmitter employing time drives triggered mode of operation, and the sampling period is h 2, and submaster controller adopts the event-driven triggered mode of operation, triggering signal is u 1(s).
4. method according to claim 1, is characterized in that system comprises main transformer and send controller node, secondary transducer controller node, actuator node, main quilt control object and sub-quilt control object unit, and 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 sending controller node to replace network delay compensation model therebetween to the network data transmission process of external loop feedforward network path secondary transducer controller node from main transformer really, and replace network delay compensation model therebetween by the real network data transmission process from secondary transducer controller node to inner looping feedforward network path the actuator node, thereby the system that structurally realizes does not comprise the compensation model of network delay.
6. method according to claim 1, it is characterized in that exempting send controller node to secondary transducer controller node from main transformer from structure, and secondary transducer controller node is to measurement, observation, estimation or the identification of network delay between the actuator node; Release is sent controller node, secondary transducer controller node and the synchronous requirement of actuator node clock signal to main transformer.
7. method according to claim 1, is characterized in that realizing from structure the enforcement and concrete control strategy C of method for compensating network delay 1and C (s) 2(s) selection is irrelevant, irrelevant with the selection of concrete network communication protocol.
8. method according to claim 1, is characterized in that as major-minor controlled device G 1and G (s) 2(s) with its prediction model G 1mand G (s) 2m(s) equate, and the submaster controller prediction model meets C 2m(s) equal C 2(s) time, can realize the full remuneration to uncertain network delay of forward passage of network cascade control system, improve the control performance quality of system.
9. method according to claim 1, what it is characterized in that employing is the compensation method that " software " changes the control system structure, without increasing any hardware device, the software resource that utilizes existing network cascade control system intelligent node to carry, just be enough to realize its compensate function again.
10. method according to claim 1, the mode A of it is characterized in that is applicable to main transformer and send the controller node periodic sampling and signal is processed; Mode B is applicable to main transformer and send the controller node transmitting network data; Mode C is applicable to secondary transducer controller node periodic sampling; Mode D is applicable to secondary transducer controller node signal is processed; Mode E is applicable to secondary transducer controller node transmitting network data; Mode F is applicable to the actuator node and implements to drive and control function.
CN201010552939.0A 2010-11-18 2010-11-18 Method for compensating uncertain network delay of forward passage of network cascade control system Expired - Fee Related CN102063105B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201010552939.0A CN102063105B (en) 2010-11-18 2010-11-18 Method for compensating uncertain network delay of forward passage of network cascade control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201010552939.0A CN102063105B (en) 2010-11-18 2010-11-18 Method for compensating uncertain network delay of forward passage of network cascade control system

Publications (2)

Publication Number Publication Date
CN102063105A CN102063105A (en) 2011-05-18
CN102063105B true CN102063105B (en) 2014-01-08

Family

ID=43998414

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201010552939.0A Expired - Fee Related CN102063105B (en) 2010-11-18 2010-11-18 Method for compensating uncertain network delay of forward passage of network cascade control system

Country Status (1)

Country Link
CN (1) CN102063105B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106990713A (en) * 2017-05-26 2017-07-28 海南大学 The input of one kind two two exports NDCS and is uncertain of network delay compensating control method
CN107168040A (en) * 2017-05-26 2017-09-15 海南大学 A kind of IMC methods of the long network delays of TITO NDCS
CN106970534A (en) * 2017-05-26 2017-07-21 海南大学 The input of one kind two two exports network decoupling and controlling system and does not know time delay IMC methods

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1815873A (en) * 2006-01-06 2006-08-09 上海微电子装备有限公司 Digital adjustable double-ring motor controller for photoetching machine and digital adjusting method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1815873A (en) * 2006-01-06 2006-08-09 上海微电子装备有限公司 Digital adjustable double-ring motor controller for photoetching machine and digital adjusting method

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
基于改进Smith 预估补偿的网络控制系统研究;杜锋等;《系统工程与电子技术》;20090331;第31卷(第3期);第661-665页 *
基于新型Smith预估器的网络控制系统;杜锋等;《西南交通大学学报》;20100228;第45卷(第1期);第65-69页 *
基于新型Smith预估器的网络控制系统研究;杜锋;《中国博士学位论文全文数据库(信息科技辑)》;20081215(第12期);正文第30页-第101页 *
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),正文第30页-第101页.
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),第661-665页.
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),第65-69页.

Also Published As

Publication number Publication date
CN102063105A (en) 2011-05-18

Similar Documents

Publication Publication Date Title
CN101986228B (en) Compensation method of random time-delay of external forward and internal feedback path of network cascade control system
CN102063105B (en) Method for compensating uncertain network delay of forward passage of network cascade control system
CN102033529B (en) Method for compensating for unknown network time delay in forward path of network cascade control system
CN101986229B (en) Time-varying network time delay compensation method of forward access of networked cascade control system (NCCS)
CN102004480B (en) Compensation method for unknown network delay of network cascade control system
CN102004481B (en) Method for compensating unknown external feedback and inner loop network time delay of network cascade control system
CN102064931B (en) Delay compensation method for network control system
CN102082687B (en) Unknown time delay compensation method for external forward and internal feedback paths of network cascade control system
CN101986231B (en) Method for compensating nondeterministic network delay of network cascade control system
CN102033531B (en) Time-varying delay compensation method for external forward and internal feedback channel of network cascade control system
CN102023626B (en) Nondeterministic time delay compensation method of external forward path and internal feedback path of network cascade control system
CN102063106B (en) External feedback and inner loop nondeterministic network time delay compensation method of network cascade control system
CN101995870A (en) Forward channel random network time-delay compensation method for network cascade control system
CN102033535B (en) Time delay compensation method with double-control function between transmitter (controller) and actuator
CN102033530B (en) Compensation method for external feedback and internal loop randomness network time delay of network cascade control system
CN102063107A (en) Method for compensating random network delay of network cascade control system
CN101995872B (en) Compensation method of time variable network time delay of network cascade control system
CN106773730A (en) A kind of two input two exports network decoupling and controlling system time-vary delay system compensation method
CN102033534B (en) Method for compensating for varying network time delay in external feedback and inner loop network paths of network cascade control system
CN101995871A (en) Network delay compensation method between transmitter node and (control) actuator node
CN102063104A (en) Delay compensation method with double adjustment function between transducer and (controller) executer
CN101986230A (en) Network delay compensation method between transducer (controller) node and actuator node
CN101995873A (en) Method for compensating network delay between transducer and (control) actuator in layered structure
CN106802555A (en) A kind of two-output impulse generator Delays In Networked Control System compensation method
CN106773738A (en) A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140108

Termination date: 20211118