CN102063106A - External feedback and inner loop nondeterministic network time delay compensation method of network cascade control system - Google Patents

External feedback and inner loop nondeterministic network time delay compensation method of network cascade control system Download PDF

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CN102063106A
CN102063106A CN2010105529615A CN201010552961A CN102063106A CN 102063106 A CN102063106 A CN 102063106A CN 2010105529615 A CN2010105529615 A CN 2010105529615A CN 201010552961 A CN201010552961 A CN 201010552961A CN 102063106 A CN102063106 A CN 102063106A
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杜锋
杜文才
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Abstract

本发明提出一种网络串级控制系统外反馈与内回路非确定性网络时延补偿方法,属于网络控制系统技术领域。它采用真实的网络串级控制系统外反馈网络通路节点,以及内回路网络通路节点之间的网络数据传输过程,代替其间网络时延补偿模型,免除对节点之间网络数据传输非确定性时延的测量、观测、估计或辨识,免除对节点时钟信号同步的要求。采用本方法可降低非确定性网络时延对系统稳定性的影响,提高系统控制性能质量。本发明适用于主副被控对象数学模型已知,网络时延可大于数个乃至数十个采样周期,网络仅存在于网络串级控制系统外反馈与内回路网络通路中的非确定性网络时延的动态补偿与控制。

The invention proposes a network cascade control system external feedback and internal loop non-deterministic network delay compensation method, which belongs to the technical field of network control systems. It uses the real network cascade control system external feedback network access nodes, and the network data transmission process between the inner loop network access nodes, instead of the network delay compensation model in between, and avoids the non-deterministic delay of network data transmission between nodes The measurement, observation, estimation or identification of , exempts the requirement of synchronizing the clock signal of the nodes. The method can reduce the influence of non-deterministic network delay on system stability, and improve the quality of system control performance. The present invention is applicable to the known mathematical models of the primary and secondary controlled objects, the network delay can be greater than several or even dozens of sampling periods, and the network only exists in the non-deterministic network in the external feedback and internal loop network paths of the network cascade control system Dynamic compensation and control of delay.

Description

网络串级控制系统外反馈与内回路非确定性网络时延补偿法 Nondeterministic Network Delay Compensation Method for External Feedback and Inner Loop of Networked Cascade Control System

技术领域technical field

本发明涉及网络串级控制系统中,外反馈与内回路网络通路非确定性网络时延的补偿方法,属于网络控制系统技术领域.The invention relates to a method for compensating the non-deterministic network time delay of external feedback and internal loop network paths in a network cascade control system, belonging to the technical field of network control systems.

背景技术Background technique

控制回路是通过实时网络闭合的,称之为网络控制系统(Networked Control Systems,NCS).网络控制系统因其可以大大减少系统布线,降低系统成本,提高系统可靠性和灵活性,便于系统诊断和维护,在航空器、宇宙飞船、化工厂、电力系统等领域中得到了广泛的应用.The control loop is closed through a real-time network, which is called Networked Control Systems (NCS). Networked control systems can greatly reduce system wiring, reduce system costs, improve system reliability and flexibility, and facilitate system diagnosis and control. Maintenance has been widely used in aircraft, spacecraft, chemical plants, power systems and other fields.

网络控制系统的一个重要特征是闭环控制回路中的传感信息和控制信息均是通过实时网络传输的,由于控制回路中插入了实时网络,不可避免地带来了网络诱导时延和数据包丢失等一系列问题.网络时延的存在往往会降低系统的性能甚至引起系统不稳定.An important feature of the network control system is that the sensing information and control information in the closed-loop control loop are transmitted through the real-time network. Since the real-time network is inserted into the control loop, it will inevitably bring about network-induced delay and packet loss, etc. A series of problems. The existence of network delay often reduces the performance of the system and even causes system instability.

目前,国内外关于网络控制系统的研究主要是针对单回路的控制系统,分别在网络时延恒定、时变或随机,网络时延小于一个采样周期或大于一个采样周期,单包传输或多包传输,有无数据包丢失等各种条件下,对其进行建模与稳定性分析,但鲜有论文对网络串级控制系统进行研究.控制回路通过实时网络闭合的串级控制系统称为网络串级控制系统(NCCS),适用于本发明的网络串级控制系统的典型结构框图如图1所示.At present, research on networked control systems at home and abroad is mainly aimed at single-loop control systems, respectively, when the network delay is constant, time-varying or random, the network delay is less than a sampling period or greater than a sampling period, single-packet transmission or multi-packet transmission Under various conditions such as transmission, data packet loss, etc., modeling and stability analysis are carried out on it, but few papers study the network cascade control system. The cascade control system whose control loop is closed through the real-time network is called the network Cascade control system (NCCS), a typical structural block diagram of the network cascade control system applicable to the present invention is shown in Figure 1.

由于网络串级控制系统是一个多闭环回路的网络控制系统,对网络时延影响的分析与系统性能的研究远比单回路的网络控制系统要复杂得多.内回路网络时延将严重影响内回路网络控制系统的快速性和抗干扰能力,同时也将与外回路网络时延一起对整个网络串级控制系统的稳定性和控制品质产生负面影响.Since the network cascade control system is a multi-closed-loop network control system, the analysis of the influence of network delay and the research on system performance are far more complicated than the single-loop network control system. The network delay of the inner loop will seriously affect the inner loop. The rapidity and anti-interference ability of the loop network control system will also have a negative impact on the stability and control quality of the entire network cascade control system together with the delay of the outer loop network.

对于网络时延研亢的难点在于:The difficulty in researching network delay lies in:

(1)由于网络时延与网络拓扑结构、通信协议、网络负载、网络带宽和数据包大小等因素有关.对大于数个乃至数十个采样周期的网络时延,要建立准确的预测、估计或辨识的数学模型,目前几乎是不可能的.(1) Since the network delay is related to factors such as network topology, communication protocol, network load, network bandwidth, and data packet size, it is necessary to establish accurate prediction and estimation for network delays greater than several or even dozens of sampling periods Or identification of mathematical models is currently almost impossible.

(2)发生在前一个节点向后一个节点传输网络数据过程中的网络时延,在前一个节点中无论采用何种预测或估计方法,都不可能事先提前知道其后产生的网络时延的准确值.时延导致系统性能下降甚至造成系统不稳定,同时也给控制系统的分析与设计带来困难.(2) The network delay that occurs in the process of transmitting network data from the previous node to the next node, no matter what prediction or estimation method is used in the previous node, it is impossible to know in advance the subsequent network delay Accurate value. Time delay leads to system performance degradation and even system instability, and also brings difficulties to the analysis and design of the control system.

(3)要满足网络串级控制系统中,不同分布地点的所有节点时钟信号完全同步是不现实的.(3) In the network cascade control system, it is unrealistic to completely synchronize the clock signals of all nodes in different distribution locations.

针对网络仅存在于外回路反馈通路以及整个内回路反馈与前向通路中的如图2所示的网络串级控制系统,其输入R(s)与输出Y1(s)之间的闭环传递函为For the network cascade control system shown in Figure 2 where the network only exists in the feedback path of the outer loop and the feedback and forward paths of the entire inner loop, the closed-loop transfer between the input R(s) and the output Y 1 (s) letter for

YY 11 (( sthe s )) RR (( sthe s )) == CC 11 (( sthe s )) CC 22 (( sthe s )) ee -- ττ 22 sthe s GG 22 (( sthe s )) GG 11 (( sthe s )) 11 ++ CC 11 (( sthe s )) CC 22 (( sthe s )) ee -- ττ 22 sthe s GG 22 (( sthe s )) GG 11 (( sthe s )) ee -- ττ 11 sthe s ++ CC 22 (( sthe s )) ee -- ττ 22 sthe s GG 22 (( sthe s )) ee -- ττ 33 sthe s -- -- -- (( 11 ))

式中:C1(s)是主控制器,C2(s)是副控制器;G1(s)是主被控对象,G2(s)是副被控对象;τ1表示将网络数据从主变送器节点经外反馈网络通路传输到主(副)控制器节点所产生的非确定性网络时延;τ2表示将网络数据从主(副)控制器节点经内前向网络通路传输到执行器节点所产生的非确定性网络时延;τ3表示将网络数据从副变送器节点经内反馈网络通路传输到主(副)控制器节点所产生的非确定性网络时延.In the formula: C 1 (s) is the main controller, C 2 (s) is the secondary controller; G 1 (s) is the main controlled object, G 2 (s) is the secondary controlled object; τ 1 represents the network The non-deterministic network delay caused by data transmission from the main transmitter node to the main (secondary) controller node through the external feedback network path; τ 2 represents the network data from the main (secondary) controller node through the inner forward network The non-deterministic network delay generated by the path transmission to the actuator node; τ 3 represents the non-deterministic network time generated by transmitting the network data from the auxiliary transmitter node to the main (secondary) controller node through the internal feedback network path Delay.

由于等式(1)所示的闭环传递函数的分母中包含网络时延τ1,τ2和τ3的指数项

Figure BSA00000354948900012
Figure BSA00000354948900013
Figure BSA00000354948900014
时延的存在将恶化系统的控制性能质量,甚至导致系统失去稳定性,严重时可使系统出现故障.Since the denominator of the closed-loop transfer function shown in equation (1) contains the exponential terms of the network delay τ 1 , τ 2 and τ 3
Figure BSA00000354948900012
Figure BSA00000354948900013
and
Figure BSA00000354948900014
The existence of time delay will deteriorate the control performance quality of the system, and even cause the system to lose stability, and in severe cases, the system may fail.

降低时延对系统稳定性影响的关键,就在于能否实现将非确定性网络时延τ1,τ2和τ3的指数项

Figure BSA00000354948900015
Figure BSA00000354948900016
Figure BSA00000354948900017
从等式(1)的分母中去除,即实现系统闭环特征方程中不包含所有网络时延的指数项,进而实现对网络时延的补偿.然而,要实现对网络时延的补偿,首先必须知道网络时延的大小.目前,国内外通常采用的方法是通过对网络时延τ1,τ2和τ3的测量,来补偿时延τ1,τ2和τ3对系统稳定性的影响.但是,由于对网络时延τ1,τ2和τ3的准确测量需要满足节点时钟信号同步的要求,若采用硬件来实现节点时钟信号完全同步,则需要较大的经济投入;若采用软件校正时钟信号,则由于校正信号在节点间传输时,可能遭遇网络时延的影响,难以实现节点时钟完全同步.若采用对网络时延进行估计、观测、辨识或预测的方法来获得网络时延的大小,则首先必须知道网络时延的准确概率分布,或准确的数学模型,但由于网络时延的大小与具体的网络协议、网络负载大小以及网络拓扑结构等因素有关,对网络时延的估计、观测、辨识或预测都可能存在偏差.The key to reducing the impact of delay on system stability is whether the exponential terms of the non-deterministic network delay τ 1 , τ 2 and τ 3 can be realized
Figure BSA00000354948900015
Figure BSA00000354948900016
and
Figure BSA00000354948900017
It is removed from the denominator of equation (1), that is, the exponential term of all network delays is not included in the closed-loop characteristic equation of the system, and then the compensation of network delay is realized. However, to realize the compensation of network delay, first, Know the size of the network time delay. At present, the method usually adopted at home and abroad is to compensate the influence of the time delay τ 1 , τ 2 and τ 3 on the system stability by measuring the network time delay τ 1 , τ 2 and τ 3 .However, since the accurate measurement of network delay τ 1 , τ 2 and τ 3 needs to meet the requirements of node clock signal synchronization, if hardware is used to realize node clock signal complete synchronization, a large economic investment is required; if software Correcting the clock signal, because the correction signal may encounter the influence of network delay when it is transmitted between nodes, it is difficult to achieve complete synchronization of the node clock. If the method of estimating, observing, identifying or predicting the network delay is used to obtain the network delay The size of the network delay must first know the exact probability distribution, or an accurate mathematical model, but because the size of the network delay is related to factors such as specific network protocols, network load, and network topology, the network delay There may be bias in estimation, observation, identification or prediction.

因此,如何免除对节点时钟信号同步的要求,如何免除对节点之间网络时延的估计、观测、辨识或预测,同时又能获得节点之间准确的时延值,进而实现对网络串级控制系统外回路反馈通路以及整个内回路反馈与前向通路中非确定性网络时延的补偿作用,已成为网络串级控制系统中需要解决的关键问题之一.Therefore, how to avoid the requirement of node clock signal synchronization, how to avoid the estimation, observation, identification or prediction of the network delay between nodes, and at the same time obtain the accurate delay value between nodes, and then realize the cascade control of the network The feedback path of the outer loop of the system and the compensation function of the non-deterministic network delay in the feedback path of the entire inner loop and the forward path have become one of the key problems to be solved in the network cascade control system.

发明内容Contents of the invention

为了解决上述技术问题,本发明提供了一种涉及网络仅存在于外回路反馈通路,以及整个内回路反馈与前向通路中网络串级控制系统非确定性网络时延的动态补偿方法.In order to solve the above-mentioned technical problems, the present invention provides a dynamic compensation method involving the non-deterministic network delay of the network cascade control system in the network only in the feedback path of the outer loop, and in the feedback and forward paths of the entire inner loop.

本发明的目的:Purpose of the present invention:

针对网络串级控制系统中,网络时延“测不准”的难题,本发明提出了一种免除对主变送器节点、主(副)控制器节点、副变送器节点和执行器节点时钟信号同步的要求,同时也免除对其节点之间(外回路反馈通路,以及整个内回路反馈与前向通路中),非确定性网络时延的测量、估计或辨识,实现对网络时延的分段、实时、在线和动态的补偿与控制.Aiming at the problem of "inaccurate measurement" of network time delay in the network cascade control system, the present invention proposes a method that eliminates the need to control the main transmitter node, the main (secondary) controller node, the auxiliary transmitter node and the actuator node. The clock signal synchronization requirement is also exempted from measuring, estimating or identifying the non-deterministic network delay between nodes (outer loop feedback path, and the entire inner loop feedback and forward path), and realizing network delay Segmented, real-time, online and dynamic compensation and control.

本发明采用的方法是:The method that the present invention adopts is:

第一步:采用副变送器节点到主(副)控制器节点之间的真实网络数据传输过程代替其间网络时延的补偿模型,在结构上实现系统不包含其间网络时延的补偿模型.无论从副变送器节点到主(副)控制器节点之间的网络通路有多么复杂和不确定,也无论其间包括有多少个路由器或(和)中间环节,信息流所经历的网络时延就是控制过程中真实的网络时延,信息流传输过程中就已实现了对其时延的补偿功能.Step 1: Use the real network data transmission process between the secondary transmitter node and the main (secondary) controller node to replace the compensation model of the network delay in between, and realize the compensation model of the system without the network delay in the structure. No matter how complex and uncertain the network path from the sub-transmitter node to the main (sub-) controller node is, and no matter how many routers or (and) intermediate links are involved, the network delay experienced by the information flow It is the real network delay in the control process, and the compensation function for the delay has been realized in the process of information flow transmission.

第二步:采用主(副)控制器节点到执行器节点之间的真实网络数据传输过程代替其间网络时延的补偿模型,在结构上实现系统不包含其间网络时延的补偿模型.无论从主(副)控制器节点到执行器节点之间的网络通路有多么复杂和不确定,也无论其间包括有多少个路由器或(和)中间环节,信息流所经历的网络时延就是控制过程中真实的网络时延,信息流传输过程中就已实现了对其时延的补偿功能.Step 2: Use the real network data transmission process between the primary (secondary) controller node and the actuator node to replace the compensation model of the network delay in between, and realize the compensation model of the system without the network delay in the structure. No matter from How complex and uncertain is the network path between the primary (secondary) controller node and the actuator node, and no matter how many routers or (and) intermediate links are involved, the network delay experienced by the information flow is the control process. Real network delay, the delay compensation function has been realized in the process of information flow transmission.

第三步:采用主变送器节点到主(副)控制器节点之间的真实网络数据传输过程代替其间网络时延的补偿模型,在结构上实现系统不包含其间网络时延的补偿模型.无论从主变送器节点到主(副)控制器节点之间的网络通路有多么复杂和不确定,也无论其间包括有多少个路由器或(和)中间环节,信息流所经历的网络时延就是控制过程中真实的网络时延,信息流传输过程中就已实现了对其时延的补偿功能.The third step: replace the compensation model of the network delay between the main transmitter node and the main (secondary) controller node by the real network data transmission process, and realize the compensation model without the network delay in the system structurally. No matter how complex and uncertain the network path from the main transmitter node to the main (secondary) controller node is, and no matter how many routers or (and) intermediate links there are, the network delay experienced by the information flow It is the real network delay in the control process, and the compensation function for the delay has been realized in the process of information flow transmission.

第四步:针对图2所示的网络串级控制系统,实施本发明方法的网络时延补偿结构如图3所示.Step 4: For the network cascade control system shown in Figure 2, the network delay compensation structure implementing the method of the present invention is shown in Figure 3.

在图3中,从系统的输入R(s)与输出Y1(s)之间的闭环传递函数为In Fig. 3, the closed-loop transfer function between the input R(s) and the output Y 1 (s) of the slave system is

YY 11 (( sthe s )) RR (( sthe s )) == CC 11 (( sthe s )) ee -- ττ 22 sthe s CC 22 (( sthe s )) GG 22 (( sthe s )) GG 11 (( sthe s )) 11 ++ CC 22 (( sthe s )) GG 22 (( sthe s )) 11 ++ CC 11 (( sthe s )) CC 22 mm (( sthe s )) GG 22 mm (( sthe s )) GG 11 mm (( sthe s )) 11 ++ CC 22 mm (( sthe s )) GG 22 mm (( sthe s )) ++ CC 11 (( sthe s )) ee -- ττ 22 sthe s CC 22 (( sthe s )) GG 22 (( sthe s )) [[ GG 11 (( sthe s )) -- GG 11 mm (( sthe s )) ]] ee -- ττ 11 sthe s 11 ++ CC 22 (( sthe s )) GG 22 (( sthe s )) -- -- -- (( 22 ))

当主副被控对象预估模型等于其真实模型,即G1m(s)=G1(s),G2m(s)=G2(s),副控制器满足C2m(s)=C2(s)时,式(2)可化简为When the estimated model of the primary and secondary controlled objects is equal to its real model, that is, G 1m (s) = G 1 (s), G 2m (s) = G 2 (s), the secondary controller satisfies C 2m (s) = C 2 (s), formula (2) can be simplified as

YY 11 (( sthe s )) RR (( sthe s )) == CC 11 (( sthe s )) ee -- ττ 22 sthe s CC 22 (( sthe s )) GG 22 (( sthe s )) GG 11 (( sthe s )) 11 ++ CC 22 (( sthe s )) GG 22 (( sthe s )) ++ CC 11 (( sthe s )) CC 22 (( sthe s )) GG 22 (( sthe s )) GG 11 (( sthe s )) -- -- -- (( 33 ))

式(3)所示网络串级控制系统的闭环传递函数分母中,不包含网络时延τ1,τ2和τ3的指数项

Figure BSA00000354948900031
Figure BSA00000354948900032
Figure BSA00000354948900033
即实现了闭环特征方程1+C2(s)G2(s)+C1(s)C2(s)G2(s)G1(s)=0中不包含网络时延的指数项,从而消除了网络时延对系统稳定性的影响,提高了系统的控制性能质量,实现了对非确定性网络时延的补偿功能.The denominator of the closed-loop transfer function of the network cascade control system shown in formula (3) does not include the exponential terms of the network delay τ 1 , τ 2 and τ 3
Figure BSA00000354948900031
Figure BSA00000354948900032
and
Figure BSA00000354948900033
That is, the closed-loop characteristic equation 1+C 2 (s)G 2 (s)+C 1 (s)C 2 (s)G 2 (s)G 1 (s)=0 does not include the exponential term of network delay , thereby eliminating the influence of network delay on system stability, improving the control performance quality of the system, and realizing the compensation function for non-deterministic network delay.

本发明的适用范围:Scope of application of the present invention:

适用于主副被控对象数学模型已知,网络时延可大于数个乃至数十个采样周期,网络仅存在于网络串级控制系统外反馈与内回路网络通路中的非确定性网络时延的动态补偿与控制.Applicable to the known mathematical models of the primary and secondary controlled objects, the network delay can be greater than several or even dozens of sampling periods, and the network only exists in the non-deterministic network delay in the external feedback and internal loop network paths of the network cascade control system dynamic compensation and control.

本发明的特征在于该方法包括以下步骤:The invention is characterized in that the method comprises the steps of:

1、当主变送器节点被采样周期h1触发时,将采用方式A进行工作;1. When the main transmitter node is triggered by the sampling period h 1 , it will work in mode A;

2、当主变送器节点将模型误差信号w1(s)通过外反馈网络通路向主(副)控制器节点传输时,将采用方式B进行工作;2. When the main transmitter node transmits the model error signal w 1 (s) to the main (secondary) controller node through the external feedback network path, it will work in mode B;

3、当副变送器节点被采样周期h2触发时,将采用方式C进行工作;3. When the auxiliary transmitter node is triggered by the sampling period h 2 , it will work in mode C;

4、当副变送器节点将副被控对象G2(s)的输出信号Y2(s)通过内反馈网络通路向主(副)控制器节点传输时,将采用方式D进行工作;4. When the auxiliary transmitter node transmits the output signal Y 2 (s) of the auxiliary controlled object G 2 (s) to the main (auxiliary) controller node through the internal feedback network path, it will use mode D to work;

5、当主(副)控制器节点被w1(s)或(和)Y2(s)触发时,将采用方式E进行工作;5. When the primary (secondary) controller node is triggered by w 1 (s) or (and) Y 2 (s), it will work in mode E;

6、当主(副)控制器节点通过内前向网络通路将误差信号e2(s)向执行器节点传输时,将采用方式F进行工作;6. When the primary (secondary) controller node transmits the error signal e 2 (s) to the actuator node through the internal forward network path, it will work in mode F;

7、当执行器节点被误差信号e2(s)触发时,将采用方式G进行工作.7. When the actuator node is triggered by the error signal e 2 (s), it will work in mode G.

方式A的步骤包括:The steps of method A include:

A1:主变送器节点工作于时间驱动方式,其触发采样周期为h1A1: The main transmitter node works in a time-driven mode, and its trigger sampling period is h 1 ;

A2:主变送器节点被触发后,对主被控对象G1(s)的输出信号Y1(s)和主被控对象的预估模型G1m(s)的输出信号y1m(s)进行采样;A2: After the main transmitter node is triggered, the output signal Y 1 (s) of the main controlled object G 1 (s) and the output signal y 1m (s) of the estimated model G 1m (s) of the main controlled object ) for sampling;

A3:对Y1(s)和y1m(s)实施相减运算,得到模型误差信号w1(s).A3: Subtract Y 1 (s) and y 1m (s) to obtain the model error signal w 1 (s).

方式B的步骤包括:The steps of method B include:

B1:主变送器节点将模型误差信号w1(s),通过外反馈网络通路向主(副)控制器节点传输.B1: The main transmitter node transmits the model error signal w 1 (s) to the main (secondary) controller node through the external feedback network path.

方式C的步骤包括:The steps of method C include:

C1:副变送器节点工作于时间驱动方式,其触发采样周期为h2C1: The sub-transmitter node works in the time-driven mode, and its trigger sampling period is h 2 ;

C2:副变送器节点被触发后,对副被控对象G2(s)的输出信号Y2(s)进行采样.C2: After the auxiliary transmitter node is triggered, the output signal Y 2 (s) of the auxiliary controlled object G 2 (s) is sampled.

方式D的步骤包括:The steps of method D include:

D1:副变送器节点将副被控对象G2(s)的输出Y2(s)的采样信号,通过内反馈网络通路向主(副)控制器节点传输.D1: The secondary transmitter node transmits the sampling signal of the output Y 2 (s) of the secondary controlled object G 2 (s) to the primary (secondary) controller node through the internal feedback network path.

方式E的步骤包括:The steps of method E include:

E1:主(副)控制器节点工作于事件驱动方式;E1: The primary (secondary) controller node works in event-driven mode;

E2:主(副)控制器节点被w1(s)或(和)Y2(s)触发;E2: The primary (secondary) controller node is triggered by w 1 (s) or (and) Y 2 (s);

E3:将系统给定信号R(s)与w1(s)和m1(s)实施相减运算,得到外回路系统误差信号e1(s);E3: Subtract the system given signal R(s) from w 1 (s) and m 1 (s) to obtain the outer loop system error signal e 1 (s);

F4:对e1(s)实施主控制器C1(s)运算,得到控制信号u1(s);F4: Implement the main controller C 1 (s) operation on e 1 (s) to obtain the control signal u 1 (s);

E5:将u1(s)作为给定信号,作用于副控制器预估算法C2m(s)与副被控对象预估模型G2m(s)构成的负反馈回路,其输出为ycg2m(s);再将ycg2m(s)作用于G1m(s),其输出为m1(s);E5: U 1 (s) is used as a given signal to act on the negative feedback loop formed by the sub-controller prediction algorithm C 2m (s) and the sub-controlled object prediction model G 2m (s), and its output is y cg2m (s); then apply y cg2m (s) to G 1m (s), and its output is m 1 (s);

E6:将u1(s)与来自内反馈网络通路的Y2(s)相加减,得到内回路误差信号e2(s).E6: Add and subtract u 1 (s) and Y 2 (s) from the inner feedback network path to obtain the inner loop error signal e 2 (s).

方式F的步骤包括:The steps of method F include:

F1:主(副)控制器节点通过内前向网络通路将误差信号e2(s)向执行器节点传输.F 1 : The primary (secondary) controller node transmits the error signal e 2 (s) to the actuator node through the inner forward network path.

方式G的步骤包括:The steps of mode G include:

G1;执行器节点工作于事件驱动方式;G1; Actuator nodes work in event-driven mode;

G2:执行器节点被误差信号e2(s)触发;G2: The actuator node is triggered by the error signal e 2 (s);

G3:将e2(s)与来自现场副变送器的Y2(s)信号相减,得到误差信号e3(s);G3: Subtract e 2 (s) from the Y 2 (s) signal from the on-site auxiliary transmitter to obtain the error signal e 3 (s);

G4:对e3(s)进行C2(s)控制运算,其输出信号为u2(s);G4: Carry out C 2 (s) control operation on e 3 (s), and its output signal is u 2 (s);

G5:将u2(s)作为驱动信号,对副被控对象G2(s)实施控制;从而改变G2(s)的状态,进而改变G1(s)的状态,实现对G1(s)与G2(s)的控制作用.G5: Use u 2 (s) as the driving signal to implement control on the secondary controlled object G 2 (s); thereby changing the state of G 2 (s), and then changing the state of G 1 (s), realizing the control of G 1 ( s) and the control effect of G 2 (s).

8、本发明所述的时延补偿方法,其特征在于主(副)控制器节点是由主控制器C1(s)内嵌入副控制器C2(s)所组成.即主控制器和副控制器共用同一个节点,构成主(副)控制器节点,并且主(副)控制器节点采用事件驱动触发工作方式(触发信号为信号w1(s)或(和)Y2(s)).8. The delay compensation method of the present invention is characterized in that the primary (secondary) controller node is composed of a secondary controller C 2 (s) embedded in the primary controller C 1 (s). That is, the primary controller and The secondary controllers share the same node to form the primary (secondary) controller node, and the primary (secondary) controller node adopts the event-driven trigger mode (the trigger signal is signal w 1 (s) or (and) Y 2 (s) ).

9、本发明所述的时延补偿方法,其特征在于系统包含主变送器节点、副变送器节点、主(副)控制器节点、执行器节点、主被控对象和副被控对象等单元,各单元依照各自设定的工作方式和功能进行工作.9. The delay compensation method of the present invention is characterized in that the system includes a main transmitter node, a secondary transmitter node, a main (secondary) controller node, an actuator node, a main controlled object and a secondary controlled object Each unit works according to its own set working mode and function.

10、本发明所述的时延补偿方法,其特征在于用真实的从主变送器节点到主(副)控制器节点之间外回路反馈网络通路的网络数据传输过程代替其间网络时延补偿模型,从而在结构上实现系统不包含其间网络时延的补偿模型.10. The time delay compensation method of the present invention is characterized in that the network data transmission process of the external loop feedback network path from the main transmitter node to the main (secondary) controller node is used to replace the network time delay compensation therebetween Model, so as to realize the compensation model of the system without network delay in the structure.

11、本发明所述的时延补偿方法,其特征在于用真实的从主(副)控制器节点到执行器节点之间内回路前向网络通路的网络数据传输过程代替其间网络时延补偿模型,从而在结构上实现系统不包含其间网络时延的补偿模型.11. The time delay compensation method of the present invention is characterized in that the network data transmission process of the inner loop forward network path from the main (secondary) controller node to the actuator node is used instead of the network time delay compensation model in between , so as to realize the compensation model in which the system does not include the network delay in the structure.

12、本发明所述的时延补偿方法,其特征在于用真实的从副变送器节点到主(副)控制器节点之间内回路反馈网络通路的网络数据传输过程代替其间网络时延补偿模型,从而在结构上实现系统不包含其间网络时延的补偿模型.12. The time delay compensation method of the present invention is characterized in that the network data transmission process of the inner loop feedback network path from the auxiliary transmitter node to the main (secondary) controller node is used to replace the network time delay compensation in between Model, so as to realize the compensation model of the system without network delay in the structure.

13、本发明所述的时延补偿方法,其特征在于从结构上免除对从主变送器节点到主(副)控制器节点之间网络时延的测量、观测、估计或辨识.13. The delay compensation method of the present invention is characterized in that the measurement, observation, estimation or identification of the network delay from the main transmitter node to the main (secondary) controller node is exempted from the structure.

14、本发明所述的时延补偿方法,其特征在于从结构上免除对主(副)控制器节点到执行器节点之间网络时延的测量、观测、估计或辨识.14. The time delay compensation method of the present invention is characterized in that it is structurally exempt from measuring, observing, estimating or identifying the network time delay between the primary (secondary) controller node and the actuator node.

15、本发明所述的时延补偿方法,其特征在于从结构上免除对副变送器节点到主(副)控制器节点之间网络时延的测量、观测、估计或辨识.15. The delay compensation method according to the present invention is characterized in that the measurement, observation, estimation or identification of the network delay between the secondary transmitter node and the primary (secondary) controller node is exempted from the structure.

16、本发明所述的时延补偿方法,其特征在于从结构上免除对主变送器节点、副变送器节点、主(副)控制器节点和执行器节点时钟信号同步的要求.16. The time delay compensation method of the present invention is characterized in that the requirement for clock signal synchronization of the main transmitter node, the auxiliary transmitter node, the main (sub) controller node and the actuator node is exempted from the structure.

17、本发明所述的时延补偿方法,其特征在于从结构上实现网络时延补偿方法的实施与具体控制策略C1(s)和C2(s)的选择无关.17. The time delay compensation method of the present invention is characterized in that the implementation of the network time delay compensation method has nothing to do with the selection of specific control strategies C 1 (s) and C 2 (s) from a structural point of view.

18、本发明所述的时延补偿方法,其特征在于从结构上实现网络时延补偿方法的实施与具体网络通信协议的选择无关.18. The time delay compensation method of the present invention is characterized in that the implementation of the network time delay compensation method has nothing to do with the selection of specific network communication protocols in terms of structure.

19、本发明所述的时延补偿方法,其特征在于当主副被控对象G1(s)、G2(s)与其预估模型G1m(s)、G2m(s)相等和副控制器C2(s)与其预估模型C2m(s)相等时,可实现对网络串级控制系统外反馈与内回路网络通路非确定性网络时延的完全补偿,提高系统的控制性能质量.19. The delay compensation method of the present invention is characterized in that when the primary and secondary controlled objects G 1 (s), G 2 (s) are equal to their estimated models G 1m (s), G 2m (s) and the secondary control When the controller C 2 (s) is equal to its estimated model C 2m (s), it can realize the complete compensation for the external feedback of the network cascade control system and the non-deterministic network delay of the inner loop network path, and improve the control performance quality of the system.

20、本发明所述的时延补偿方法,其特征在于采用的是“软”改变控制系统结构的补偿方法,无需再增加任何硬件设备,利用现有网络串级控制系统智能节点自带的软件资源,就足以实现其补偿功能.20. The time delay compensation method of the present invention is characterized in that it adopts a "soft" compensation method for changing the structure of the control system, without adding any hardware equipment, and using the software that comes with the intelligent nodes of the existing network cascade control system resources, it is sufficient to realize its compensation function.

21、本发明所述的时延补偿方法,其特征在于方式A适用于主变送器节点周期采样并对信号进行处理.21. The delay compensation method of the present invention is characterized in that mode A is suitable for periodic sampling of the main transmitter node and processing the signal.

22、本发明所述的时延补偿方法,其特征在于方式B适用于主变送器节点传输网络数据.22. The delay compensation method described in the present invention is characterized in that mode B is suitable for the main transmitter node to transmit network data.

23、本发明所述的时延补偿方法,其特征在于方式C适用于副变送器节点周期采样并对信号进行处理.23. The time delay compensation method of the present invention is characterized in that mode C is suitable for periodic sampling of auxiliary transmitter nodes and processing of signals.

24、本发明所述的时延补偿方法,其特征在于方式D适用于副变送器节点传输网络数据.24. The delay compensation method described in the present invention is characterized in that the method D is applicable to the transmission network data of the auxiliary transmitter node.

25、本发明所述的时延补偿方法,其特征在于方式E适用于主(副)控制器节点实施控制算法,并对信号进行处理.25. The time delay compensation method of the present invention is characterized in that the method E is suitable for the master (secondary) controller node to implement the control algorithm and process the signal.

26、本发明所述的时延补偿方法,其特征在于方式F适用于主(副)控制器节点传输网络数据.26. The time delay compensation method of the present invention is characterized in that the method F is suitable for the transmission of network data by the primary (secondary) controller node.

27、本发明所述的时延补偿方法,其特征在于方式G适用于执行器节点对副被控对象G2(s)实施控制,并对信号进行处理.27. The delay compensation method of the present invention is characterized in that the mode G is suitable for the actuator node to control the secondary controlled object G 2 (s) and process the signal.

本发明具有如下优点:The present invention has the following advantages:

1、由于从结构上免除了对外回路反馈通路以及整个内回路反馈与前向通路中非确定性网络时延的测量、观测、估计或辨识,同时还免除了节点时钟信号同步的要求,进而避免了时延估计模型不准确造成的估计误差,避免了对时延辨识所需耗费节点存贮资源的浪费,同时还避免了由于时延造成的“空采样”或“多采样”带来的补偿误差.1. Since the measurement, observation, estimation or identification of the non-deterministic network delay in the external loop feedback path and the entire inner loop feedback and forward path is eliminated from the structure, and the requirement for node clock signal synchronization is also eliminated, thereby avoiding It eliminates the estimation error caused by the inaccurate time delay estimation model, avoids the waste of node storage resources required for time delay identification, and also avoids the compensation caused by "empty sampling" or "multiple sampling" caused by time delay error.

2、由于从结构上实现了与具体的网络通信协议的选择无关,因而既适用于采用有线网络协议的网络串级控制系统,亦适用于无线网络协议的网络串级控制系统;既适用于确定性网络协议,亦适用于非确定性的网络协议.2. Since it has nothing to do with the choice of specific network communication protocols in terms of structure, it is not only suitable for network cascade control systems using wired network protocols, but also for network cascade control systems using wireless network protocols; It is also suitable for non-deterministic network protocols.

3、由于从结构上实现了与具体的网络通信协议的选择无关,因而既适用于基于有线网络协议的异构网络串级控制系统,亦适用于基于无线网络协议的异构网络串级控制系统,同时还适用于异质(如有线与无线混杂)的网络串级控制系统的时延补偿.3. Since the structure has nothing to do with the choice of specific network communication protocols, it is not only suitable for heterogeneous network cascade control systems based on wired network protocols, but also suitable for heterogeneous network cascade control systems based on wireless network protocols , and it is also suitable for delay compensation of heterogeneous (such as mixed wired and wireless) network cascade control systems.

4、由于从结构上实现了与具体的主(副)控制器的控制策略的选择无关,因而既可用于采用常规控制的网络串级控制系统,亦可用于采用智能控制或采用复杂控制策略的网络串级控制系统.4. Since it has nothing to do with the selection of the control strategy of the specific main (sub) controller from the structure, it can be used not only for the network cascade control system using conventional control, but also for the network cascade control system using intelligent control or complex control strategy. Network cascade control system.

5、由于本发明采用的是“软”改变控制系统结构的补偿方法,因而在其实现过程中无需再增加任何硬件设备,利用现有网络串级控制系统智能节点自带的软件资源,就足以实现其补偿功能,因而可节省硬件投资,便于推广和应用.5. Since the present invention adopts a "soft" compensation method for changing the structure of the control system, there is no need to add any hardware devices during its implementation, and it is sufficient to use the software resources that come with the intelligent nodes of the existing network cascade control system Realize its compensation function, thus saving hardware investment and facilitating promotion and application.

附图说明Description of drawings

图1为网络仅存在于外回路反馈通路以及整个内回路反馈与前向通路的网络串级控制系统方框图.Figure 1 is a block diagram of the network cascade control system in which the network only exists in the feedback path of the outer loop and the feedback and forward paths of the entire inner loop.

图2为网络仅存在于外回路反馈通路以及整个内回路反馈与前向通路的网络串级控制系统结构图.Figure 2 is a network cascade control system structure diagram in which the network only exists in the feedback path of the outer loop and the feedback and forward paths of the entire inner loop.

图3为本发明所述的网络串级控制系统外反馈与内回路非确定性时延补偿方法结构图Fig. 3 is a structural diagram of the external feedback and internal loop non-deterministic delay compensation method of the network cascade control system according to the present invention

在图1的方框图中,系统由输入信号(R),主被控对象(G1),主变送器(S1),外回路反馈网络通路,主(副)控制器(C1/C2);副被控对象(G2),副变送器(S2),内回路反馈网络通路,内回路前向网络通路,执行器(A)等单元所组成.In the block diagram of Figure 1, the system consists of input signal (R), main controlled object (G 1 ), main transmitter (S 1 ), external loop feedback network path, main (sub) controller (C 1 /C 2 ); sub-controlled object (G 2 ), sub-transmitter (S 2 ), inner loop feedback network path, inner loop forward network path, actuator (A) and other units.

主变送器(S1)节点采用时间驱动方式进行工作,触发周期为h1,对主被控对象(G1)实施周期采样,并对采样信号进行处理.The main transmitter (S 1 ) node works in a time-driven manner, the trigger period is h 1 , and the main controlled object (G 1 ) is periodically sampled, and the sampled signal is processed.

主(副)控制器(C1/C2)节点由主控制器(C1)中内嵌入副控制器(C2)组成,即主控制器(C1)和副控制器(C2)共用同一个节点.节点采用事件驱动方式进行工作,并由主变送器(S1)节点的输出信号通过外反馈网络通路或(和)由副变送器(S2)的输出信号通过内回路反馈网络通路来触发.The primary (secondary) controller (C 1 /C 2 ) node is composed of the secondary controller (C 2 ) embedded in the primary controller (C 1 ), that is, the primary controller (C 1 ) and the secondary controller (C 2 ) Share the same node. The node works in an event-driven manner, and the output signal of the main transmitter (S 1 ) node passes through the external feedback network path or (and) the output signal of the secondary transmitter (S 2 ) through the internal The loop feeds back into the network path to trigger.

副变送器(S2)节点采用时间驱动方式进行工作,触发周期为h2,对副被控对象(G2)实施周期采样,并对采样信号进行处理.The secondary transmitter (S 2 ) node works in a time-driven manner, the trigger period is h 2 , and the secondary controlled object (G 2 ) is periodically sampled, and the sampled signal is processed.

执行器(A)节点采用事件驱动方式进行工作,由主(副)控制器节点通过内回路前向网络通路的控制信号来触发,驱动执行机构从而改变副被控对象(G2)的状态,进而改变主被控对象(G1)的状态.The actuator (A) node works in an event-driven manner, triggered by the control signal of the main (secondary) controller node through the inner loop forward network path, and drives the actuator to change the state of the secondary controlled object (G 2 ), Then change the state of the main controlled object (G 1 ).

图1中系统的主变送器(S1)节点,副变送器(S2)节点,主(副)控制器(C1/C2)节点以及执行器(A)节点都是智能节点,不仅具备存贮运算功能与通信功能,而且具备软件组态与控制功能,这些节点包括现已广泛应用的工业现场总线控制系统(FCS)和集散控制系统(DCS)中常见的智能节点或智能设备等硬件.The main transmitter (S 1 ) node, auxiliary transmitter (S 2 ) node, main (sub) controller (C 1 /C 2 ) node and actuator (A) node of the system in Figure 1 are all intelligent nodes , not only have storage computing functions and communication functions, but also have software configuration and control functions. These nodes include the common intelligent nodes or intelligent equipment and other hardware.

在图2的系统中,数据传输中的非确定性网络时延对于系统的稳定性和控制性能质量有着显著的影响.网络串级控制系统的数据传输经历着从主变送器节点经外反馈网络通路传输到主(副)控制器节点所产生的非确定性网络时延τ1,从主(副)控制器节点经内前向网络通路传输到执行器节点所产生的非确定性网络时延τ2,以及从副变送器节点经内反馈网络通路传输到主(副)控制器节点所产生的非确定性网络时延τ3的影响.时延与具体的网络协议、网络负载大小以及网络拓扑结构等因素有关,对于网络时延的测量、或估计、或观测、或辨识已成为实现对其补偿的关键前提条件.然而,通过网络连接的各个节点的分布性使得网络串级控制系统中的各个节点很难满足时钟信号同步的要求,同时,由于网络时延的非确定性和突发性,要做到每一步都能准确预测是不可能的.In the system shown in Figure 2, the non-deterministic network delay in data transmission has a significant impact on the stability of the system and the quality of control performance. The data transmission of the network cascade control system experiences feedback from the main transmitter node through the external The non-deterministic network delay τ 1 generated by the network path transmission to the primary (secondary) controller node, and the non-deterministic network time generated by the transmission from the primary (secondary) controller node to the actuator node through the internal forward network path Delay τ 2 , and the influence of non-deterministic network delay τ 3 generated from the transmission from the auxiliary transmitter node to the main (secondary) controller node through the internal feedback network path. The delay is related to the specific network protocol and network load And network topology and other factors, the measurement, or estimation, or observation, or identification of network delay has become a key prerequisite for its compensation. However, the distribution of each node connected through the network makes the network cascade control It is difficult for each node in the system to meet the requirements of clock signal synchronization. At the same time, due to the non-deterministic and bursty nature of network delay, it is impossible to accurately predict each step.

在图3的系统中,不包含从主变送器节点经外反馈网络通路传输到主(副)控制器节点之间的网络时延预估模型,也不包含从主(副)控制器节点经内前向网络通路传输到执行器节点之间的网络时延预估模型,以及从副变送器节点经内反馈网络通路传输到主(副)控制器节点之间的网络时延预估模型.免除了对非确定性网络时延τ1,τ2和τ3的测量、估计、观测或辨识,同时也免除了对(主变送器、副变送器、主(副)控制器、执行器)节点时钟信号同步的要求.当主副被控对象预估模型与其真实模型,以及副控制器及其预估模型相等时,可实现从系统的输入信号R(s)到系统的输出信号Y1(s)的闭环传递函数中,将网络时延τ1,τ2和τ3的指数项

Figure BSA00000354948900061
Figure BSA00000354948900062
Figure BSA00000354948900063
从分母中消除,即实现闭环特征方程中不包含网络时延τ1,τ2和τ3的指数项,从而降低了时延对系统稳定性的影响,提高了系统的控制性能质量,实现对非确定性网络时延的补偿与控制.In the system in Figure 3, the network delay estimation model transmitted from the main transmitter node to the main (secondary) controller node through the external feedback network path is not included, nor is the network delay estimation model from the main (secondary) controller node The network delay estimation model transmitted from the internal forward network path to the actuator node, and the network delay estimation model transmitted from the auxiliary transmitter node to the main (secondary) controller node through the internal feedback network path Model. It eliminates the measurement, estimation, observation or identification of non-deterministic network time delay τ 1 , τ 2 and τ 3 , and also eliminates the need for (main transmitter, auxiliary transmitter, main (sub) controller , executor) node clock signal synchronization requirements. When the primary and secondary controlled object prediction model is equal to its real model, and the secondary controller and its prediction model are equal, the input signal R(s) from the system to the output of the system can be realized In the closed-loop transfer function of the signal Y 1 (s), the exponential terms of the network delays τ 1 , τ 2 and τ 3
Figure BSA00000354948900061
Figure BSA00000354948900062
and
Figure BSA00000354948900063
It is eliminated from the denominator, that is, the closed-loop characteristic equation does not include the exponential items of network delay τ 1 , τ 2 and τ 3 , thereby reducing the impact of delay on system stability, improving the control performance quality of the system, and realizing the Compensation and control of non-deterministic network delay.

具体实施方式Detailed ways

下面将通过参照附图3详细描述本发明的示例性实施例,使本领域的普通技术人员更清楚本发明的上述及其它特征和优点.An exemplary embodiment of the present invention will be described in detail below with reference to accompanying drawing 3, so that those of ordinary skill in the art will be more aware of the above-mentioned and other features and advantages of the present invention.

具体实施步骤如下所述:The specific implementation steps are as follows:

第一步:工作于时间驱动方式的主变送器节点对主被控对象G1(s)的输出信号Y1(s)和其预估模型G1m(s)的输出信号y1m(s)进行周期采样(采样周期为h1),并对Y1(s)和y1m(s)实施相减运算,得到模型误差信号w1(s);The first step: the output signal Y 1 (s) of the main transmitter node working in the time-driven mode to the main plant G 1 (s) and the output signal y 1m (s) of its prediction model G 1m (s) ) to conduct periodic sampling (sampling period is h 1 ), and perform subtraction operation on Y 1 (s) and y 1m (s), to obtain model error signal w 1 (s);

第二步:主变送器节点将w1(s)通过外回路反馈网络通路传输到主(副)控制器节点;Step 2: The main transmitter node transmits w 1 (s) to the main (secondary) controller node through the external loop feedback network path;

第三步:工作于时间驱动方式的副变送器节点对副被控对象G2(s)的输出信号Y2(s)进行周期采样(采样周期为h2);Step 3: The sub-transmitter node working in the time-driven mode periodically samples the output signal Y 2 (s) of the sub-controlled object G 2 (s) (sampling period is h 2 );

第四步:副变送器节点将Y2(s)通过内回路反馈网络通路传输到主(副)控制器节点;Step 4: The secondary transmitter node transmits Y 2 (s) to the primary (secondary) controller node through the inner loop feedback network path;

第五步:工作于事件驱动方式的主(副)控制器节点,被信号w1(s)或(和)Y2(s)所触发;主(副)控制器节点根据系统给定信号R(s),对w1(s)与节点内补偿单元输出信号m1(s)相减,得到误差信号e1(s);对e1(s)实施C1(s)控制,其输出信号为u1(s):一方面,将u1(s)作为本节点内由副控制器的预估模型C2m(s)和副被控对象的预估模型G2m(s)构成的负反馈回路的给定输入信号;另一方面,将u1(s)与Y2(s)相加减,得到误差信号e2(s);Step 5: The main (secondary) controller node working in the event-driven mode is triggered by the signal w 1 (s) or (and) Y 2 (s); the main (secondary) controller node according to the given signal R of the system (s), subtract w 1 (s) from the output signal m 1 (s) of the compensation unit in the node to obtain the error signal e 1 (s); implement C 1 (s) control on e 1 (s), and its output The signal is u 1 (s): on the one hand, take u 1 (s) as the node composed of the estimated model C 2m (s) of the secondary controller and the estimated model G 2m (s) of the secondary controlled object The given input signal of the negative feedback loop; on the other hand, the error signal e 2 (s) is obtained by adding and subtracting u 1 (s) and Y 2 (s);

第六步:主(副)控制器节点将误差信号e2(s)通过内回路前向网络通路传输到执行器节点;Step 6: The primary (secondary) controller node transmits the error signal e 2 (s) to the actuator node through the inner loop forward network path;

第七步:执行器节点工作于事件触发方式,被误差信号e2(s)触发后;将e2(s)来自现场副变送器的信号Y2(s)相减,得到误差信号e3(s),并对e3(s)实施控制算法C2(s),其输出u2(s)直接用于驱动执行机构,从而改变副被控对象G2(s)的状态,进而改变主被控对象G1(s)的状态;Step 7: The actuator node works in the event-triggered mode, and after being triggered by the error signal e 2 (s); subtract the signal Y 2 (s) from the on-site secondary transmitter of e 2 (s) to obtain the error signal e 3 (s), and implement the control algorithm C 2 (s) for e 3 (s), its output u 2 (s) is directly used to drive the actuator, thereby changing the state of the secondary controlled object G 2 (s), and then Change the state of the main plant G 1 (s);

第八步:返回第一步.Step 8: Return to the first step.

以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内.The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

本说明书中未作详细描述的内容属于本领域专业技术人员公知的现有技术。The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (16)

1. network cascade control system external feedback and inner looping uncertainty network delay penalty method is characterized in that this method may further comprise the 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 with model error signal w 1(s) pass through the external feedback network path when master's (pair) controller node transmits, 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 with secondary controlled device G 2(s) output signal Y 2(s) by the internal feedback network path when master's (pair) controller node transmits, will adopt mode D to carry out work;
(5). when master's (pair) controller node by w 1(s) or (with) Y 2When (s) triggering, will adopt mode E to carry out work;
(6). when master's (pair) controller node by interior feedforward network path with error signal e 2(s) when the actuator node transmits, will adopt mode F to carry out work;
(7). when the actuator node by error signal e 2When (s) triggering, will adopt mode G to carry out work.
2. compensation method according to claim 1 is characterized in that 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 controlled device G 1(s) output signal Y 1(s) and the prediction model G of main controlled device 1m(s) output signal y 1m(s) sample;
A3: to Y 1(s) and y 1m(s) implement additive operation, obtain model error signal w 1(s).
3. compensation method according to claim 1 is characterized in that the step of described mode B comprises:
B1: main transmitter node is with model error signal w 1(s), transmit to master's (pair) controller node by the external feedback network path.
4. compensation method according to claim 1 is characterized in that the step of described mode C comprises:
C1: secondary transmitter node works in the time type of drive, and it triggers the sampling period is h 2
C2: after secondary transmitter node is triggered, to secondary controlled device G 2(s) output signal Y 2(s) sample.
5. compensation method according to claim 1 is characterized in that the step of described mode D comprises:
D1: secondary transmitter node is with secondary controlled device G 2(s) output Y 2(s) sampled signal is transmitted to master's (pair) controller node by the internal feedback network path.
6. compensation method according to claim 1 is characterized in that the step of described mode E comprises:
E1: main (pair) controller node works in event driven manner;
E2: main (pair) controller node is by w 1(s) or (with) Y 2(s) trigger;
E3: with given signal R of system (s) and w 1(s) and m 1(s) implement additive operation, obtain external loop systematic error signal e 1(s);
E4: to e 1(s) implement master controller C 1(s) computing, controlled signal u 1(s);
E5: with u 1(s), act on submaster controller predictive algorithm C as given signal 2m(s) with secondary controlled device prediction model G 2m(s) negative feedback loop of Gou Chenging, it is output as Y Cg2m(s); Again with Y Cg2m(s) act on G 1m(s), it is output as m 1(s);
E6: with u 1(s) with from the Y of internal feedback network path 2(s) add and subtract mutually, obtain the inner looping error signal e 2(s).
7. compensation method according to claim 1 is characterized in that the step of described mode F comprises:
F 1: main (pair) controller node by interior feedforward network path with error signal e 2(s) transmit to the actuator node.
8. compensation method according to claim 1 is characterized in that 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: with e 2(s) with from the Y of the secondary transmitter in scene 2(s) signal subtraction obtains error signal e 3(s);
G4: to e 3(s) carry out C 2(s) control computing, its output signal is u 2(s);
G5: with u 2(s) as drive signal, to secondary controlled device G 2(s) implement control; Thereby change G 2(s) state, and then change G 1(s) state is realized G 1(s) and G 2Control action.
9. method according to claim 1 is characterized in that main (pair) controller node is by master controller C 1(s) be embedded in submaster controller C 2(s) form. be the shared same node of master controller and submaster controller, constitute main (pair) controller node, and main (pair) controller node adopts the event-driven triggered mode of operation, and (trigger pip is signal w 1(s) or (with) Y 2(s)).
10. method according to claim 1, it is characterized in that system comprises unit such as main transmitter node, secondary transmitter node, master's (pair) controller node, actuator node, main controlled device and secondary controlled device, each unit carries out work according to working method and the function set separately.
11. method according to claim 1, it is characterized in that using really, the network data transmission process from main transmitter node to external loop feedback network path master's (pair) controller node replaces network delay compensation model therebetween; Replace network delay compensation model therebetween with the network data transmission process from master's (pair) controller node to inner looping feedforward network path the actuator node really; Replace network delay compensation model therebetween with the network data transmission process from secondary transmitter node to inner looping feedback network path master's (pair) controller node really, thereby the system that structurally realizes does not comprise the compensation model of network delay.
12. method according to claim 1, it is characterized in that from structure exempt to from main transmitter node to master's (pair) controller node, from master's (pair) controller node to the actuator node, and measurement, observation, estimation or identification from secondary transmitter node to network delay master's (pair) controller node; Release is to main transmitter node, secondary transmitter node, master's (pair) controller node and the synchronous requirement of actuator node clock signal.
13. method according to claim 1 is characterized in that realizing from structure the enforcement and concrete control strategy C of network delay compensation method 1(s) and C 2(s) selection is irrelevant, and is irrelevant with the selection of concrete network communication protocol.
14. method according to claim 1 is characterized in that as major-minor controlled device G 1(s), G 2(s) with its prediction model G 1m(s), G 2m(s) equate and submaster controller C 2(s) with its prediction model C 2mWhen (s) equating, can realize full remuneration, improve the control performance quality of system network cascade control system external feedback and inner looping network path uncertainty network delay.
15. method according to claim 1, what it is characterized in that adopting is the compensation method that " soft " changes the control system structure, need not increases any hardware device again, and the software resource that utilizes existing network cascade control system intelligent node to carry is realized its compensate function.
16. 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 handled; Mode B is applicable to main transmitter node transmitting network data; Mode C is applicable to secondary transmitter node periodic sampling and signal is handled; Mode D is applicable to secondary transmitter node transmitting network data; Mode E is applicable to main (pair) controller node enforcement control algolithm, and signal is handled; Mode F is applicable to main (pair) controller node transmitting network data; Mode G is applicable to that the actuator node is to secondary controlled device G 2(s) implement control, and signal is handled.
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