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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Hainan University
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Abstract

The invention provides an external feedback and inner loop nondeterministic network time delay compensation method of a network cascade control system, belonging to the technical field of network control systems. In the invention, network data transmission process between external feedback network path nodes and inner loop network path nodes of a true network cascade control system are adopted to replace a network time delay compensation model therebetween, thereby avoiding measurement, observation, estimation or identification of network data transmission nondeterministic time delay among the nodes and the requirements on node clock signal synchronism. By adopting the method, the influence of nondeterministic network time delay on system stability can be lowered, and the control performance quality of the system can be improved. The method provided by the invention is suitable for known mathematical models of main and auxiliary controlled objects, the network time delay can be larger than a plurality of and even dozens of sampling periods, a network only exists in dynamic compensation and control of nondeterministic network time delay in an external feedback and inner loop network path of the network cascade control system.

Description

Network cascade control system external feedback and inner looping uncertainty network delay penalty method
Technical field
The present invention relates in the network cascade control system, the compensation method of external feedback and inner looping network path uncertainty network delay belongs to the network control system technical field.
Background technology
Control loop is by the real-time network closure, be referred to as network control system (Networked Control Systems, NCS). network control system can significantly reduce system wiring because of it, reduce system cost, improve system reliability and dirigibility, be convenient to system diagnostics and maintenance, in fields such as aircraft, spaceship, chemical plant, electric system, obtained using widely.
A key character of network control system is that heat transfer agent and the control information in the close loop control circuit all transmitted by real-time network, owing to inserted real-time network in the control loop, brought a series of problems such as network inducement delay and data-bag lost inevitably. the existence of network delay tends to reduce the performance of system even causes system's instability.
At present, research about network control system mainly is at single-circuit control system both at home and abroad, constant at network delay respectively, in time, become or at random, network delay is less than a sampling period or greater than a sampling period, single bag transmission or many bag transmission, have or not under the various conditions such as data-bag lost, it is carried out modeling and stability analysis, but rarely have paper that the network cascade control system is studied. control loop is called network cascade control system (NCCS) by the cascade control system of real-time network closure, and the typical structure block diagram that is applicable to network cascade control system of the present invention is as shown in Figure 1.
Because the network cascade control system is the network control system of closed loop more than, analysis to network delay influence is more complex more than single-circuit network control system with the research of system performance. and the inner looping network delay will have a strong impact on the rapidity and the antijamming capability of inner looping network control system, and the while also will have a negative impact with stability and the controlling performance of external loop network delay to whole network cascade control system.
Grinding high difficult point for network delay is:
(1) because network delay is relevant with factors such as network topology structure, communication protocol, offered load, the network bandwidth and packet sizes. to network delay greater than several and even dozens of sampling period, set up accurately predict, the mathematical model of estimation or identification, almost be impossible at present.
(2) occur in the previous node network delay in node transmitting network data process backward, in previous node, no matter adopt which kind of prediction or method of estimation, all can not know the exact value of the network delay that produces thereafter in advance in advance. time delay causes system performance to descend even causes system's instability, brings difficulty also for simultaneously the analysis and the design of control system.
(3) will satisfy in the network cascade control system, all node clock signals in different distributions place are unpractical fully synchronously.
Exist only in network cascade control system as shown in Figure 2 in external loop feedback network and whole inner looping feedback and the through path, its input R (s) and output Y at network 1(s) closed loop between is transmitted letter
Y 1 ( s ) R ( s ) = C 1 ( s ) C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) 1 + C 1 ( s ) C 2 ( s ) e - τ 2 s G 2 ( s ) G 1 ( s ) e - τ 1 s + C 2 ( s ) e - τ 2 s G 2 ( s ) e - τ 3 s - - - ( 1 )
In the formula: C 1(s) be master controller, C 2(s) be submaster controller; G 1(s) be main controlled device, G 2(s) be secondary controlled device; τ 1Expression is transferred to main (pair) uncertainty network delay that controller node produced from main transmitter node through the external feedback network path with network data; τ 2Expression is transferred to uncertainty network delay that actuator node produced from master's (pair) controller node through interior feedforward network path with network data; τ 3Expression is transferred to main (pair) uncertainty network delay that controller node produced from secondary transmitter node through the internal feedback network path with network data.
Owing to comprise network delay τ in the denominator of the closed loop transfer function, shown in the equation (1) 1, τ 2And τ 3Exponential term
Figure BSA00000354948900012
Figure BSA00000354948900013
With
Figure BSA00000354948900014
The existence of time delay will worsen the control performance quality of system, even cause system's loss of stability, when serious system be broken down.
Reduce time delay to the sex key of system stability, just be to realize uncertainty network delay τ 1, τ 2And τ 3Exponential term
Figure BSA00000354948900015
Figure BSA00000354948900016
With
Figure BSA00000354948900017
From the denominator of equation (1), remove, promptly realize not comprising in system's closed loop secular equation the exponential term of all-network time delay, yet and then realization is to the compensation of network delay., realize compensation to network delay, at first must know the size of network delay. at present, the method that adopts usually is by to network delay τ both at home and abroad 1, τ 2And τ 3Measurement, come delay compensation τ 1, τ 2And τ 3Influence to system stability. still, because to network delay τ 1, τ 2And τ 3Accurate measurement need satisfy the synchronous requirement of node clock signal, if adopt hardware to realize that node clock signal is synchronous fully, then need bigger economy input; If adopt software position signal, when then between node, transmitting owing to correction signal, may meet with the influence of network delay, be difficult to realize that nodal clock is synchronous fully. if adopt network delay is estimated, observation, identification or forecast method obtain the size of network delay, then at first must know the accurate probability distribution of network delay, or mathematical model accurately, but because the size of network delay and concrete procotol, factors such as offered load size and network topology structure are relevant, to the estimation of network delay, observation, all may there be deviation in identification or prediction.
Therefore, how to exempt the requirement synchronous to node clock signal, how to exempt estimation, observation, identification or prediction to network delay between the node, can obtain simultaneously between the node time delay value accurately again, and then realize that having become in the network cascade control system needs one of key issue that solves to the compensating action of uncertainty network delay in network cascade control system external loop feedback network and whole inner looping feedback and the through path.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of network that relates to and exist only in the external loop feedback network, and the dynamic compensation method of network cascade control system uncertainty network delay in whole inner looping feedback and the through path.
Purpose of the present invention:
In the network cascade control system, the difficult problem of network delay " indeterminacy ", the present invention proposes a kind of release to main transmitter node, master's (pair) controller node, secondary transmitter node and the synchronous requirement of actuator node clock signal, also exempt (external loop feedback network between its node simultaneously, and in whole inner looping feedback and the through path), the measurement of uncertainty network delay, estimation or identification realize the segmentation of network delay, real-time, online and dynamic compensation and control.
The method that the present invention adopts is:
The first step: adopt secondary transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between main (pair) controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from secondary transmitter node to the network path master's (pair) controller node, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
Second step: adopt main (pair) controller node to replace the compensation model of network delay therebetween to the live network data transmission procedure between the actuator node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from master's (pair) controller node to the network path the actuator node, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
The 3rd step: adopt main transmitter node to replace the compensation model of network delay therebetween to the live network data transmission procedure between main (pair) controller node, the system that structurally realizes does not comprise the compensation model of network delay therebetween. how complicatedly and uncertain no matter have from main transmitter node to the network path master's (pair) controller node, also no matter include therebetween what routers or (with) intermediate link, the network delay that information flow experienced is exactly a real network delay in the control procedure, has just realized the compensate function to its time delay in the information stream transmission process.
The 4th step: at network cascade control system shown in Figure 2, the network delay collocation structure of enforcement the inventive method is as shown in Figure 3.
In Fig. 3, from the input R (s) and the output Y of system 1(s) closed loop transfer function, between is
Y 1 ( s ) R ( s ) = C 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 ) C 2 m ( s ) G 2 m ( s ) G 1 m ( s ) 1 + C 2 m ( s ) G 2 m ( s ) + C 1 ( s ) e - τ 2 s C 2 ( s ) G 2 ( s ) [ G 1 ( s ) - G 1 m ( s ) ] e - τ 1 s 1 + C 2 ( s ) G 2 ( s ) - - - ( 2 )
When major-minor controlled device prediction model equals its true model, i.e. G 1m(s)=G 1(s), G 2m(s)=G 2(s), submaster controller satisfies C 2m(s)=C 2(s) time, formula (2) but abbreviation be
Y 1 ( s ) R ( s ) = C 1 ( s ) e - τ 2 s C 2 ( s ) G 2 ( s ) G 1 ( s ) 1 + C 2 ( s ) G 2 ( s ) + C 1 ( s ) C 2 ( s ) G 2 ( s ) G 1 ( s ) - - - ( 3 )
In the closed loop transfer function, denominator of network cascade control system, do not comprise network delay τ shown in the formula (3) 1, τ 2And τ 3Exponential term
Figure BSA00000354948900031
Figure BSA00000354948900032
With
Figure BSA00000354948900033
Promptly realized closed loop secular equation 1+C 2(s) G 2(s)+C 1(s) C 2(s) G 2(s) G 1(s)=0 do not comprise the exponential term of network delay in, thereby eliminated the influence of network delay, improved the control performance quality of system, realized compensate function the uncertainty network delay to system stability.
The scope of application of the present invention:
Be applicable to that major-minor controlled device mathematical model is known, network delay can be greater than several and even dozens of sampling period, and network exists only in the dynamic compensation and the control of the uncertainty network delay in network cascade control system external feedback and the inner looping network path.
The invention is characterized in that this method may further comprise the steps:
1, is sampled cycle h when main transmitter node 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, be sampled cycle h when secondary transmitter node 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.
The step of mode A comprises:
A1: main transmitter node works in the time type of drive, and it triggers the sampling period is h 1
A2: after main transmitter node is triggered, to main 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).
The step of 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.
The step of mode C comprises:
C1: secondary transmitter node works in the time type of drive, and it triggers the sampling period is h 2
C2: after secondary transmitter node is triggered, to secondary controlled device G 2(s) output signal Y 2(s) sample.
The step of 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.
The step of 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);
F4: 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).
The step of 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.
The step of mode G comprises:
G1; The actuator node works in event driven manner;
G2: the actuator node is by error signal e 2(s) trigger;
G3: 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 2(s) control action.
8, delay compensation method of the present invention 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)).
9, delay compensation method of the present invention, 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.
10, delay compensation method of the present invention, it is characterized in that replacing network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween with the network data transmission process from main transmitter node to external loop feedback network path master's (pair) controller node really.
11, delay compensation method of the present invention, it is characterized in that replacing network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween with the network data transmission process from master's (pair) controller node to inner looping feedforward network path the actuator node really.
12, delay compensation method of the present invention, it is characterized in that replacing network delay compensation model therebetween, thereby the system that structurally realizes does not comprise the compensation model of network delay therebetween with the network data transmission process from secondary transmitter node to inner looping feedback network path master's (pair) controller node really.
13, delay compensation method of the present invention is characterized in that exempting measurement, observation, estimation or identification from main transmitter node to network delay master's (pair) controller node from structure.
14, delay compensation method of the present invention is characterized in that exempting measurement, observation, estimation or the identification of master's (pair) controller node to network delay the actuator node from structure.
15, delay compensation method of the present invention is characterized in that exempting measurement, observation, estimation or the identification of secondary transmitter node to network delay master's (pair) controller node from structure.
16, delay compensation method of the present invention is characterized in that exempting main transmitter node, secondary transmitter node, master's (pair) controller node and the synchronous requirement of actuator node clock signal from structure.
17, delay compensation method of the present invention is characterized in that realizing from structure the enforcement and concrete control strategy C of network delay compensation method 1(s) and C 2(s) selection is irrelevant.
18, delay compensation method of the present invention is characterized in that realizing that from structure the enforcement of network delay compensation method is irrelevant with the selection of concrete network communication protocol.
19, delay compensation method of the present invention 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.
20, delay compensation method of the present invention, what it is characterized in that adopting is the compensation method that " soft " changes the control system structure, need not increases any hardware device again, and the software resource that utilizes existing network cascade control system intelligent node to carry just is enough to realize its compensate function.
21, delay compensation method of the present invention, the mode A of it is characterized in that are applicable to main transmitter node periodic sampling and signal are handled.
22, delay compensation method of the present invention, the mode B of it is characterized in that are applicable to main transmitter node transmitting network data.
23, delay compensation method of the present invention, the mode C of it is characterized in that are applicable to secondary transmitter node periodic sampling and signal are handled.
24, delay compensation method of the present invention, the mode D of it is characterized in that are applicable to secondary transmitter node transmitting network data.
25, delay compensation method of the present invention, the mode E of it is characterized in that are applicable to main (pair) controller node enforcement control algolithm, and signal is handled.
26, delay compensation method of the present invention, the mode F of it is characterized in that are applicable to main (pair) controller node transmitting network data.
27, delay compensation method of the present invention, the mode G of it is characterized in that are applicable to that the actuator node is to secondary controlled device G 2(s) implement control, and signal handled.
The present invention has following advantage:
1, owing to measurement, observation, estimation or the identification of having exempted uncertainty network delay external circuit feedback path and whole inner looping feedback and the through path from structure, also exempted the synchronous requirement of node clock signal simultaneously, and then avoided the inaccurate evaluated error that causes of time delay estimation model, avoided the required waste that expends the node storage resources of time delay identification, also avoided simultaneously because the compensating error that " the empty sampling " that time delay causes or " many samplings " bring.
2, owing to realized with the selection of concrete network communication protocol irrelevantly from structure, thereby both be applicable to the network cascade control system that adopts wired network protocol, also be applicable to the network cascade control system of wireless network protocol; Both be applicable to the deterministic network agreement, also be applicable to the procotol of uncertainty.
3, owing to realized with the selection of concrete network communication protocol irrelevant from structure, thereby both be applicable to heterogeneous network cascade control system based on wired network protocol, also be applicable to heterogeneous network cascade control system, also be applicable to the delay compensation of the network cascade control system of heterogeneous (as wired and wireless mixing) simultaneously based on wireless network protocol.
4, owing to realized with the selection of the control strategy of concrete master (pair) controller irrelevant from structure, thereby both can be used for adopting the network cascade control system of conventional control, also can be used for adopting Based Intelligent Control or adopt the network cascade control system of complicated control strategy.
5, because the present invention adopts is the compensation method that " soft " changes the control system structure, thereby in its implementation procedure, need not to increase again any hardware device, the software resource that utilizes existing network cascade control system intelligent node to carry, just be enough to realize its compensate function, thereby can save hardware investment, be easy to be extended and applied.
Description of drawings
Fig. 1 exists only in the network cascade control system block scheme of external loop feedback network and whole inner looping feedback and through path for network.
Fig. 2 exists only in the network cascade control system structural drawing of external loop feedback network and whole inner looping feedback and through path for network.
Fig. 3 is network cascade control system external feedback of the present invention and inner looping uncertainty delay compensation method structural drawing
In the block diagram of Fig. 1, system is by input signal (R), main controlled device (G1), main transmitter (S1), external loop feedback network path, main (pair) controller (C1/C 2); Secondary controlled device (G2), secondary transmitter (S2), inner looping feedback network path, inner looping feedforward network path, the unit such as actuator (A) form.
Main transmitter (S1) node adopts the time type of drive to carry out work, the triggering cycle is h1, to main controlled device (G1) implementation cycle sampling, and sampled signal processed.
Main (pair) controller (C1/C 2) node is by master controller (C1) in be embedded in submaster controller (C2) composition, i.e. master controller (C1) and submaster controller (C2) shared same node. node adopts event driven manner to carry out work, and by main transmitter (S1) node output signal by the external feedback network path or (with) by secondary transmitter (S2) output signal trigger by inner looping feedback network path.
Secondary transmitter (S2) node adopts the time type of drive to carry out work, the triggering cycle is h2, to secondary controlled device (G2) implementation cycle sampling, and sampled signal processed.
Actuator (A) node adopts event driven manner to carry out work, is triggered by the control signal of master's (pair) controller node by inner looping feedforward network path, changes secondary controlled device (G thereby drive executing agency2) state, and then change main controlled device (G1) state.
Main transmitter (the S of system among Fig. 11) node, secondary transmitter (S2) node, main (pair) controller (C1/C 2) node and actuator (A) node all be intelligent node, not only possess storage calculation function and communication function, and possess software configuration and control function, these nodes comprise now the hardware such as intelligent node common in the industrial field bus control system (FCS) of extensive use and the Distributed Control System (DCS) or smart machine.
In the system of Fig. 2, the uncertainty network delay in the transfer of data has significant impact for Systems balanth and control performance quality. and the transfer of data of network cascade control system is experiencing from main transmitter node and is being transferred to the uncertainty network delay τ that main (pair) controller node produces through the external feedback network path1, be transferred to the uncertainty network delay τ that the actuator node produces from master's (pair) controller node through interior feedforward network path2, and be transferred to the uncertainty network delay τ that main (pair) controller node produces from secondary transmitter node through the internal feedback network path3Impact. 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 that realizes its compensation., the distributivity of each node by network connection is so that each node in the network cascade control system is difficult to satisfy the requirement of clock signal synchronization, simultaneously, because the uncertainty of network delay and sudden will accomplish that each step can both Accurate Prediction be impossible.
In the system of Fig. 3, do not comprise from main transmitter node and be transferred to the network delay prediction model of leading between (pair) controller node through the external feedback network path, do not comprise from master's (pair) controller node yet and be transferred to network delay prediction model between the actuator node through interior feedforward network path, and be transferred to network delay prediction model between main (pair) controller node from secondary transmitter node through the internal feedback network path. exempted uncertainty network delay τ1，τ 2And τ3Measurement, estimation, observation or identification, also exempted (main transmitter, secondary transmitter, master's (pair) controller, actuator) the synchronous requirement of node clock signal simultaneously. when major-minor controlled device prediction model model true with it, and submaster controller and prediction model thereof be when equating, can realize the output signal Y from the input signal R (s) of system to system1(s) in the closed loop transfer function,, with network delay τ1，τ 2And τ3Exponential term
Figure BSA00000354948900061
Figure BSA00000354948900062
With
Figure BSA00000354948900063
From denominator, eliminate, namely realize not comprising in the closed loop characteristic equation network delay τ1，τ 2And τ3Exponential term, thereby reduced the impact of time delay to the stability of a system, improved the control performance quality of system, realize compensation and control to the uncertainty network delay.
Embodiment
To make clearer above-mentioned and other feature and advantage of the present invention of those of ordinary skill in the art by describing exemplary embodiment of the present invention in detail below with reference to accompanying drawing 3.
Concrete implementation step is as described below:
The first step: the main transmitter node that works in the time type of drive is to main controlled device G 1(s) output signal Y 1(s) and its prediction model G 1m(s) output signal y 1m(s) (sampling period is h to carry out periodic sampling 1), and to Y 1(s) and y 1m(s) implement additive operation, obtain model error signal w 1(s);
Second step: main transmitter node is with w 1(s) be transferred to main (pair) controller node by external loop feedback network path;
The 3rd step: the secondary transmitter node that works in the time type of drive is to secondary controlled device G 2(s) output signal Y 2(s) (sampling period is h to carry out periodic sampling 2);
The 4th step: secondary transmitter node is with Y 2(s) be transferred to main (pair) controller node by inner looping feedback network path;
The 5th step: work in master's (pair) controller node of event driven manner, by signal w 1(s) or (with) Y 2(s) trigger; Main (pair) controller node is according to the given signal R of system (s), to w 1(s) with intranodal compensating unit output signal m 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, with u 1(s) as the prediction model C of this intranodal by submaster controller 2m(s) and the prediction model G of secondary controlled device 2m(s) the given input signal of the negative feedback loop of Gou Chenging; On the other hand, with u 1(s) and Y 2(s) add and subtract mutually, obtain error signal e 2(s);
The 6th step: main (pair) controller node is with error signal e 2(s) be transferred to the actuator node by inner looping feedforward network path;
The 7th step: the actuator node works in the Event triggered mode, by error signal e 2(s) after the triggering; With e 2(s) from the signal Y of the secondary transmitter in scene 2(s) subtract each other, obtain error signal e 3(s), and to e 3(s) implement control algolithm C 2(s), its output u 2(s) be directly used in driving topworks, thereby change secondary controlled device G 2(s) state, and then change main controlled device G 1(s) state;
The 8th step: return the first step.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
The content that is not described in detail in this instructions belongs to this area professional and technical personnel's known prior art.

Claims (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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