CN106707761A - Two-input and two-output networked control system unknown time delay IMC method - Google Patents
Two-input and two-output networked control system unknown time delay IMC method Download PDFInfo
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Abstract
The invention provides a two-input and two-output networked control system unknown time delay IMC method, belongs to the technical field of a bandwidth resource limited multiple-input and multiple-output networked control system, and aims at the mutual influence between two-input and two-output signals in the TITO-NCS. The network time delay generated by transmission of network data between nodes influences the stability of its own closed-loop control loop and also influences the stability of another closed-loop control loop and even causes loss of the stability of the TITO-NCS, and thus a compensation model of replacing the uncertain network time delay by the network data transmission process between all the real nodes in the TITO-NCS is put forward, and IMC is performed on the two loops. With application of the method, measurement, estimation or identification of the network time delay between the nodes can be eliminated, the requirement for node clock signal synchronization can be eliminated, the influence of the unknown network time delay on the stability of the TITO-NCS can be reduced and the control performance quality of the system can be improved.
Description
Technical field
A kind of two input two exports (Two-input and two-output, TITO) unknown time delay of network control system
IMC (Internal Model Control, IMC) method, is related to automatic control technology, the network communications technology and computer technology
Crossing domain, more particularly to limited bandwidth resources multiple-input and multiple-output (Multiple-input and multiple-
Output, MIMO) network control system technical field.
Background technology
With the development of network service, computer and control technology, and production process control increasingly maximization, wide area
The development of change, complication and networking, increasing application of net is in control system.Network control system
(Networked control systems, NCS) refers to network real-time closed-loop feedback control system, typical case's knot of NCS
Structure is as shown in Figure 1.
NCS can realize complex large system and remote control, and node resource is shared, and increase the flexibility and reliability of system, closely
Nian Laiyi is widely used in complex industrial process control, power system, petrochemical industry, track traffic, Aero-Space, environment prison
The multiple fields such as survey.
In NCS, when sensor, controller and actuator pass through network exchange data, network there may be many bags and pass
Defeated, multi-path transmission, data collision, the network congestion even phenomenon such as disconnecting so that NCS faces many new challenges.Especially
It is the presence of unknown network time delay, it is possible to decrease the control quality of NCS, or even makes system loss of stability, may be led when serious
Cause system breaks down.
At present, research both at home and abroad for NCS, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, constant, unknown or random in network delay respectively, network delay is less than one
The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered
Row mathematical modeling or stability analysis and controlling.But, in actual industrial process, generally existing it is defeated including at least two
Enter then relatively fewer with the researchs of two constituted MIMO-NCS of output, mended in particular for the time delay based on its system architecture
The achievement in research of compensation method is then relatively less.
The typical structure of MIMO-NCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NCS has the characteristics that：
(1) affected one another between input signal and output signal and there may be coupling
In MIMO-NCS, a change for input signal can cause that multiple output signals change, and each is defeated
Go out signal is also not only influenceed by an input signal.Even if by selection pairing meticulously between input and output signal, respectively
Also existed unavoidably between control loop and influenced each other, thus output signal is independently tracked respective input signal is have
Difficult.
(2) internal structure is more much more complex than SISO-NCS
(3) to there is unknown factor more for controlled device
In MIMO-NCS, the parameter being related to is more, and the contact between each control loop is more, and object parameters change is right
The influence of overall control performance can become complex.
(4) possibility of control unit failure is larger
In MIMO-NCS, including at least there is two or more close loop control circuits, and including at least having two
Individual or more than two sensors and actuator.The failure of each element may influence the performance matter of whole control system
Amount, can make system unstable, or even cause a serious accident when serious.
Due to the above-mentioned particularity of MIMO-NCS so that be designed the method with control based on SISO-NCS, cannot
Meet the requirement of the control performance of MIMO-NCS and control quality, prevent its from or be not directly applicable the design of MIMO-NCS
In control, the design and analysis to MIMO-NCS bring difficulty.
For MIMO-NCS, network delay compensation is essentially consisted in the difficult point of control：
(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size
It is relevant etc. factor, to more than several or even the dozens of sampling period unknown network time delay, to set up each control in MIMO-NCS
The Mathematical Modeling that the unknown network time delay in loop processed is accurately predicted, estimates or recognized, is currently what is had any problem.
(2) occur in MIMO-NCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance
The exact value of network time delay.Time delay causes systematic function to decline or even causes system unstable, while also to the analysis of control system
Difficulty is brought with design.
(3) to meet in MIMO-NCS, all node clock signal Complete Synchronizations in different distributions place are unpractical.
(4) due in MIMO-NCS, being affected one another between input and output signal, and there may be coupling, system
Internal structure is more complicated than SISO-NCS, and the uncertain factor for existing is more, the control performance quality good or not of each control loop and
Its stability problem will produce influence and restricts on the performance quality of whole system and stability, and it implements delay compensation with control
System is more much more difficult than SISO-NCS.
The content of the invention
Network control system (TITO-NCS) unknown time delay is exported the present invention relates to a kind of two input two in MIMO-NCS
Compensation and control, the typical structure of its TITO-NCS is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is controller, G11S () is controlled device；τ1Represent control signal u1S () is from C1(s) controller
The C nodes at place, the unknown network time delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Representing will output
Signal y1(s) from sensor S1 nodes, through feedback network tunnel to C1S the C nodes where () controller are experienced unknown
Network delay.
2) from the drive signal u of the actuator A2 nodes of close loop control circuit 2 output2S (), is intersected logical by controlled device
Road transmission function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2S () arrives output signal y1(s)
Between closed loop transfer function, be：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, when containing unknown network
Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is controller, G22S () is controlled device；τ3Represent control signal u2S () is from C2(s) controller
The C nodes at place, the unknown network time delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Representing will output
Signal y2(s) from sensor S2 nodes, through feedback network tunnel to C2S the C nodes where () controller are experienced unknown
Network delay.
2) from the drive signal u of the actuator A1 nodes of close loop control circuit 1 output1S (), is intersected logical by controlled device
Road transmission function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1S () arrives output signal y2(s)
Between closed loop transfer function, be：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, when containing unknown network
Prolong τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
Goal of the invention：
For the TITO-NCS of Fig. 3, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap
Unknown network delay, τ is contained1And τ2Exponential termWithAnd transmission function equation (3) and (4) of close loop control circuit 2
Denominator in, contain unknown network delay, τ3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11S () is not only subject to its input signal x1The influence of (s), while also receiving
To the input signal x of close loop control circuit 22The influence of (s)；At the same time, the output signal y of close loop control circuit 22S () not only
By its input signal x2The influence of (s), while also by the input signal x of close loop control circuit 11The influence of (s).During network
The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together
When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious
Go stability.
Therefore, the present invention proposes a kind of delay compensation method based on IMC, exempt in each close loop control circuit, node
Between unknown network time delay measurement, estimate or recognize, and then reduce network delay τ1And τ2, and τ3And τ4To respective closed loop
The influence of control loop and whole control system control performance quality and the stability of a system.When prediction model is equal to its true mould
During type, the exponential term not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving, and then network can be reduced
Influence of the time delay to the stability of a system, improves the dynamic property quality of system, and realization divides TITO-NCS unknown network time delays
Section, real-time, online and dynamic predictive compensation and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first1IMCS () is used to replace controller C1
(s)；In order to realize meeting during predictive compensation condition, network delay is no longer included in the closed loop transform function of close loop control circuit 1
Exponential term, to realize to network delay τ1And τ2Compensation with control, use with control signal u1(s) and u2S () is used as input
Signal, controlled device prediction model G11m(s) and G12mWhen () passes through network transmission as controlled process, control and process data s
Prolong prediction modelAndAround internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop and one
Negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet unknown network Time-delay Prediction modelAndTo be equal to its true modelAndCondition.Therefore, from
Sensor S1 nodes between controller C nodes, and from controller C nodes to actuator A1 nodes, using real
Network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus no matter by
Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model, so that in exempting to close loop control circuit 1, unknown network delay, τ between node1And τ2Measurement, estimate or
Identification；When prediction model is equal to its true model, it is capable of achieving to its unknown network delay, τ1And τ2Compensation and IMC；Implement this
The network delay compensation of inventive method is as shown in Figure 5 with IMC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first2IMCS () is used to replace controller C2
(s)；In order to realize meeting during predictive compensation condition, network delay is no longer included in the closed loop transform function of close loop control circuit 2
Exponential term, to realize to network delay τ3And τ4Compensation with control, use with control signal u1(s) and u2S () is used as input
Signal, controlled device prediction model G22m(s) and G21mS () is passed with process data as controlled process, control by network delay
Defeated prediction modelAndAround internal mode controller C2IMCS (), constructs a positive feedback Prediction Control loop and one
Negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet unknown network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore,
From sensor S2 nodes to controller C nodes, and from controller C nodes to actuator A2 nodes, using true
Network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus no matter
Whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model so that in exempting to close loop control circuit 2, unknown network delay, τ between node3And τ4Measurement, estimate
Or identification；When prediction model is equal to its true model, it is capable of achieving to its unknown network delay, τ3And τ4Compensation and IMC；Implement
The network delay compensation of the inventive method is as shown in Figure 5 with IMC structures.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller.
2) the internal model control signal u in the controller C nodes of close loop control circuit 2 is come from2(s), in controller C nodes
By controlled device cross aisle transmission function prediction model G12mS () acts on close loop control circuit 1；Returned from closed-loop control
The output internal model control signal u of the actuator A2 nodes on road 22(s), while passing through controlled device cross aisle transmission function G12
(s) and its prediction model G12mS () acts on close loop control circuit 1；From input signal u2S () arrives output signal y1Between (s)
Closed loop transfer function, is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11When (s),
The closed loop transfer function, denominator of close loop control circuit 1 byIt is turned into 1；Now, closed loop control
Loop processed 1 no longer includes the influence stability of a system equivalent to an open-loop control system in the denominator of closed loop transfer function,
Network delay τ1And τ2Exponential termWithStability of the stability of system only with controlled device and controller in itself
It is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, realize to not
Know dynamic compensation and the IMC of network delay.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：G22mS () is controlled device G22The prediction model of (s)；C2IMCS () is internal mode controller.
2) from the internal model control signal u in the controller C nodes of close loop control circuit 11S (), leads in controller C nodes
Cross the prediction model G of controlled device cross aisle transmission function21mS () acts on close loop control circuit 2；Returned from closed-loop control
The output internal model control signal u of the actuator A1 nodes on road 11(s), while passing through controlled device cross aisle transmission function G21
(s) and its prediction model G21mS () acts on close loop control circuit 2；From input signal u1S () arrives output signal y2Between (s)
Closed loop transfer function, is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22When (s),
The closed loop transfer function, denominator of close loop control circuit 2 byIt is turned into 1；Now, closed loop control
Loop processed 2 no longer includes the influence stability of a system equivalent to an open-loop control system in the denominator of closed loop transfer function,
Network delay τ3And τ4Exponential termWithStability of the stability of system only with controlled device and controller in itself
It is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, realize to not
Know dynamic compensation and the IMC of network delay.
In close loop control circuit 1 and loop 2, internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller C11(s) and C22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1(s) and f2S (), constitutes a complete internal mode controller C1IMC(s) and C2IMC(s)。
(1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-(s) and G22m(s)=G22m+(s)G22m-(s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m-(s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
(2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2It is feedforward
Filter time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22The order of (s) molecule,
Usual n1＞ 0 and n2＞ 0.
(3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (9) and (10)：The internal mode controller C of one degree of freedom1IMC(s) and C2IMCIn (s), all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore in the customized parameter λ of wave filter of adjusting1And λ2When, generally require dry with anti-in the tracing property of system
Ability is disturbed to trade off between the two.
The scope of application of the invention：
A kind of two input two for being equal to its true model suitable for controlled device prediction model exports network control system
(TITO-NCS) compensation of unknown network time delay and IMC；Its Research Thinking and method, can equally be well applied to controlled device and estimate mould
Type is equal to the two or more input of its true model and exports constituted MIMO Networked Control Systems (MIMO-
NCS) compensation of unknown network time delay and IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by IMC signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by IMC signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device are intersected
Channel transfer function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () enters
Row sampling, and calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)
+y12(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions,
Feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b
(s) and controlled device cross aisle transmission function prediction model G12mThe output y of (s)12maS (), obtains deviation signal e1(s), i.e.,
e1(s)=x1(s)-y1b(s)-y12ma(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：The Internal Model Control Algorithm C of close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2(s), act on by
Control object cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
B5：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 nodes
Transmission, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：In actuator A1 nodes, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains it
Output valve y11mb(s)；The IMC signals u of the actuator A2 nodes of close loop control circuit 2 will be come from2S () acts on controlled device friendship
Fork channel transfer function prediction model G12mS () obtains its output valve y12mb(s)；
C3：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1(s)
Act on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s)
And G21The IMC of (s), while realizing to unknown network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device are intersected
Channel transfer function G21The output signal y of (s)21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () enters
Row sampling, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)
+y21(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions,
Feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s)
With controlled device cross aisle transmission function prediction model G21mThe output y of (s)21maS (), obtains deviation signal e2(s), i.e. e2
(s)=x2(s)-y2b(s)-y21ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：The Internal Model Control Algorithm C of close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1(s) act on by
Control object cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
E5：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 nodes
Transmission, u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：In actuator A2 nodes, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains it
Output valve y22mb(s)；The IMC signals u of the actuator A1 nodes of close loop control circuit 1 will be come from1S () acts on controlled device friendship
Fork channel transfer function prediction model G21mS () obtains its output valve y21mb(s)；
F3：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2(s)
Act on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s)
And G12The IMC of (s), while realizing to unknown network delay, τ3And τ4Compensation with control.
The present invention has following features：
1st, from exempting in structure in TITO-NCS, the measurement of unknown network time delay, observation, estimate or recognize, exempt section
The synchronous requirement of dot clock signal；And then avoid estimating the inaccurate evaluated error for causing of model to time delay, it is to avoid time delay is distinguished
The waste of node storage resources is expended needed for knowing, it is to avoid because the compensation that " sky sampling " or " sampling " that time delay is caused brings more is missed
Difference.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NCS structures, realizing, thus be both applicable
In the TITO-NCS using wired network protocol, the TITO-NCS of wireless network protocol is also applicable for use with；It is not only suitable for determining
Property procotol, also suitable for the procotol of uncertainty；The TITO-NCS of heterogeneous network composition is not only suitable for, while also fitting
For the TITO-NCS that heterogeneous network is constituted.
3rd, using the TITO-NCS of IMC, its internal mode controller C1IMC(s) and C2IMCS the adjustable parameter of () only has λ1And λ2,
The regulation of its parameter is simple with selection, and explicit physical meaning；Stability, the tracing property of system can be not only improved using IMC
Energy and interference free performance, but also compensation and control to system unknown network time delay can be realized.
4th, because the present invention uses compensation and control method that " software " changes TITO-NCS structures, thus in fact
Any hardware device need not be further added by during existing, the software resource carried using existing TITO-NCS intelligent nodes, it is sufficient to real
Existing its compensation function, can save hardware investment and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list
UnitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NCS
Fig. 2 is by r sensor S node, controller C nodes, m actuator A node, controlled device G, m feedforward network
Tunnel time delayUnit, and r feedback network tunnel time delayUnit institute group
Into.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal；Representing will control
Signal uiS feedforward network tunnel time delay that () is experienced from from controller C nodes to i-th actuator A node-node transmission；Table
Show j-th detection signal y of sensor S nodesjS feedback network tunnel that () is experienced to controller C node-node transmissions
Time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NCS
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, and controller C nodes are held
Row device A1 and A2 node, controlled device transmission function G11(s) and G22(s) and controlled device cross aisle transmission function G21(s)
And G12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1(s) and x2S () represents the input signal of system；y1(s) and y2S () represents the output signal of system；C1
(s) and C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；τ1And τ3Represent and believe control
Number u1(s) and u2S feedforward network tunnel time delay that () is experienced from from controller C nodes to actuator A1 and A2 node-node transmission；
τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2(s) to controller C node-node transmissions experienced it is anti-
Feedback network path propagation delay time.
Fig. 4：A kind of unknown delay compensations of the TITO-NCS comprising prediction model and control structure
In Fig. 4：C1IMC(s) and C2IMCS () is the internal mode controller in control loop 1 and loop 2；AndIt is network
Propagation delay timeAndEstimate Time Delay Model；AndIt is network transfer delayAndWhen estimating
Prolong model；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22The prediction model of (s)；G12m(s) and G21m(s)
It is controlled device cross aisle transmission function G12(s) and G21The prediction model of (s).
Fig. 5：A kind of two input two exports the unknown time delay IMC methods of network control system
Fig. 5 can be realized to the compensation of unknown network time delay and IMC in close loop control circuit 1 and loop 2.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill people of this area
Member becomes apparent from features described above of the invention and advantage.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
After signal triggering, will be to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function G12(s)
Output signal y12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () is sampled, and calculate closed loop
The system output signal y of control loop 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)=y1
(s)-y11mb(s)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1
Unit is to controller C node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C sections are got to
Point；
3rd step：Controller C nodes work in event driven manner, when controller C nodes are by feedback signal y1bS () touches
After hair, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1bS () and controlled device cross aisle are passed
Delivery function prediction model G12mThe output valve y of (s)12maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b
(s)-y12ma(s)；To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；Closed-loop control will be come to return
The Internal Model Control Algorithm C of road 22IMCThe output IMC signals u of (s)2S () acts on controlled device cross aisle transmission function prediction model
G12mS () obtains its output valve y12ma(s)；
4th step：Controller C nodes are by IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit
To actuator A1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
5th step：Actuator A1 nodes work in event driven manner, when actuator A1 nodes are by IMC signals u1S () touches
After hair, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；To come from and close
The IMC signals u of the actuator A2 nodes of ring control loop 22What s () acted on controlled device cross aisle transmission function estimates mould
Type G12mS () obtains its output valve y12mb(s)；
6th step：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1
S () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11
(s) and G21The IMC of (s), while realizing to unknown network delay, τ1And τ2Compensation with control；
7th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal y21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is sampled, and calculate closed loop
The system output signal y of control loop 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s) and y2b(s)=y2
(s)-y22mb(s)-y21mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2
Unit is to controller C node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C sections are got to
Point；
3rd step：Controller C nodes work in event driven manner, when controller C nodes are by feedback signal y2bS () touches
After hair, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2bS () and controlled device cross aisle are passed
Delivery function prediction model G21mThe output valve y of (s)21maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b
(s)-y21ma(s)；To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；Closed-loop control will be come to return
The Internal Model Control Algorithm C of road 11IMCThe output IMC signals u of (s)1S () acts on controlled device cross aisle transmission function prediction model
G21mS () obtains its output valve y21ma(s)；
4th step：Controller C nodes are by IMC signals u2S feedforward network path that () passes through close loop control circuit 2It is single
Unit is to actuator A2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
5th step：Actuator A2 nodes work in event driven manner, when actuator A2 nodes are by IMC signals u2S () touches
After hair, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；To come from and close
The IMC signals u of the actuator A1 nodes of ring control loop 11S () acts on controlled device cross aisle transmission function prediction model
G21mS () obtains its output valve y21mb(s)；
6th step：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2
S () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22
(s) and G12The IMC of (s), while realizing to unknown network delay, τ3And τ4Compensation with control；
7th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of two input two exports the unknown time delay IMC methods of network control system, it is characterised in that the method includes following step
Suddenly：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by IMC signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by IMC signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle
Transmission function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () is adopted
Sample, and calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12
(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, feedback
Signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b(s) and
Controlled device cross aisle transmission function prediction model G12mThe output y of (s)12maS (), obtains deviation signal e1(s), i.e. e1(s)
=x1(s)-y1b(s)-y12ma(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：The Internal Model Control Algorithm C of close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2S (), it is controlled right to act on
As cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
B5：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit to actuator A1 node-node transmissions,
u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：In actuator A1 nodes, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains its output valve
y11mb(s)；The IMC signals u of the actuator A2 nodes of close loop control circuit 2 will be come from2S () acts on controlled device cross aisle
Transmission function prediction model G12mS () obtains its output valve y12mb(s)；
C3：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1S () acts on
In controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21
The IMC of (s), while realizing to unknown network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle
Transmission function G21The output signal y of (s)21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is adopted
Sample, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21
(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback
Signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s) and quilt
Control object cross aisle transmission function prediction model G21mThe output y of (s)21maS (), obtains deviation signal e2(s), i.e. e2(s)=
x2(s)-y2b(s)-y21ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：The Internal Model Control Algorithm C of close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1S () acts on controlled right
As cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
E5：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit to actuator A2 node-node transmissions,
u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：In actuator A2 nodes, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains its output valve
y22mb(s)；The IMC signals u of the actuator A1 nodes of close loop control circuit 1 will be come from1S () acts on controlled device cross aisle
Transmission function prediction model G21mS () obtains its output valve y21mb(s)；
F3：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2S () acts on
In controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12
The IMC of (s), while realizing to unknown network delay, τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the TITO-NCS of IMC, its internal mode controller C1IMC(s)
And C2IMCS the adjustable parameter of () only has λ1And λ2, the regulation of its parameter is simple with selection, and explicit physical meaning；Using IMC not
Stability, tracking performance and the interference free performance of system can be only improved, but also can be realized to system unknown network time delay
Compensation and control.
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