CN106773726A - A kind of two input two exports network decoupling and controlling system random delay compensation method - Google Patents
A kind of two input two exports network decoupling and controlling system random delay compensation method Download PDFInfo
- Publication number
- CN106773726A CN106773726A CN201710090780.7A CN201710090780A CN106773726A CN 106773726 A CN106773726 A CN 106773726A CN 201710090780 A CN201710090780 A CN 201710090780A CN 106773726 A CN106773726 A CN 106773726A
- Authority
- CN
- China
- Prior art keywords
- signal
- control
- decoupling
- nodes
- controlled device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
Two inputs two export network decoupling and controlling system (TITO NDCS) random delay compensation method, belong to the multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.It is input between two output signals for a kind of two and affects one another and couple, need the TITO NDCS by decoupling treatment, due to network delay produced in network data among the nodes transmitting procedure, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, the measurement to network delay between node can be exempted, estimate or recognize, reduce the requirement of clock signal synchronization, reduce influence of the random delay to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band
The multiple-input and multiple-output network decoupling and controlling system technical field of resource-constrained wide.
Background technology
In dcs, sensor and controller, between controller and actuator, by Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
NCS compared with the control system of traditional point-to-point structure, with low cost, be easy to information sharing, be easy to extension
With safeguard, flexibility is big the advantages of, process automation, automated manufacturing, Aero-Space, nothing be widely used in recent years
The multiple fields such as line communication, robot, intelligent transportation.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.The especially presence of random network time delay, it is possible to decrease the control performance quality of NCS, or even system is lost stabilization
Property, system may be caused to break down when serious.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be 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 including at least two inputs
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
The achievement in research of (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
The typical structure of MIMO-NDCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input and output signal and there is coupling
In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Selection pairing, also exists and influences each other unavoidably between each control loop, thus to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit failure
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method,
The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO-
In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, 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 random network time delay, to set up each control in MIMO-NDCS
The Mathematical Modeling that the random network time delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) there is the previous node in MIMO-NDCS, during 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
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, it is implemented time delay benefit
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of two input two in MIMO-NDCS export network decoupling and controlling system (TITO-NDCS) with
The compensation of machine time delay and control, the typical structure of its TITO-NDCS are 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 control unit；G11S () is controlled device；P11S () is decoupling channel transfer function；τ1Representing will
Control decoupler CD output signal nodes u1pS (), the Stochastic Networks that actuator A1 nodes are experienced are transferred to through preceding to network path
Network time delay；τ2Represent output signal y1S () is saved through feedback network tunnel from sensor S1 nodes to control decoupler CD
The experienced random network time delay of point.
2) from C in close loop control circuit 22The output signal u of (s) control unit2S (), is transmitted by cross decoupling passage
Function P12S () acts on close loop control circuit 1, from input signal u2S () arrives output signal y1Closed loop transfer function, between (s)
For：
3) from the output signal u of actuator A2 nodes in close loop control circuit 22p(s), by controlled device cross aisle
Transmission function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2pS () arrives output signal y1(s)
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, contain Stochastic Networks
Network delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even result in system
Loss of 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 control unit；G22S () is controlled device；P22S () is decoupling channel transfer function；τ3Representing will
Control decoupler CD output signal nodes u2pS (), the Stochastic Networks that actuator A2 nodes are experienced are transferred to through preceding to network path
Network time delay；τ4Represent output signal y2S () is saved through feedback network tunnel from sensor S2 nodes to control decoupler CD
The experienced random network time delay of point.
2) from C in close loop control circuit 11The output signal u of (s) control unit1S (), is transmitted by cross decoupling passage
Function P21S () acts on close loop control circuit 2, from input signal u1S () arrives output signal y2Closed loop transfer function, between (s)
For：
3) from the output signal u of the actuator A1 nodes of close loop control circuit 11pS (), is passed by controlled device cross aisle
Delivery function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1pS () arrives output signal y2(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain random
Network delay τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even results in and is
System loss of stability.
Goal of the invention：
For the TITO-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1,
Contain random network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2
(4) in the denominator of (6), random network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can be reduced
The control performance quality of respective close loop control circuit simultaneously influences the stability of respective close loop control circuit, while will also decrease whole
The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, during the present invention proposes a kind of release to each close loop control circuit, random network delay, τ between node1And τ2,
And τ3And τ4Measurement, estimate or identification delay compensation and control method；When prediction model is equal to its true model, can
The exponential term not comprising network delay in the characteristic equation of respective close loop control circuit is realized, and then network delay can be reduced to being
The influence of stability of uniting, improves the dynamic property quality of system, realize to the segmentation of TITO-NDCS random network time delays, in real time,
Online and dynamic predictive compensation and control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation with control, control decoupler CD nodes in around
Controller C1(s) and decoupling transmission function P11S (), uses to control decoupling signal u1p(s) and u2pS () is used as input signal, quilt
Control object prediction model G11m(s) and G12mS () estimates mould with process data as controlled process, control by network transfer delay
TypeAndAround controller C1(s) and decoupling transmission function P11(s) construct negative-feedback Prediction Control loop and
One positive feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Random network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition.Therefore,
From sensor S1 nodes to control decoupler CD nodes, and from control decoupler CD nodes to actuator A1 nodes it
Between, using real 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 realize not including from system architecture
The predict-compensate model of network delay therebetween, so that in exempting to close loop control circuit 1, random network delay, τ between node1With
τ2Measurement, estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its random network delay, τ1And τ2's
Compensation and control；The network delay collocation structure for implementing the inventive method is as shown in Figure 5.
For the close loop control circuit 2 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 2
Exponential term containing network delay, to realize to network delay τ3And τ4Compensation with control, control decoupler CD nodes in around
Controller C2(s) and decoupling transmission function P22S (), uses to control decoupling signal u1p(s) and u2pS () is used as input signal, quilt
Control object prediction model G22m(s) and G21mS (), used as controlled process, control is transmitted by network delay with process data and estimates mould
TypeAndAround controller C2(s) and decoupling transmission function P22(s) construct negative-feedback Prediction Control loop and
One positive feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Random network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition.Therefore,
From sensor S2 nodes to control decoupler CD nodes, and from control decoupler CD nodes to actuator A2 nodes it
Between, using real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenWith
AndThus no matter whether the prediction model of controlled device is equal to its true model, can realize not wrapping from system architecture
Predict-compensate model containing network delay therebetween, so that in exempting to close loop control circuit 2, random network delay, τ between node3
And τ4Measurement, estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its random network delay, τ3And τ4
Compensation with control；The network delay collocation structure for implementing the inventive method is as shown in Figure 5.
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).
2) from C in close loop control circuit 22The output signal u of (s) control unit2S (), is transmitted by cross decoupling passage
Function P12S () acts on close loop control circuit 1, from input signal u2S () arrives output signal y1Closed loop transfer function, between (s)
For：
3) from the output signal u that decoupler CD nodes are controlled in close loop control circuit 22p(s), in control decoupler CD
By controlled device cross aisle transmission function prediction model G12mS () acts on close loop control circuit 1；Returned from closed-loop control
The control signal u of the actuator A2 nodes of road 22p(s), while passing through controlled device cross aisle transmission function G12S () is estimated with it
Model G12mS () acts on close loop control circuit 1；From input signal u2pS () arrives output signal y1Closed loop transmission letter between (s)
Number is：
Using the inventive method, when controlled device prediction model is equal to its real model, that is, work as G11m(s)=G11(s)
When, the closed loop transform function of close loop control circuit 1 will be by
Become 1+C1(s)P11(s)G11(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function1With
τ2Exponential termWithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control of system
Can quality, dynamic compensation and control of the realization to random network time 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).
2) from C in close loop control circuit 11The output signal u of (s) control unit1S (), is transmitted by cross decoupling passage
Function P21S () acts on close loop control circuit 2, from input signal u1S () arrives output signal y2Closed loop transfer function, between (s)
For：
3) from the output signal u that decoupler CD nodes are controlled in close loop control circuit 11p(s), in control decoupler CD sections
Pass through controlled device cross aisle transmission function prediction model G in point21mS () acts on close loop control circuit 2；From closed loop control
The control signal u of the actuator A1 nodes of loop processed 11p(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 u1pS () arrives output signal y2S the closed loop between () is passed
Delivery 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 transform function of close loop control circuit 2 will be by
Become 1+C2(s)P22(s)G22(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function3With
τ4Exponential termWithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control of system
Can quality, dynamic pre-estimating compensation and control of the realization to random network time delay.
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 uneoupled control system
The compensation of (TITO-NDCS) random network time delay of uniting and control；Its Research Thinking and method, are equally applicable to controlled device and estimate
Model is equal to the two or more input of its true model and exports constituted multiple-input and multiple-output network decoupling and controlling system
(MIMO-NDCS) compensation of random network time delay and control.
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 control decoupler CD nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () 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 control decoupler CD nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () 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:Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, control decoupler CD sections are got to
Point；
The step of mode B, includes：
B1:Control decoupler CD nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2:In decoupler CD nodes are controlled, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback letter
Number y1b(s) and controlled device prediction model G11mThe output valve y of (s)11maS () and controlled device cross aisle transmission function are pre-
Estimate model G12mThe output valve y of (s)12maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma
(s)-y12ma(s)；
B3:To e1S () implements control algolithm C1S (), obtains control signal u1(s)；
B4:By control signal u1S () acts on decoupling channel transfer function P11S () obtains its decoupling signal up11(s)；Will
Come from control algolithm C in close loop control circuit 22The output signal u of (s)2S () acts on decoupling cross aisle transmission function P12
S () obtains its decoupling signal up12(s)；By up11(s) and up12S () is added the control decoupling signal u for obtaining close loop control circuit 11p
(s), i.e. u1p(s)=up11(s)+up12(s)；
B5:Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11ma
(s)；The control decoupling signal u that close loop control circuit 2 is exported will be come from2pS () acts on controlled device cross aisle transmission letter
Number prediction model G12mS () obtains its output valve y12ma(s)；
B6:Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to actuator
A1 node-node transmissions, u1pS () 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 control decoupling signal u1pS () is triggered；
C2:Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb
(s)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit2pS () acts on controlled right
As cross aisle transmission function prediction model G12mS () obtains its output valve y12mb(s)；
C3:Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Control is solved
Coupling signal u1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to quilt
Control object G11(s) and G21The decoupling of (s) and control, while realizing to random 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:Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to control
Decoupler CD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, control decoupler CD sections are got to
Point；
The step of mode E, includes：
E1:Control decoupler CD nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2:In decoupler CD nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback letter
Number y2b(s) and controlled device prediction model G22mThe output valve y of (s)22maS () and controlled device cross aisle transmission function are pre-
Estimate model G21mThe output valve y of (s)21maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma
(s)-y21ma(s)；
E3:To e2S () implements control algolithm C2S (), obtains control signal u2(s)；
E4:By control signal u2S () acts on decoupling channel transfer function P22S () obtains its decoupling signal up22(s)；Will
Come from control algolithm C in close loop control circuit 11The output signal u of (s)1S () acts on decoupling cross aisle transmission function P21
S () obtains its decoupling signal up21(s)；By up22(s) and up21S () is added the control decoupling signal u for obtaining close loop control circuit 22p
(s), i.e. u2p(s)=up22(s)+up21(s)；
E5:Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22ma
(s)；The control decoupling signal u that close loop control circuit 1 is exported will be come from1pS () acts on controlled device cross aisle transmission letter
Number prediction model G21mS () obtains its output valve y21ma(s)；
E6:Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to actuator
A2 node-node transmissions, u2pS () 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 control decoupling signal u2pS () is triggered；
F2:Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb
(s)；The feedforward network path of close loop control circuit 1 will be come fromThe control decoupling signal u of unit1pS () acts on controlled
Object cross aisle transmission function prediction model G21mS () obtains its output valve y21mb(s)；
F3:Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；Control is solved
Coupling signal u2pS () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to quilt
Control object G22(s) and G12The decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation with control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of random network time delay, observation, estimate or recognize, together
When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid
To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused
The compensation error that sampling " brings.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, it is unrelated with the selection of specific controller control strategy due to from TITO-NDCS structures, realizing, thus both can use
In the TITO-NDCS using conventional control, also can be used for using Based Intelligent Control or the TITO-NDCS using complex control strategy.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path
Transmission 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-NDCS
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G,
M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal of system；Represent
Will control decoupling signal uiS feedforward network that () is experienced from from control decoupler CD nodes to i-th actuator A node-node transmission leads to
Road propagation delay time；Represent j-th detection signal y of sensor S nodes of systemjS () passes to control decoupler CD nodes
Defeated experienced feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
In Fig. 3, system is made up of close loop control circuit 1 and 2, and system includes sensor S1 and S2 node, control decoupling
Device CD nodes, actuator A1 and A2 node, controlled device transmission function G11(s) and G22S () and controlled device cross aisle are passed
Delivery function G21(s) and G12(s), decoupling channel transfer function P11(s) and P22(s) and cross decoupling channel transfer function P21
(s) and P12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithInstitute's group
Into.
In Fig. 3：x1(s) and x2S () represents system input signal；y1(s) and y2S () represents system output signal；C1(s) and
C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；u1p(s) and u2pS () represents control solution
Coupling signal；τ1And τ3Represent u1p(s) and u2pS () experiences from control decoupler CD nodes to actuator A1 and A2 node-node transmission
Feedforward network tunnel time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to control
The feedback network tunnel time delay of decoupler CD node-node transmissions experience.
Fig. 4：A kind of TITO-NDCS random delay compensation comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is network
Propagation delay timeAndPrediction model；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22(s)
Prediction model；G12m(s) and G21mS () is controlled device cross aisle transmission function G12(s) and G21The prediction model of (s).
Fig. 5：A kind of two input two exports network decoupling and controlling system random delay compensation method
Fig. 5 can realize the compensation and control to random network time delay in close loop control circuit 1 and 2.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill of this area
Personnel become 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, and its trigger signal is cycle h1Sampled signal；When
After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device cross aisle transmit letter
Number G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () is sampled, 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)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, control decoupler CD is got to
Node；
3rd step：Control decoupler CD nodes work in event driven manner, by feedback signal y1bS () triggers after, will
The system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b(s) and controlled device prediction model G11m(s) it is defeated
Go out value y11ma(s) and controlled device cross aisle transmission function prediction model G12m(s) output valve y12maS (), obtains system inclined
Difference signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)-y12ma(s)；
4th step：To e1S () implements control algolithm C1S (), obtains control signal u1(s)；By control signal u1S () acts on
In decoupling channel transfer function P11S () obtains its decoupling signal up11(s)；Control algolithm C in close loop control circuit 2 will be come from2
The output signal u of (s)2S () acts on decoupling cross aisle transmission function P12S () obtains its decoupling signal up12(s)；By up11
(s) and up12S () is added the control decoupling signal u for obtaining the output of close loop control circuit 11p(s), i.e. u1p(s)=up11(s)+up12
(s)；
5th step：Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve
y11ma(s)；Close loop control circuit 2 will be come from and control decoupling signal u2pS () acts on controlled device cross aisle transmission function
Prediction model G12mS () obtains its output valve y12ma(s)；
6th step：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to holding
Row device A1 node-node transmissions, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
7th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pAfter (s) triggering, will control
Decoupling signal u processed1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Closed loop control will be come from
The feedforward network path in loop processed 2The control decoupling signal u of unit2pS () acts on controlled device cross aisle transmission function
Prediction model G12mS () obtains its output valve y12mb(s)；
8th step：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Will control
Decoupling signal u processed1pS () 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 decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation with control；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；When
After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device cross aisle transmit letter
Number G21The output signal y of (s)21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is sampled, 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)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to
Control decoupler CD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, control decoupler CD is got to
Node；
3rd step：Control decoupler CD nodes work in event driven manner, by feedback signal y2bAfter (s) triggering, will close
The system Setting signal x of ring control loop 22S (), subtracts feedback signal y2b(s) and controlled device prediction model G22m(s) output valve
y22ma(s) and controlled device cross aisle transmission function prediction model G21m(s) output valve y21maS (), obtains system deviation letter
Number e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)-y21ma(s)；
4th step：To e2S () implements control algolithm C2S (), obtains control signal u2(s)；By control signal u2S () acts on
In decoupling channel transfer function P22S () obtains its decoupling signal up22(s)；Control algolithm C in close loop control circuit 1 will be come from1
The output signal u of (s)1S () acts on decoupling cross aisle transmission function P21S () obtains its decoupling signal up21(s)；By up22
(s) and up21S () is added the control decoupling signal u for obtaining the output of close loop control circuit 22p(s), i.e. u2p(s)=up22(s)+up21
(s)；
5th step：Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve
y22ma(s)；Close loop control circuit 1 will be come from and control decoupling signal u1pS () acts on controlled device cross aisle transmission function
Prediction model G21mS () obtains its output valve y21ma(s)；
6th step：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to holding
Row device A2 node-node transmissions, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
7th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pAfter (s) triggering, will control
Decoupling signal u processed2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；Closed loop control will be come from
The feedforward network path in loop processed 1The control decoupling signal u of unit1pS () acts on controlled device cross aisle transmission letter
Number prediction model G21mS () obtains its output valve y21mb(s)；
8th step：Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；Will control
Decoupling signal u processed2pS () 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 decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation with control；
9th 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 network decoupling and controlling system random delay compensation methodes, it is characterised in that the method include with
Lower step：
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 control decoupler CD nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () 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 control decoupler CD nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () 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:Sensor S1 nodes are by feedback signal y1bS (), is decoupled by the feedback network path of close loop control circuit 1 to control
Device CD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control decoupler CD nodes；
The step of mode B, includes：
B1:Control decoupler CD nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2:In decoupler CD nodes are controlled, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b
(s) and controlled device prediction model G11mThe output valve y of (s)11maS () and controlled device cross aisle transmission function estimate mould
Type G12mThe output valve y of (s)12maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)-y12ma
(s)；
B3:To e1S () implements control algolithm C1S (), obtains control signal u1(s)；
B4:By control signal u1S () acts on decoupling channel transfer function P11S () obtains its decoupling signal up11(s)；To come from
The control algolithm C in close loop control circuit 22The output signal u of (s)2S () acts on decoupling cross aisle transmission function P12(s)
Obtain its decoupling signal up12(s)；By up11(s) and up12S () is added the control decoupling signal u for obtaining close loop control circuit 11p
(s), i.e. u1p(s)=up11(s)+up12(s)；
B5:Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；Will
Come from the control decoupling signal u of the output of close loop control circuit 22pS () acts on controlled device cross aisle transmission function and estimates
Model G12mS () obtains its output valve y12ma(s)；
B6:Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1
Point transmission, u1pS () 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 control decoupling signal u1pS () is triggered；
C2:Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Will
Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit2pS () acts on controlled device intersection
Channel transfer function prediction model G12mS () obtains its output valve y12mb(s)；
C3:Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By control decoupling letter
Number u1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled right
As G11(s) and G21The decoupling of (s) and control, while realizing to random 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:Sensor S2 nodes are by feedback signal y2bS (), is decoupled by the feedback network path of close loop control circuit 2 to control
Device CD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control decoupler CD nodes；
The step of mode E, includes：
E1:Control decoupler CD nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2:In decoupler CD nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b
(s) and controlled device prediction model G22mThe output valve y of (s)22maS () and controlled device cross aisle transmission function estimate mould
Type G21mThe output valve y of (s)21maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)-y21ma
(s)；
E3:To e2S () implements control algolithm C2S (), obtains control signal u2(s)；
E4:By control signal u2S () acts on decoupling channel transfer function P22S () obtains its decoupling signal up22(s)；To come from
The control algolithm C in close loop control circuit 11The output signal u of (s)1S () acts on decoupling cross aisle transmission function P21(s)
Obtain its decoupling signal up21(s)；By up22(s) and up21S () is added the control decoupling signal u for obtaining close loop control circuit 22p
(s), i.e. u2p(s)=up22(s)+up21(s)；
E5:Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；Will
Come from the control decoupling signal u of the output of close loop control circuit 11pS () acts on controlled device cross aisle transmission function and estimates
Model G21mS () obtains its output valve y21ma(s)；
E6:Will control decoupling signal u2pS () is by the feedforward network path e- τ 3s units of close loop control circuit 2 to actuator A2
Node-node transmission, u2pS () 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 control decoupling signal u2pS () is triggered；
F2:Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；Will
Come from the feedforward network path of close loop control circuit 1The control decoupling signal u of unit1pS () acts on controlled device intersection
Channel transfer function prediction model G21mS () obtains its output valve y21mb(s)；
F3:Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By control decoupling letter
Number u2pS () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled right
As G22(s) and G12The decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NDCS 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-NDCS structures, network delay is compensated
The implementation of method, with specific control strategy C1(s) and C2S the selection of () is unrelated.
4. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710090780.7A CN106773726A (en) | 2017-02-20 | 2017-02-20 | A kind of two input two exports network decoupling and controlling system random delay compensation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710090780.7A CN106773726A (en) | 2017-02-20 | 2017-02-20 | A kind of two input two exports network decoupling and controlling system random delay compensation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106773726A true CN106773726A (en) | 2017-05-31 |
Family
ID=58958333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710090780.7A Pending CN106773726A (en) | 2017-02-20 | 2017-02-20 | A kind of two input two exports network decoupling and controlling system random delay compensation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106773726A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707762A (en) * | 2017-02-20 | 2017-05-24 | 海南大学 | Hybrid control method for uncertain time delay of two-input and two-output network control system |
| CN107045338A (en) * | 2017-06-07 | 2017-08-15 | 海南大学 | A kind of two input two exports the SPC methods of NDCS random delay |
-
2017
- 2017-02-20 CN CN201710090780.7A patent/CN106773726A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707762A (en) * | 2017-02-20 | 2017-05-24 | 海南大学 | Hybrid control method for uncertain time delay of two-input and two-output network control system |
| CN107045338A (en) * | 2017-06-07 | 2017-08-15 | 海南大学 | A kind of two input two exports the SPC methods of NDCS random delay |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773726A (en) | A kind of two input two exports network decoupling and controlling system random delay compensation method | |
| CN106802562A (en) | A kind of two input two exports network decoupling and controlling system long delay compensation method | |
| CN106773730A (en) | A kind of two input two exports network decoupling and controlling system time-vary delay system compensation method | |
| CN106773733A (en) | A kind of dual input output network decoupling and controlling system does not determine the compensation method of time delay | |
| CN106802557A (en) | A kind of SPC and IMC methods of TITO NDCS random network time delays | |
| CN106773731A (en) | A kind of dual input exports the unknown time delay mixed control method of network decoupling and controlling system | |
| CN106919042A (en) | A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay | |
| CN106842943A (en) | Two inputs two based on SPC export network decoupling and controlling system delay compensation method | |
| CN106814617A (en) | A kind of two input two exports network decoupling and controlling system unknown time delay compensation | |
| CN106802556A (en) | A kind of IMC methods of two input and output network decoupling and controlling system unknown network time delay | |
| CN107065529A (en) | The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system | |
| CN106896718A (en) | A kind of two input two exports network decoupling and controlling system variable time delay compensation method | |
| CN106773728A (en) | A kind of IMC methods of two input and output network decoupling and controlling system random network time delay | |
| CN106814618A (en) | A kind of two input two exports the IMC methods of the big network delay of network decoupling and controlling system | |
| CN106773737A (en) | A kind of two input and output network decoupling and controlling system time-vary delay system mixed control methods | |
| CN106842940A (en) | A kind of compensation method of TITO NDCS network delays long | |
| CN106814620A (en) | A kind of two input two exports the method for compensating network delay of network decoupling and controlling system | |
| CN106873368A (en) | A kind of dual input exports the compensation method of network decoupling and controlling system non-determined time delay | |
| CN106773738A (en) | A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay | |
| CN106814613A (en) | A kind of two input and output network decoupling and controlling system random delay mixed control methods | |
| CN106842938A (en) | A kind of two-output impulse generator network decoupling and controlling system long delay compensation method | |
| CN106842932A (en) | A kind of SPC of TITO NDCS random delay and two degrees of freedom IMC methods | |
| CN106919044A (en) | A kind of two input two exports network decoupling and controlling system and is uncertain of delay compensation method | |
| CN106814614A (en) | A kind of two input two exports network control system time-vary delay system compensation method | |
| CN107065574A (en) | A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |