CN106773727A - A kind of TITO NCS unpredictable time-delay compensation methodes of two degrees of freedom IMC and SPC - Google Patents
A kind of TITO NCS unpredictable time-delay compensation methodes of two degrees of freedom IMC and SPC Download PDFInfo
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Abstract
The TITO NCS unpredictable time-delay compensation methodes of two degrees of freedom IMC and SPC, belong to the MIMO NCS technical fields of limited bandwidth resources.For in a kind of TITO NCS, influenced each other between two two output signals of input, transmit produced network delay among the nodes due to network data, not only influence its own close loop control circuit stability, but also another close loop control circuit stability will be influenceed, even result in the problem of TITO NCS loss of stability, propose with the network data transmission process between all real nodes in TITO NCS, instead of network delay compensation model therebetween, and two loops are implemented with dynamic Feedforward plus two degrees of freedom IMC and SPC respectively, the measurement to network delay between node can be exempted, estimate or recognize, exempt the requirement synchronous to node clock signal, uncertain network-induced delay is reduced to TITO NCS stability influences, improve system control performance quality.
Description
Technical field
A kind of two degrees of freedom IMC (Internal model control, IMC) and SPC (Smith predictor
Control, SPC) TITO (Two-input and two-output, TITO) network control system (Networked
Control systems, NCS) unpredictable time-delay compensation method, it is related to automatically control, network service and the friendship of computer technology
Fork field, more particularly to limited bandwidth resources MIMO Networked Control Systems 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 uncertain network-induced delay, it is possible to decrease the control quality of NCS, or even makes system loss of stability, may when serious
System is caused to break 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 the multiple-input and multiple-output (Multiple- constituted with two outputs (Two-input and two-output, TITO)
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for based on it
The achievement in research of the delay compensation method of system architecture 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 probabilistic 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 uncertain network-induced delay, to set up in MIMO-NCS each
The Mathematical Modeling that the uncertain network-induced delay of control loop 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
Influence being produced on the performance quality of whole system and stability and being restricted, it implements delay compensation with control with its stability problem
System is more much more difficult than SISO-NCS.
The content of the invention
The uncertain net of network control system (TITO-NCS) is exported the present invention relates to a kind of two input two in MIMO-NCS
The compensation of network time delay and control, the typical structure of its TITO-NCS 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 controller, G11S () is controlled device；τ1Represent control signal u1S () is from C1(s) controller
The C1 nodes at place, the uncertain network-induced 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 C1 nodes where () controller are experienced
Uncertain network-induced 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, contain uncertain network
Delay, 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 C2 nodes at place, the uncertain network-induced 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 C2 nodes where () controller are experienced
Uncertain network-induced 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, contain uncertain network
Delay, 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
Uncertain network-induced delay τ is contained1And τ2Exponential termWithAnd close loop control circuit 2 transmission function equation (3) and
(4) in denominator, uncertain network-induced delay τ is contained3And 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.
(1) in order to exempt to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then
Reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with
The influence of the stability of a system, when prediction model is equal to its true model, is capable of achieving the characteristic equation of respective close loop control circuit
In the exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
Performance quality, realizes the segmentation to TITO-NCS uncertain network-induced delays, real-time, online and dynamic predictive compensation and controls.
(2) for the TITO-NCS of single-degree-of-freedom IMC, due to only one of which feedforward filter parameter lambda in its control loop
Can adjust, it is necessary to be traded off between the tracing property and robustness of system；TITO-NCS or presence for high performance requirements
Compared with large disturbances and the TITO-NCS of model mismatch, it is difficult to take into account the performance of each side and obtain satisfied control effect.
(3) present invention proposes that a kind of dynamic Feedforward of TITO-NCS uncertain network-induced delays adds two degrees of freedom IMC and SPC to tie
The method of conjunction
For close loop control circuit in Fig. 31：Propose it is a kind of based on dynamic Feedforward add the delay compensation of two degrees of freedom IMC with
Control method；For close loop control circuit in Fig. 32：Propose a kind of delay compensation and controlling party for adding SPC based on dynamic Feedforward
Method.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；In order to
When realization meets predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1,
To realize to network delay τ1And τ2Compensation with control, use with control signal u1S (), used as input signal, controlled device is pre-
Estimate model G11mS () passes through network transfer delay prediction model as controlled process, control with process dataAndEnclose
Around internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop；At the same time, in controlled device G11S () holds, structure
Build a dynamic Feedforward controller D12(s), for reducing the interference signal u from close loop control circuit 22pS () is dry by intersecting
Disturb passage G12The influence of (s) to the dynamic property of close loop control circuit 1, while D12S () has uneoupled control effect concurrently；Implement this step
Rapid structure is 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 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
Uncertain network-induced delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore,
From sensor S1 nodes to controller C1 nodes, and from controller C1 nodes to actuator A1 nodes, using true
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus nothing
Whether its true model is equal to by the prediction model of controlled device, when can be realized from system architecture not comprising network therebetween
The predict-compensate model for prolonging, so that in exempting to close loop control circuit 1, uncertain network-induced delay τ between node1And τ2Measurement,
Estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its uncertain network-induced delay τ1And τ2Compensation with control
System；At the same time, in the backfeed loop of controller C1 nodes close loop control circuit 1, feedback filter F is increased1(s)；Implement
The network delay compensation of the inventive method adds two degrees of freedom IMC structures as shown in Figure 5 with dynamic Feedforward；
For the close loop control circuit 2 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, the closed loop transform function of close loop control circuit 2 is no longer included
Network delay exponential term, to realize to network delay τ3And τ4Compensation with control, around controlled device G22(s), with closed loop control
Loop processed 2 exports y2(s) as input signal, by y2S () passes through predictor controller C2mS () constructs a negative-feedback Prediction Control
Loop；By y2S () passes through network transfer delay prediction modelWith predictor controller C2mS () and network transfer delay are estimated
ModelOne positive feedback Prediction Control loop of construction；At the same time, in controlled device G22S () holds, before building a dynamic
Feedback controller D21(s), for reducing the interference signal u from close loop control circuit 11pS () passes through cross jamming passage G21(s)
Influence to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently；Implement structure such as Fig. 4 of this step
It is shown；
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 control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet predictor controller C2mS () is equal to its real controllers C2S the condition of () is (due to controller C2(s)
It is artificial design and selection, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to controller C2 nodes,
And from controller C2 nodes to actuator A2 nodes, using real network data transmission processWithInstead of it
Between network delay predict-compensate modelWithThe structure for implementing this step is as shown in Figure 5；
3rd step：By controller C in Fig. 52S (), by the further abbreviation of transmission function equivalence transformation rule, obtains Fig. 6 institutes
The network delay collocation structure of the implementation the inventive method shown；System estimating not comprising network delay therebetween is realized from structure
Compensation model, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or recognize, can
Realize to uncertain network-induced delay τ3And τ4Compensation and SPC；The network delay compensation for implementing the inventive method adds with dynamic Feedforward
SPC structures are as shown in Figure 6.
Herein it should be strongly noted that in the controller C2 nodes of Fig. 6, occurring in that the given of close loop control circuit 2
Signal x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2S () believes
Number simultaneously be connected in controller C2 nodes by positive feedback and negative-feedback：
(1) this is due to by the controller C in Fig. 52S (), according to transmission function equivalence transformation rule, further abbreviation is obtained
Result shown in Fig. 6, and non-artificial setting；
(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage with control etc. function, same signal is carried out in node elder generation " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method
Then go up do not have what be not inconsistent normally part；
Same signal is carried out in node (3) " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that2S () does not just exist, or do not obtain y2S () signal, or signal is not stored for；Or because of " phase
Mutually offset " cause " zero " signal value to reform into not exist, or it is nonsensical；
(4) triggering of controller C2 nodes just comes from signal y2The driving of (s), if controller C2 nodes are not received
The signal y that arrival self feed back network path is transmitted2S (), then the controller C2 nodes in event-driven working method will
Will not be triggered.
For the close loop control circuit 1 in Fig. 6：
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；F1S () is feedback
Wave filter.
2) the signal u of actuator A2 nodes in close loop control circuit 2 is come from2p(s), by dynamic Feedforward controller D12
S () acts on close loop control circuit 1；At the same time, signal u2pS () passes through cross jamming passage G12S () acts on closed-loop control
Loop 1；From input signal u2pS () arrives output signal y1S the closed loop transfer function, between () 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, close
Ring control loop 1 is no longer steady comprising influence system in the denominator of closed loop transfer function, equivalent to an open-loop control system
Qualitatively network delay τ1And τ2Exponential termWithThe stability of system only with controlled device, dynamic Feedforward controller and
Internal mode controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
State control performance quality, realizes adding two degrees of freedom IMC with dynamic Feedforward to the dynamic compensation of uncertain network-induced delay；When system is deposited
When compared with large disturbances and model mismatch, feedback filter F1S the presence of () can improve the tracing property and antijamming capability of system,
Influence of the network delay to the stability of a system is reduced, further improves the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is controller.
2) the signal u of actuator A1 nodes in close loop control circuit 1 is come from1p(s), by dynamic Feedforward controller D21
S () acts on close loop control circuit 2；At the same time, signal u1pS () passes through cross jamming passage G21S () acts on closed-loop control
Loop 2；From input signal u1pS () arrives output signal y2S the closed loop transfer function, between () is：
Using the inventive method, the denominator of transmission function equation (7) and (8) is 1+C2(s)G22(s), close loop control circuit 2
Closed loop transform function be 1+C2(s)G22(s)=0, when in closed loop transform function no longer comprising the network for influenceing the stability of a system
Prolong τ3And τ4Exponential termWithSo as to influence of the network delay to the stability of a system can be reduced, improve system dynamic control
Performance quality, realizes adding SPC with dynamic Feedforward to the dynamic pre-estimating compensation of uncertain network-induced delay.
In close loop control circuit 1, design and the selection of two degrees of freedom IMC：
(1) internal mode controller C1IMCThe 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)；Second step is that certain order is added in feedforward controller
Feedforward filter f1S (), constitutes a complete internal mode controller C1IMC(s)。
1) feedforward controller C11(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, controlled device prediction model is equal to its true model, i.e.,：G11m(s)=G11
(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), wherein：G11m+S () is controlled device prediction model G11mPure lag system and s RHPs are included in (s)
The irreversible part of zero pole point；G11m- (s) is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 111S () can be chosen for：
2) feedforward filter f1(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),
Have ignored G11m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system
In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller
Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.
Generally the feedforward filter f of close loop control circuit 11S (), is chosen for fairly simple n1Rank wave filterWherein：λ1It is feedforward filter time constant；n1It is the order of feedforward filter, and n1=n1a-n1b；n1a
It is controlled device G11The order of (s) denominator；n1bIt is controlled device G11The order of (s) molecule, usual n1＞ 0.
3) internal mode controller C1IMC(s)
The internal mode controller C of close loop control circuit 11IMCS () can be chosen for:
Be can be seen that from equation (9)：The internal mode controller C of one degree of freedom1IMCIn (s), the adjustable ginseng of only one of which
Number λ1；Due to λ1The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting
The customized parameter λ of ripple device1When, the tracing property generally required in system is traded off between the two with antijamming capability.
(2) feedback filter F1The design of (s) and selection：
The feedback filter F of close loop control circuit 11S (), can choose fairly simple firstorder filter F1(s)=(λ1s+
1)/(λ1fS+1), wherein：λ1It is feedforward filter f1Time constant in (s)；λ1fIt is feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fIn the case of immobilizing, the tracking performance of system can be with
Feedforward filter regulation parameter λ1Reduction and improve；In feedforward filter regulation parameter λ1In the case of immobilizing, system
Tracing property it is almost unchanged, and antijamming capability then can be with λ1fReduction and become strong.
Therefore, the TITO-NCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f1(s) and feedback
Wave filter F1S the parameter of (), to improve the tracing property and antijamming capability of system, reduces shadow of the network delay to the stability of a system
Ring, improve the dynamic property quality of system.
In close loop control circuit 2, controller C2The selection of (s)：
Controller C2S () can be according to controlled device G22The Mathematical Modeling of (s), and model parameter change, both may be selected
Conventional control strategy, also may be selected Based Intelligent Control or complex control strategy；Close loop control circuit 2 uses SPC methods, from TITO-
Realized in NCS structures and specific controller C2S the selection of the control strategy of () is unrelated.
In close loop control circuit 1 and loop 2, dynamic Feedforward controller D12(s) and D21The selection of (s)：
Influence close loop control circuit 1 and the interference signal u of the control performance quality of loop 22p(s) and u1p(s), by intersecting
Interfering channel G12(s) and G21S () acts on close loop control circuit 1 and loop 2, using dynamic Feedforward controller D12(s) and D21
(s), for reducing interference signal to close loop control circuit 1 and the influence of the dynamic property of loop 2.Under normal circumstances, D may be selected12
(s)=G12(s)/G11(s), D21(s)=G21(s)/G22(s)。
The scope of application of the invention：
Suitable for controlled device prediction model control loop 1 is equal with its true model or model between there may be one
Controlled device Mathematical Modeling is known or a kind of two input two that be uncertain of exports network controls in fixed deviation, and control loop 2
The compensation of system (TITO-NCS) uncertain network-induced delay processed adds two degrees of freedom IMC and SPC with dynamic Feedforward；Its Research Thinking with
Method, can equally be well applied to that controlled device prediction model in control loop is equal with its true model or model between there may be
Two degrees of freedom IMC is added using dynamic Feedforward of the invention during certain deviation；And controlled device Mathematical Modeling in control loop
It is known or when being uncertain of using dynamic Feedforward of the invention plus SPC, the MIMO Networked Control Systems for being constituted
(MIMO-NCS) compensation of uncertain network-induced delay adds two degrees of freedom IMC and SPC with dynamic Feedforward.
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 C1 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 C2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by signal e2When () 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 y11mbS () 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)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions,
Feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C1 nodes, by y1bS () acts on feedback filter F1S () obtains its output valve yF1(s), i.e.,
yF1(s)=F1(s)y1b(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts yF1S () obtains deviation signal e1
(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：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 signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2pS () acts on dynamic Feedforward control
Device D12S () obtains its output valve ud12(s)；By IMC signals u1(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes u1p
(s), i.e. u1p(s)=u1(s)-ud12(s)；
C3：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () 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 G21
The dynamic Feedforward control of (s) and two degrees of freedom IMC, while realizing to uncertain network-induced 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)21S () is sampled, and calculate the system output signal of close loop control circuit 2
y2(s), and y2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions,
Feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase
After adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2S feedforward network path that () passes through close loop control circuit 2Unit is passed to actuator A2 nodes
It is defeated, e2S () 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 signal e2S () is triggered；
F2：In actuator A2 nodes, by signal e2(s) and feedback signal y2S () subtracts each other and obtains signal e3(s), i.e. e3
(s)=e2(s)-y2(s)；To e3S () implements control algolithm C2S (), obtains control signal u2(s)；
F3：By control signal u2(s) and the output signal u for coming from the actuator A1 nodes of close loop control circuit 11pS () leads to
Cross dynamic Feedforward controller D21The output signal u of (s)d21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-ud21
(s)；
F4：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () 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 G12
The dynamic Feedforward control of (s) and SPC, while realizing to uncertain network-induced delay τ3And τ4Compensation with control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NCS, the measurement of uncertain network-induced delay, observation, estimate or recognize,
The synchronous requirement of node clock signal can also be exempted simultaneously, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, kept away
Exempt to expending the waste of node storage resources needed for time-delay identification, at the same can also avoid " sky sampling " that is caused due to time delay or
The compensation error that " sampling " brings more.
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, the control loop 1 in TITO-NCS adds two degrees of freedom IMC using dynamic Feedforward control, due to its two degrees of freedom
The adjustable parameter of IMC is 2, compared with the adjustable parameter of the TITO-NCS of single-degree-of-freedom IMC its close loop control circuit is for 1,
The inventive method can further improve stability, tracking performance and the antijamming capability of system, reduce network delay steady to system
Qualitatively influence, improve the dynamic property quality of system；Its dynamic Feedforward controller D12S (), can reduce from closed-loop control
The interference signal u in loop 22pS () passes through cross jamming passage G12The influence of (s) to the dynamic property of close loop control circuit 1, while
D12S () has uneoupled control effect concurrently.
4th, the control loop 2 in TITO-NCS adds SPC using dynamic Feedforward control, due to being realized from TITO-NCS structures
With specific controller C2S the selection of () control strategy is unrelated, thus can be not only used for, using the TITO-NCS of conventional control, also can use
In using Based Intelligent Control or the TITO-NCS using complex control strategy；Its dynamic Feedforward controller D21S (), can reduce and come from
The interference signal u of close loop control circuit 11pS () passes through cross jamming passage G21The shadow of (s) to the dynamic property of close loop control circuit 2
Ring, while D21S () has uneoupled control effect concurrently.
5th, 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 and control 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, controller C1 and C2 section
Point, actuator 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 unitWithInstitute
Composition.
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 that () is experienced from controller C1 and C2 from node to actuator A1 and A2 node-node transmission
Time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to controller C1 and C2 node-node transmission
The feedback network tunnel time delay for being experienced.
Fig. 4：A kind of TITO-NCS delay compensations comprising prediction model and control structure
In Fig. 4：C1IMCS () is the internal mode controller of control loop 1；C2mS () is the controller C of control loop 22(s)
Predictor controller；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is net
Network propagation delay timeAndEstimate Time Delay Model；G11mS () is controlled device transmission function G11The prediction model of (s)；
D12(s) and D21S () is dynamic Feedforward controller.
Fig. 5：Replace the delay compensation of prediction model and control structure with true model
In Fig. 5：F1S () is feedback filter
Fig. 6：A kind of TITO-NCS unpredictable time-delay compensation methodes of two degrees of freedom IMC and SPC
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 6 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 y11mbS () is sampled, and calculate close loop control circuit 1
System output signal y1(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)=y1(s)-y11mb
(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1bS () triggers after, by y1b
S () acts on feedback filter F1S () obtains its output valve yF1(s), i.e. yF1(s)=F1(s)y1b(s)；By close loop control circuit 1
System Setting signal x1S (), subtracts yF1S () obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；To e1S () is real
Apply Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
4th step：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1
Node-node transmission, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
5th step：Actuator A1 nodes work in event driven manner, by IMC signals u1S () triggers after, IMC is believed
Number u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Close loop control circuit 2 will be come to hold
The signal u of row device A2 nodes2pS () acts on dynamic Feedforward controller D12S () obtains its output valve ud12(s)；By IMC signals u1
(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes u1p(s), i.e. u1p(s)=u1(s)-ud12(s)；
6th step：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () is made
For controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and
G21The dynamic Feedforward control of (s) and two degrees of freedom IMC, while realizing to uncertain network-induced 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 y21S () is sampled, and calculate the system output signal y of close loop control circuit 22(s), and y2(s)=y22(s)
+y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Controller C2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
3rd step：Controller C2 nodes work in event driven manner, by feedback signal y2S () triggers after, by closed loop
The system Setting signal x of control loop 22(s), with feedback signal y2S () phase adduction obtains signal e after subtracting each other2(s), i.e. e2(s)=x2
(s)+y2(s)-y2(s)=x2(s)；
4th step：By signal e2S feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2
Point transmission, e2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
5th step：Actuator A2 nodes work in event driven manner, by signal e2S () triggers after, by signal e2(s)
With feedback signal y2S () subtracts each other and obtains signal e3(s), i.e. e3(s)=e2(s)-y2(s)；To e3S () implements control algolithm C2(s),
Obtain control signal u2(s)；By control signal u2(s) and the output signal for coming from the actuator A1 nodes of close loop control circuit 1
u1pS () passes through dynamic Feedforward controller D21The output signal u of (s)d21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2
(s)-ud21(s)；
6th step：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () is made
For controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and
G12The dynamic Feedforward control of (s) and SPC, while realizing to uncertain network-induced 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 (5)
1. the TITO-NCS unpredictable time-delay compensation methodes of a kind of two degrees of freedom IMC and SPC, 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 controller C1 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 C2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by signal e2When () 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 y11mbS () is sampled, and calculate
Go out 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)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions, feedback
Signal y1bS () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C1 nodes, by y1bS () acts on feedback filter F1S () obtains its output valve yF1(s), i.e. yF1(s)
=F1(s)y1b(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts yF1S () obtains deviation signal e1(s), i.e.,
e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：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 signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2pS () acts on dynamic Feedforward controller D12(s)
Obtain its output valve ud12(s)；By IMC signals u1(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes u1p(s), i.e. u1p
(s)=u1(s)-ud12(s)；
C3：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () acts on controlled
Object cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21(s)
Dynamic Feedforward is controlled and two degrees of freedom IMC, while realizing to uncertain network-induced 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)21S () is sampled, and calculate the system output signal y of close loop control circuit 22
(s), and y2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions, feedback
Signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase adduction
After subtracting each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2S feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, e2
S () 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 signal e2S () is triggered；
F2：In actuator A2 nodes, by signal e2(s) and feedback signal y2S () subtracts each other and obtains signal e3(s), i.e. e3(s)=e2
(s)-y2(s)；To e3S () implements control algolithm C2S (), obtains control signal u2(s)；
F3：By control signal u2(s) and the output signal u for coming from the actuator A1 nodes of close loop control circuit 11pS () is by dynamic
State feedforward controller D21The output signal u of (s)d21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-ud21(s)；
F4：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () acts on controlled
Object cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12(s)
Dynamic Feedforward is controlled and SPC, while realizing to uncertain network-induced 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 between node and node
τ1And 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, during to uncertain network
Prolong the implementation of compensation method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：For the control loop 1 in TITO-NCS, before dynamic
Feedback control plus two degrees of freedom IMC, because the adjustable parameter of its two degrees of freedom IMC is 2, the TITO-NCS with single-degree-of-freedom IMC
The adjustable parameter of its close loop control circuit is compared for 1, and the inventive method can further improve the stability of system, tracking performance
With antijamming capability, influence of the network delay to the stability of a system is reduced, improve the dynamic property quality of system；Its dynamic Feedforward
Controller D12S (), can reduce the interference signal u from close loop control circuit 22pS () passes through cross jamming passage G12S () is right
The influence of the dynamic property of close loop control circuit 1, while D12S () has uneoupled control effect concurrently.
5. method according to claim 1, it is characterised in that：For the control loop 2 in TITO-NCS, before dynamic
Feedback control plus SPC, due to being realized from TITO-NCS structures and specific controller C2S the selection of () control strategy is unrelated, thus
Can be not only used for using the TITO-NCS of conventional control, also can be used for using Based Intelligent Control or the TITO- using complex control strategy
NCS；Its dynamic Feedforward controller D21S (), can reduce the interference signal u from close loop control circuit 11pS () is dry by intersecting
Disturb passage G21The influence of (s) to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently.
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|---|---|---|---|---|
| CN106990716A (en) * | 2017-06-07 | 2017-07-28 | 海南大学 | A kind of dual input exports the mixed control method of NDCS unknown network time delays |
| CN107247408A (en) * | 2017-06-07 | 2017-10-13 | 海南大学 | A kind of dual input exports IMC the and SPC methods of NDCS random delay |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990716A (en) * | 2017-06-07 | 2017-07-28 | 海南大学 | A kind of dual input exports the mixed control method of NDCS unknown network time delays |
| CN107247408A (en) * | 2017-06-07 | 2017-10-13 | 海南大学 | A kind of dual input exports IMC the and SPC methods of NDCS random delay |
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