CN106773728A - A kind of IMC methods of two input and output network decoupling and controlling system random network time delay - Google Patents
A kind of IMC methods of two input and output network decoupling and controlling system random network time delay Download PDFInfo
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Abstract
The IMC methods of two input and output network decoupling and controlling system (TITO NDCS) random network time delays, belong to the MIMO NDCS technical fields of limited bandwidth resources.Affect one another and couple between a kind of two input/output signal, need the TITO NDCS by decoupling treatment, transmit produced network delay among the nodes due to network data, 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 the network data transmission process between all real nodes in TITO NDCS, instead of network delay compensation model therebetween, IMC is implemented to two loops simultaneously, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, reduce influence of the random network time delay to TITO NDCS stability, improve quality of system control.
Description
Technical field
Two input and output network decoupling and controlling system random network time delays IMC (Internal Model Control,
IMC) method, is related to the crossing domain of automatic control technology, network service and computer technology, more particularly to limited bandwidth resources
Multiple-input and multiple-output network decoupling and controlling system technical field.
Background technology
In dcs, between sensor and controller, 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 quality of NCS, or even make system loss of stability, sternly
System may be caused to break down during weight.
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
With two control systems of output (Two-input and two-output, TITO), the multiple-input and multiple-output for being constituted
The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially
Needed by decoupling the multiple-input and multiple-output network uneoupled control for processing between input and output signal, there is coupling
The achievement in research of system (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) occur when previous node in MIMO-NDCS 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
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 network 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；τ1Representing will control decoupler CD output signal nodes
u1pS (), the random network time delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent output signal y1
(s) from sensor S1 nodes, through the random network time delay that feedback network tunnel is experienced to control decoupler CD nodes.
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, when containing random network
Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is control unit, G22S () is controlled device；τ3Representing will control decoupler CD output signal nodes
u2pS (), the random network time delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent output signal y2
(s) from sensor S2 nodes, through the random network time delay that feedback network tunnel is experienced to control decoupler CD nodes.
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 result in system mistake
Go 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, of close loop control circuit 2 etc.
In the denominator of formula (4) to (6), random network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can drop
The control performance quality of low 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 individual system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, the present invention proposes a kind of delay compensation method based on IMC, exempt in each close loop control circuit, node
Between random network time delay measurement, estimate or recognize, and then reduce network delay τ1And τ2, and τ3And τ4To respective closed loop
The influence of control loop and whole control system control performance quality and the stability of a system；When prediction model is equal to its true mould
During type, the exponential term not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving, and then network can be reduced
Influence of the time delay to the stability of a system, improves the dynamic property quality of system, and realization divides TITO-NDCS random network time delays
Section, real-time, online and dynamic predictive compensation and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In decoupler CD nodes are controlled, an internal mode controller C is built first1IMCS () is used to replace control
Device C1(s)；In order to realize meeting during predictive compensation condition, network is no longer included in the closed loop transform function of close loop control circuit 1
The exponential term of time delay, to realize to network delay τ1And τ2Compensation with control, use to control decoupling signal u1p(s) and u2p
(s) and up12S () is used as input signal, controlled device prediction model G11m(s) and G12mS () is used as controlled process, control and mistake
Number of passes is according to by network transfer delay prediction modelAndAround internal mode controller C1IMCS (), constructs a positive feedback
Prediction Control loop and a negative-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 IMC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with IMC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In decoupler CD nodes are controlled, an internal mode controller C is built first2IMCS () is used to replace control
Device C2(s)；In order to realize meeting during predictive compensation condition, network is no longer included in the closed loop transform function of close loop control circuit 2
The exponential term of time delay, to realize to network delay τ3And τ4Compensation with control, use to control decoupling signal u1p(s) and u2p
(s) and up21S () is used as input signal, controlled device prediction model G22m(s) and G21mS () is used as controlled process, control and mistake
Number of passes evidence transmits prediction model by network delayAndAround internal mode controller C2IMCS (), constructs a positive feedback
Prediction Control loop and a negative-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 and IMC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with IMC structures.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller.
2) from internal mode controller C in close loop control circuit 22IMCThe output signal u of (s) control unit2(s), by intersecting
Decoupling channel transfer function P12S () acts on close loop control circuit 1, from input signal u2S () arrives output signal y1Between (s)
Closed loop transfer function, is：
3) from cross decoupling channel transfer function P12The output signal u of (s) unitp12S (), acts on control decoupler
The prediction model G of controlled device in CD node controls loop 111m(s), from input signal up12S () arrives output signal y1Between (s)
Closed loop transfer function, be：
4) 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 transfer function, denominator of close loop control circuit 1 will be byBecome 1.
Now, close loop control circuit 1 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device 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 to the dynamic compensation of random network time delay and IMC.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：G22mS () is controlled device G22The prediction model of (s)；C2IMCS () is internal mode controller.
2) from internal mode controller C in close loop control circuit 11IMCThe output signal u of (s) control unit1(s), by intersecting
Decoupling channel transfer function P21S () acts on close loop control circuit 2, from input signal u1S () arrives output signal y2Between (s)
Closed loop transfer function, is：
3) from cross decoupling channel transfer function P21The output signal u of (s) unitp21S (), acts on control decoupler
The prediction model G of controlled device in CD node controls loop 222m(s), from input signal up21S () arrives output signal y2Between (s)
Closed loop transfer function, be：
4) from the output signal u that decoupler CD nodes are controlled in close loop control circuit 11p(s), in control decoupler CD
By controlled device cross aisle transmission function prediction model G21mS () acts on close loop control circuit 2；Returned from closed-loop control
The control signal u of the actuator A1 nodes of road 11p(s), while passing through controlled device cross aisle transmission function G21S () is estimated with it
Model G21mS () acts on close loop control circuit 2；From input signal u1pS () arrives output signal y2Closed 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 G22m(s)=G22(s)
When, the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1.
Now, close loop control circuit 2 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled device and
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 control of system
Performance quality processed, realizes to the dynamic compensation of random network time delay and IMC.
Internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller C11(s) and C22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1(s) and f2S (), constitutes a complete internal mode controller C1IMC(s) and C2IMC(s)。
(1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-(s) and G22m(s)=G22m+(s)G22m-(s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m- (s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
(2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2It is feedforward
Filter time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22The order of (s) molecule,
Usual n1＞ 0 and n2＞ 0.
(3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (15) and (16)：The internal mode controller C of one degree of freedom1IMC(s) and C2IMCIn (s), all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore in the customized parameter λ of wave filter of adjusting1And λ2When, generally require dry with anti-in the tracing property of system
Ability is disturbed to trade off between the two.
The scope of application of the invention：
A kind of two input two for being equal to its true model suitable for controlled device prediction model exports network uneoupled control system
The compensation of (TITO-NDCS) random network time delay of uniting and IMC；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 IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when 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 cross aisle transmission function prediction model G12mThe output valve y of (s)12maS () adds controlled device
Prediction model G11mThe output valve y of (s)11maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma
(s)+y11ma(s)；
B3:To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4:Internal Model Control Algorithm C in close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2S () acts on
Decoupling cross aisle transmission function P12S () obtains its decoupling signal up12(s)；By IMC signals u1(s) and up12S () is subtracted each other and is obtained
The control decoupling signal u of close loop control circuit 11p(s), i.e. u1p(s)=u1(s)-up12(s)；
B5:By decoupling signal up12S () 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 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 IMC, 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 cross aisle transmission function prediction model G21mThe output valve y of (s)21maS () adds controlled device
Prediction model G22mThe output valve y of (s)22maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma
(s)+y22ma(s)；
E3:To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4:Internal Model Control Algorithm C in close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1S () acts on
Decoupling cross aisle transmission function P21S () obtains its decoupling signal up21(s)；By IMC signals u2(s) and up21S () is subtracted each other and is obtained
The control decoupling signal u of close loop control circuit 22p(s), i.e. u2p(s)=u2(s)-up21(s)；
E5:By decoupling signal up21S () 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 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 right
As 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 IMC, 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, using the TITO-NDCS of IMC, its internal mode controller C1IMC(s) and C2IMCS the adjustable parameter of () only has λ1And λ2,
The regulation of parameter is simple with selection, and explicit physical meaning；Stability, the tracking performance of system can be not only improved using IMC
With interference free performance, but also can realize to the compensation of random network time delay and control.
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), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unit
WithAnd feedback network tunnel unitWithConstituted.
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 networks delay compensation comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is that network is passed
Defeated time delayAndPrediction model；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22(s) it is pre-
Estimate model；G12m(s) and G21mS () is controlled device cross aisle transmission function G12(s) and G21The prediction model of (s)；C1IMC(s)
And C2IMCS () represents the internal mode controller in control loop 1 and loop 2.
Fig. 5：A kind of IMC methods of two input and output network decoupling and controlling system random network time delay
Fig. 5 can be realized to the compensation of random network time delay and IMC 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
System Setting signal x1S (), subtracts feedback signal y1b(s) and controlled device cross aisle transmission function prediction model G12m(s)
Output valve y12maS () adds controlled device prediction model G11mThe output valve y of (s)11maS (), obtains system deviation signal e1
(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma(s)+y11ma(s)；
4th step：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；Closed loop control will be come from
Internal Model Control Algorithm C in loop processed 22IMCThe output IMC signals u of (s)2S () acts on decoupling cross aisle transmission function P12(s)
Obtain its decoupling signal up12(s)；By IMC signals u1(s) and up12S () subtracts each other the control decoupling letter for obtaining close loop control circuit 1
Number u1p(s), i.e. u1p(s)=u1(s)-up12(s)；
5th step：By decoupling signal up12S () 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)；
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 letter
Number 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 IMC, 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 be
System Setting signal x2S (), subtracts feedback signal y2b(s) and controlled device cross aisle transmission function prediction model G21m(s) it is defeated
Go out value y21maS () adds controlled device prediction model G22mThe output valve y of (s)22maS (), obtains system deviation signal e2(s),
That is e2(s)=x2(s)-y2b(s)-y21ma(s)+y22ma(s)；
4th step：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；Closed loop control will be come from
Internal Model Control Algorithm C in loop processed 11IMCThe output IMC signals u of (s)1S () acts on decoupling cross aisle transmission function P21(s)
Obtain its decoupling signal up21(s)；By IMC signals u2(s) and up21S () subtracts each other the control decoupling letter for obtaining close loop control circuit 2
Number u2p(s), i.e. u2p(s)=u2(s)-up21(s)；
5th step：By decoupling signal up21S () 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)；
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 IMC, 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 IMC methods of two input and output network decoupling and controlling system random network time delay, it is characterised in that the method bag
Include 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)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 cross aisle transmission function prediction model G12mThe output valve y of (s)12maS () is estimated along with controlled device
Model G11mThe output valve y of (s)11maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma(s)+
y11ma(s)；
B3:To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4:Internal Model Control Algorithm C in close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2S () acts on decoupling
Cross aisle transmission function P12S () obtains its decoupling signal up12(s)；By IMC signals u1(s) and up12S () subtracts each other and obtains closed loop
The control decoupling signal u of control loop 11p(s), i.e. u1p(s)=u1(s)-up12(s)；
B5:By decoupling signal up12S () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；To come from
In the control decoupling signal u of the output of close loop control circuit 22pS () acts on controlled device cross aisle transmission function 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 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 friendship
Fork 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 IMC, 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 cross aisle transmission function prediction model G21mThe output valve y of (s)21maS () is estimated along with controlled device
Model G22mThe output valve y of (s)22maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma(s)+
y22ma(s)；
E3:To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4:Internal Model Control Algorithm C in close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1S () acts on decoupling
Cross aisle transmission function P21S () obtains its decoupling signal up21(s)；By IMC signals u2(s) and up21S () subtracts each other and obtains closed loop
The control decoupling signal u of control loop 22p(s), i.e. u2p(s)=u2(s)-up21(s)；
E5:By decoupling signal up21S () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；To come from
In the control decoupling signal u of the output of close loop control circuit 11pS () acts on controlled device cross aisle transmission function 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 saved to actuator A2
Point 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 friendship
Fork 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 IMC, 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, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the TITO-NDCS of IMC, its internal mode controller C1IMC
(s) and C2IMCS the adjustable parameter of () only has λ1And λ2, the regulation of parameter is simple with selection, and explicit physical meaning；Using IMC not
Stability, tracking performance and the interference free performance of system can be only improved, but also the compensation to random network time delay can be realized
With control.
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