CN106773729A - A kind of two input and output network decoupling and controlling system time-varying network delay compensation methods - Google Patents
A kind of two input and output network decoupling and controlling system time-varying network delay compensation methods Download PDFInfo
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Abstract
Two input and output network decoupling and controlling system time-varying network delay compensation methods, 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, measurement to network delay between node can be exempted using the inventive method, estimate or recognize, exempt and node clock signal is synchronously required, time-varying network time delay is reduced to TITO NDCS stability influences, improve system control performance quality.
Description
Technical field
The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band
The multiple-input and multiple-output network decoupling and controlling system technical field of resource-constrained wide.
Background technology
In dcs, sensor and controller, between controller and actuator, by Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
NCS is capable of achieving resource-sharing, remote operation and control, tool compared with the control system of traditional point-to-point structure
There is a high diagnosis capability, I&M is easy, many advantages, such as increased flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to the category of NCS, additionally, NCS is in aerospace field, and complicated, dangerous industry
Control field also has wide application, and it is studied has turned into a hot subject of international academic community.
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.Sensor as NCS, when passing through network exchange data between controller and actuator, when inevitably resulting in network
Prolong, so as to the performance of system can be reduced or even cause system unstable.Because the information source in network is a lot, transmitting data stream warp
Numerous computers and communication equipment and path is not exclusive;Or limitation and the influence of transmission mechanism due to the network bandwidth, network
The reason such as congestion or disconnecting, causes the sequential entanglement of network packet and the loss of packet.Although time-delay system point
Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS various time delays of different nature (constant, bounded, with
Machine, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory is being analyzed and is setting to system
Timing, has often done many Utopian it is assumed that transmitting and adjusting such as the sampling of single rate, Synchronization Control, without time delay.But in NCS
In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will be reappraised
Can be applied in NCS.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one
The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered
Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
(Networked decoupling control systems, NDCS) delay compensation with control achievement in research then it is relative more
It is few.
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 signal 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 it is respective output signal is independently tracked
Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-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 time-varying network time delay, to set up each control in MIMO-NDCS
The Mathematical Modeling that the time-varying network time delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, 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-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, to MIMO-NDCS implement
Delay compensation is more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
When exporting network decoupling and controlling system (TITO-NDCS) the present invention relates to a kind of two input two in MIMO-NDCS
Become the compensation and control of network delay, the typical structure of its TITO-NDCS is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3:
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is:
In formula:C1S () is controller;G11S () is controlled device;τ1Represent the output signal u of controller C nodes1(s),
Through preceding the time-varying network time delay that decoupling actuator DA1 nodes are experienced is transferred to network path;τ2Represent sensor S1 sections
The output signal y of point1(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s), by cross decoupling
Path transmission function P12(s) and controlled device line passing transmission function G12S () acts on close loop control circuit 1, believe from input
Number up2S () arrives output signal y1S the closed loop transfer function, between () is:
The denominator of above-mentioned closed loop transfer function, equation (1) to (2)In, when containing time-varying network
Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
For the close loop control circuit 2 in Fig. 3:
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is:
In formula:C2S () is controller, G22S () is controlled device;τ3Represent the controlled output signal u of controller C nodes2
S (), the time-varying network time delay that decoupling actuator DA2 nodes are experienced is transferred to through preceding to network path;τ4Represent sensor
The output signal y of S2 nodes2(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s), by cross decoupling
Path transmission function P21(s) and controlled device line passing transmission function G21S () acts on close loop control circuit 2, believe from input
Number up1S () arrives output signal y2S the closed loop transfer function, between () is:
The denominator of above-mentioned closed loop transfer function, equation (3) to (4)In, when containing time-varying network
Prolong τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
Goal of the invention:
For the TITO-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (2) of its close loop control circuit 1,
Contain time-varying network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2
(3) in the denominator of (4), time-varying network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can be reduced respectively
From the control performance quality of close loop control circuit and the stability of respective close loop control circuit is influenceed, while will also decrease whole system
The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, during the present invention proposes a kind of release to each close loop control circuit, time-varying network delay, τ between node1And τ2,
τ3And τ4Measurement, estimate or identification delay compensation method.When prediction model is equal to its true model, it is capable of achieving each self-closing
Exponential term not comprising network delay in the characteristic equation of ring control loop, and then network delay can be reduced to the stability of a system
Influence, improves the dynamic property quality of system, realizes segmentation, real-time, online and dynamic to TITO-NDCS time-varying network time delays
Predictive compensation with control.
Using method:
For the close loop control circuit 1 in Fig. 3:
The first step:In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation with control, use with control signal u1(s) conduct
Input signal, controlled device prediction model G11mS (), used as controlled process, control is pre- by network transfer delay with process data
Estimate modelAndAround controller C in controller C nodes1(s), one positive feedback Prediction Control loop of construction and
One negative-feedback Prediction Control loop, the structure for implementing this step is 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
Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from
Sensor S1 nodes between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using true
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter
Whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model so that in exempting to close loop control circuit 1, time-varying network delay, τ between node1And τ2Measurement, estimate
Or identification;When prediction model is equal to its true model, it is capable of achieving to its time-varying network delay τ1And τ2Compensation with control;It is real
Apply the network delay compensation of the inventive method and control structure such as Fig. 5 and as shown in Figure 6;
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, the structure for implementing this step is 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, 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 C nodes,
And from controller C nodes to decoupling actuator DA2 nodes, using real network data transmission processWithGeneration
For the predict-compensate model of network delay therebetweenWithObtain network delay compensation and the control structure shown in Fig. 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 compensation of the implementation the inventive method shown and control structure;Realize system not comprising network delay therebetween from structure
Predict-compensate model so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or distinguish
Know, be capable of achieving to time-varying network delay, τ3And τ4Compensation with control;The network delay compensation for implementing the inventive method is tied with control
Structure is as shown in Figure 6.
Herein it should be strongly noted that in the controller C nodes of Fig. 6, occurring in that the given letter of close loop control circuit 2
Number x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2(s) signal
It is connected in controller C nodes by positive feedback and negative-feedback simultaneously:
(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 C nodes just comes from signal y2The driving of (s), if controller C nodes are not received by
From the signal y that feedback network tunnel comes2S (), then the controller C nodes in event-driven working method will not
It is 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), C1S () is controller.
2) the signal u of decoupling actuator DA2 nodes in close loop control circuit 2 is come from2p(s), by cross decoupling passage
Transmission function P12S () acts on close loop control circuit 1;At the same time, signal u2pS () is transmitted by controlled device cross aisle
Function G12S () acts on close loop control circuit 1;From input signal u2pS () arrives output signal y1Closed loop transfer function, between (s)
For:
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 transform function of close loop control circuit 1 will be byBecome 1+C1
(s)G11(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function1And τ2Exponential term
WithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, it is right to realize
Dynamic compensation and the control of time-varying network time delay.
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 decoupling actuator DA1 nodes in close loop control circuit 1 is come from1p(s), by cross decoupling passage
Transmission function P21S () acts on close loop control circuit 2;At the same time, signal u1pS () is transmitted by controlled device cross aisle
Function G21S () acts on close loop control circuit 2;From input signal u1pS () arrives output signal y2Closed loop transfer function, between (s)
For:
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 termWithThe stability of a system is influenceed so as to network delay can be reduced, improves system dynamic control
Energy quality, realizes dynamically compensating time-varying network time delay and controls.
The scope of application of the invention:
Controlled device prediction model is right equal to being controlled in its true model, and control loop 2 suitable for control loop 1
As known to prediction model or be uncertain of a kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) time-varying network when
The compensation prolonged and control;Its Research Thinking and method, controlled device prediction model is equal to it in can equally be well applied to control loop
The method of control loop of the present invention 1 is used during true model, and controlled device prediction model is known in control loop or is uncertain of
The Shi Caiyong methods of control loop 2 of the present invention, multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) time-varying for being constituted
The compensation of network delay and control.
It is a feature of the present invention that the method is comprised the following steps:
For close loop control circuit 1:
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated;
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated;
(3) is as decoupling actuator DA1 node controlled signals u1When () triggers s, employing mode C is operated;
For close loop control circuit 2:
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated;
(5) is when controller C nodes are by feedback signal y2When () triggers s, employing mode E is operated;
(6) is when decoupling actuator DA2 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 decouple the output signal y of actuator DA1 nodes11mbS () 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);
A3:By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions,
Feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to;
The step of mode B, includes:
B1:Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered;
B2:In controller C nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b
(s) and controlled device prediction model G11mThe output valve y of (s)11maS (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-y1b
(s)-y11ma(s);
B3:To e1S () implements control algolithm C1S (), obtains control signal u1(s);
B4:By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator
DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes;
The step of mode C, includes:
C1:Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () is triggered;
C2:In actuator DA1 nodes are decoupled, by control signal u1S () acts on controlled device prediction model G11m(s)
Obtain its output valve y11mb(s);The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from2pS () acts on friendship
Fork decoupling channel transfer function P12S () obtains its output valve yp12(s);By control signal u1(s) and yp12S () is subtracted each other to decouple and is held
Row device DA1 output signal nodes u1p(s), i.e. u1p(s)=u1(s)-yp12(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 decoupling of (s) and control, while realizing to time-varying 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)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 C node-node transmissions,
Feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C nodes are got to;
The step of mode E, includes:
E1:Controller C nodes work in event driven manner, by feedback signal y2S () is triggered;
E2:In controller C 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 saved to decoupling actuator DA2
Point transmission, e2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes;
The step of mode F, includes:
F1:Decoupling actuator DA2 nodes work in event driven manner, by signal e2S () is triggered;
F2:In actuator DA2 nodes are decoupled, by signal e2(s) and feedback signal y2S () subtracts each other and obtains signal e3(s),
That is e3(s)=e2(s)-y2(s);To e3S () implements control algolithm C2S (), obtains control signal u2(s);
F3:By control signal u2S () decouples the output signal u of actuator DA1 nodes with close loop control circuit 1 is come from1p
S () passes through cross decoupling channel transfer function P21The output signal y of (s)p21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=
u2(s)-yp21(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 decoupling of (s) and control, while realizing to time-varying 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 time-varying 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 being realized from TITO-NDCS structures, thus be both applicable
In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with;It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty;The TITO-NDCS of heterogeneous network composition is not only suitable for, while
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, it is unrelated with the selection of the control strategy of specific controller due to from TITO-NDCS structures, realizing, thus both may be used
For the TITO-NDCS using conventional control, also can be used for using Based Intelligent Control or the TITO- using complex control strategy
NDCS。
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 and control function are 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
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-NDCS
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction
Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit
Constituted.
In Fig. 2:yjS () represents j-th output signal of system;uiS () represents i-th control signal;Representing will control
Signal ui(s) from controller C nodes to i-th decoupling actuator DA node-node transmissions experienced feedforward network tunnel when
Prolong;Represent j-th detection signal y of sensor S nodesjS () leads to the feedback network that controller C node-node transmissions are experienced
Road propagation delay time;G represents controlled device transmission function.
Fig. 3:The typical structure of TITO-NDCS
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, controller C nodes, solution
Coupling actuator DA1 and A2 node, controlled device transmission function G11(s) and G22(s) and controlled device cross aisle transmission function
G21(s) and G12(s), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unitWith
And feedback network tunnel unitWithConstituted.
In Fig. 3:x1(s) and x2S () represents the input signal of system;y1(s) and y2S () represents the output signal of system;C1
(s) and C2S () represents the controller of control loop 1 and 2;u1(s) and u2S () represents control signal;τ1And τ3Represent and believe control
Number u1(s) and u2S feedforward network tunnel that () is experienced from from controller C nodes to decoupling actuator DA1 and A2 node-node transmission
Time delay;τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is experienced to controller C node-node transmissions
Feedback network tunnel time delay.
Fig. 4:A kind of TITO-NDCS delay compensations comprising prediction model and control structure
In Fig. 4:C2mS () is the controller C of control loop 22The predictor controller model of (s);AndIt is that network is passed
Defeated time delayAndEstimate Time Delay Model;AndIt is network transfer delayAndEstimate time delay mould
Type;G11mS () is controlled device transmission function G11The prediction model of (s);
Fig. 5:Replace the delay compensation of prediction model and control structure with true model
Fig. 6:A kind of two input and output network decoupling and controlling system time-varying network delay compensation methods
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 decouple the output signal y of actuator DA1 nodes11mbS () is sampled, and calculate closed-loop control
The system output signal y in loop 11(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 C node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to;
3rd step:Controller C nodes work in event driven manner, by feedback signal y1bS () triggers after, by closed loop control
The system Setting signal x in loop processed 11S (), subtracts feedback signal y1b(s) and controlled device prediction model G11mThe output valve of (s)
y11maS (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s);To e1S () implements control algolithm C1
S (), obtains control signal u1(s);
4th step:By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is performed to decoupling
Device DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes;
5th step:Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () triggers after, will
Control signal u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s);Closed-loop control will be come from
Loop 2 decouples the signal u of actuator DA2 nodes2pS () acts on cross decoupling channel transfer function P12S () obtains its output valve
yp12(s);By control signal u1(s) and yp12S () subtracts each other must decouple actuator DA1 output signal nodes u1p(s), i.e. u1p(s)=
u1(s)-yp12(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 decoupling of (s) and control, while realizing to time-varying network delay, τ1And τ2Compensation with control;
7th step:Return to the first step;
For close loop control circuit 2:
The first step:Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal 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 C node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C nodes are got to;
3rd step:Controller C nodes work in event driven manner, by feedback signal y2S () triggers after, by closed loop control
The system Setting signal x of loop processed 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 to decoupling actuator
DA2 node-node transmissions, e2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes;
5th step:Decoupling actuator DA2 nodes work in event driven manner, by signal e2S () triggers after, 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 C2
S (), obtains control signal u2(s);By control signal u2S () decouples actuator DA1 nodes with close loop control circuit 1 is come from
Output signal u1pS () passes through cross decoupling channel transfer function P21The output signal y of (s)p21S () subtracts each other and obtains signal u2p(s),
That is u2p(s)=u2(s)-yp21(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 decoupling of (s) and control, while realizing to time-varying network delay, τ3And τ4Compensation with control;
7th step:Return to the first step;
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (3)
1. a kind of two input and output network decoupling and controlling system time-varying network delay compensation method, it is characterised in that the method includes
Following steps:
For close loop control circuit 1:
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated;
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated;
(3) is as decoupling actuator DA1 node controlled signals u1When () triggers s, employing mode C is operated;
For close loop control circuit 2:
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated;
(5) is when controller C nodes are by feedback signal y2When () triggers s, employing mode E is operated;
(6) is when decoupling actuator DA2 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 decouple the output signal y of actuator DA1 nodes11mbS () 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 C node-node transmissions, feedback
Signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to;
The step of mode B, includes:
B1:Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered;
B2:In controller C nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b(s) and
Controlled device prediction model G11mThe output valve y of (s)11maS (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-
y11ma(s);
B3:To e1S () implements control algolithm C1S (), obtains control signal u1(s);
B4:By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is saved to decoupling actuator DA1
Point transmission, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes;
The step of mode C, includes:
C1:Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () is triggered;
C2:In actuator DA1 nodes are decoupled, by control signal u1S () acts on controlled device prediction model G11mS () obtains it
Output valve y11mb(s);The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from2pS () acts on cross decoupling
Channel transfer function P12S () obtains its output valve yp12(s);By control signal u1(s) and yp12S () subtracts each other must decouple actuator
DA1 output signal nodes u1p(s), i.e. u1p(s)=u1(s)-yp12(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)
Decoupling and control, while realizing to time-varying 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)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 C node-node transmissions, feedback letter
Number y2S () will experience network transfer delay τ4Afterwards, controller C nodes are got to;
The step of mode E, includes:
E1:Controller C nodes work in event driven manner, by feedback signal y2S () is triggered;
E2:In controller C 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 passed to decoupling actuator DA2 nodes
It is defeated, e2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes;
The step of mode F, includes:
F1:Decoupling actuator DA2 nodes work in event driven manner, by signal e2S () is triggered;
F2:In actuator DA2 nodes are decoupled, 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 u2S () decouples the output signal u of actuator DA1 nodes with close loop control circuit 1 is come from1pS () leads to
Cross cross decoupling channel transfer function P21The output signal y of (s)p21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-
yp21(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)
Decoupling and control, while realizing to time-varying network delay, τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that:From TITO-NCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that:From TITO-NDCS structures, realize to time-varying network time delay
The implementation of compensation method, with specific control strategy C1(s) and C2S the selection of () is unrelated, the selection nothing with specific network communication protocol
Close.
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