CN106773732A - A kind of TITO NDCS random network delay compensation methods of SPC and two degrees of freedom IMC - Google Patents

Abstract

The TITO NDCS random network delay compensation methods of SPC and two degrees of freedom IMC, belong to the MIMO NDCS technical fields of limited bandwidth resources.Affect one another and couple between a kind of TITO signals, 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 whole system stability 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 the method for network delay compensation model therebetween, two loops are implemented with SPC and two degrees of freedom IMC respectively, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, random delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of TITO-NDCS random network delay compensation methods of SPC and two degrees of freedom IMC

Technical field

A kind of SPC (Smith predictor control, SPC) and two degrees of freedom IMC (Internal model Control, IMC) TITO (Two-input and two-output) network decoupling and controlling system (Networked Decoupling control systems, NDCS) random network delay compensation method, it is related to automatic control technology, network to lead to The crossing domain of letter technology and computer technology, more particularly to limited bandwidth resources multiple-input and multiple-output network uneoupled control system System technical field.

Background technology

In a network environment, sensor, controller and actuator form closed loop, network consisting control system by network media System (Networked control systems, NCS), the typical structure of NCS is as shown in Figure 1.

NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along According to packet loss and other complicated phenomenons, the especially presence of random network time delay, it is possible to decrease NCS control performance quality, or even make System loss of stability, may cause system to break down when serious.

At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs 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 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 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 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 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 CD1 node output letter Number u_1pS (), the random network time delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ₂Represent output signal y₁During s random network that () is experienced from sensor S1 nodes, through feedback network tunnel to control decoupler CD1 nodes Prolong.

2) from C in close loop control circuit 2₂The output signal u of (s) control unit₂S (), is transmitted by cross decoupling passage Function P₁₂(s) and its network path unitAfter act on close loop control circuit 1, from input signal u₂S () arrives output signal y₁ S the closed loop transfer function, between () is：

3) from the output signal u of the actuator A2 nodes of close loop control circuit 2_2pS (), is passed by controlled device cross aisle Delivery function G₁₂S () influences the output signal y of close loop control circuit 1₁(s), from input signal u_2pS () arrives output signal y₁(s) it 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 surely It is qualitative.

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 CD2 node output letter Number u_2pS (), the random network time delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ₄Represent output signal y₂During s random network that () is experienced from sensor S2 nodes, through feedback network tunnel to control decoupler CD2 nodes Prolong.

2) from C in close loop control circuit 1₁The output signal u of (s) control unit₁S (), is transmitted by cross decoupling passage Function P₂₁(s) and its network path unitAfter act on close loop control circuit 2, from input signal u₁S () arrives output signal y₂ S the closed loop transfer function, between () is：

3) from the output signal u of the actuator A1 nodes of close loop control circuit 1_1pS (), 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 u_1pS () 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 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 (3) of its close loop control circuit 1, Contain random network delay, τ₁And τ₂Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2 (4) in the denominator of (6), random network delay, τ is contained₃And τ₄Exponential termWithThe presence of time delay can be reduced 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.

The purpose of invention is：

(1) in order to exempt to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then Reduce network delay τ₁And τ₂, and τ₃And τ₄To respective close loop control circuit and whole control system control performance quality with The influence of the stability of a system, when prediction model is equal to its true model, is capable of achieving the characteristic equation of respective close loop control circuit In the exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system Performance quality, realizes the segmentation to TITO-NDCS random network time delays, real-time, online and dynamic predictive compensation and controls.

(2) for the TITO-NDCS of single-degree-of-freedom IMC, due to its internal mode controller C_IMCIn (s), only one of which feedforward filter Ripple device parameter lambda is adjustable, it is necessary to traded off between the tracing property and robustness of system, for the TITO- of high performance requirements NDCS or exist compared with large disturbances and model mismatch TITO-NDCS, it is difficult to take into account the performance of each side and obtain satisfied control Effect.

(3) present invention proposes a kind of SPC and two degrees of freedom IMC associated methods of TITO-NDCS network delays

For close loop control circuit in Fig. 31, propose it is a kind of based on SPC (Smith Predictor Control, SPC) with Machine delay compensation method；For close loop control circuit in Fig. 32, propose a kind of based on two degrees of freedom IMC (Internal Model Control, IMC) random delay compensation method.

Using method：

For the close loop control circuit 1 in Fig. 3：

The first step：In decoupler CD1 nodes are controlled, in order to realize meeting during predictive compensation condition, close loop control circuit 1 Closed loop transform function in no longer comprising network delay exponential term, to realize to network delay τ₁And τ₂Compensation with control, adopt It is used to control decoupling output signal u_1p(s) and u_2pmS () is used as input signal, controlled device prediction model G_11m(s) and G_12m(s) Used as controlled process, control passes through network transfer delay prediction model with process dataAndAround controller C₁ S (), 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 CD1 nodes between, and from control decoupler CD1 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 the prediction model of controlled device is equal to its true model, when being capable of achieving to its random network Prolong τ₁And τ₂Compensation and SPC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures；

For the close loop control circuit 2 in Fig. 3：

The first step：In decoupler CD2 nodes are controlled, an internal mode controller C is built first_2IMCS () is used to replace control Device C processed₂(s)；In order to realize meeting during predictive compensation condition, net is no longer included in the closed loop transform function of close loop control circuit 2 The exponential term of network time delay, to realize to network delay τ₃And τ₄Compensation and control, use to control decoupling output signal u_2p(s) And y_p21(s) and u_1pmS () is used as input signal, controlled device prediction model G_22m(s) and G_21mS () is used as controlled process, control System transmits prediction model with process data by network delayAndAround internal mode controller C_2IMCS (), constructs one 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 CD2 nodes between, and from control decoupler CD2 nodes to actuator A2 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 2, random network delay, τ between node₃With τ₄Measurement, estimate or recognize；When controlled device prediction model is equal to its true model, it is capable of achieving to its random network time delay τ₃And τ₄Compensation with control；At the same time, in the backfeed loop of control decoupler CD2 nodes, feedback filter F is increased₂ (s)；The network delay two degrees of freedom IMC method structures for implementing the inventive method are as shown in Figure 5；

For the close loop control circuit 1 in Fig. 5：

1) from input signal x₁S () arrives output signal y₁S the closed loop transfer function, between () is：

In formula：G_11mS () is controlled device G₁₁The prediction model of (s)；C₁S () is controller.

2) from the internal mode controller C of close loop control circuit 2_2IMCThe output IMC signals u of (s)₂(s), it is logical by cross decoupling Road transmission function P₁₂(s) and network transmission channelsThe through path of close loop control circuit 1 is acted on, from input IMC signals u₂ S () arrives output signal y₁S the closed loop transfer function, between () is：

3) from cross decoupling network transmission channelsOutput signal y_p12S (), acts on close loop control circuit 1 and controls Transmission function 1/P in decoupler CD1 nodes₁₂S () obtains its output signal u_2m(s), from input signal y_p12S () arrives output signal y₁S the closed loop transfer function, between () is：

4) from the control signal u of the actuator A2 nodes of close loop control circuit 2_2p(s), while being intersected by controlled device logical Road transmission function G₁₂(s) and its prediction model G_12mS () acts on close loop control circuit 1, from input signal u_2pS () believes to output Number y₁S the closed loop transfer function, between () is：

Using the inventive method, when controlled device prediction model is equal to its real model, that is, work as G_11m(s)=G₁₁(s) When, the characteristic equation of the closed loop transfer function, of close loop control circuit 1 will be by Become 1+C₁(s)G₁₁(s)=0.When the network of the influence stability of a system is no longer included in the denominator of its closed loop transfer function, Prolong τ₁And τ₂Exponential termWithSo 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 SPC.

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：G_22mS () is controlled device G₂₂The prediction model of (s)；C_2IMCS () is internal mode controller；F₂S () is feedback Wave filter.

2) from controller C in close loop control circuit 1₁(s) output control signal u₁S (), is transmitted by cross decoupling passage Function P₂₁(s) and its network transmission channelsThe through path of close loop control circuit 2 is acted on, from input control signal u₁S () arrives Output signal y₂S the closed loop transfer function, between () is：

3) from cross decoupling network transmission channelsOutput signal y_p21S (), acts on the control of close loop control circuit 2 Transmission function 1/P in decoupler CD2 nodes processed₂₁S () obtains its output u_1m(s)；While y_p21S () acts on close loop control circuit Controlled device transmission function prediction model G in 2 control decoupler CD2 nodes_22mS () obtains its output y_22ma(s)；From input Signal y_p21S () arrives output signal y₂S the closed loop transfer function, between () is：

4) from the control signal u of the actuator A1 nodes of close loop control circuit 1_1p(s), while being intersected by controlled device logical Road transmission function G₂₁(s) and its prediction model G_21mS () acts on close loop control circuit 2, from input signal u_1pS () believes to output Number y₂S the closed loop transfer function, between () is：

Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G_22m(s)=G₂₂(s) When, the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1；This When, close loop control circuit 2 is no longer comprising influence in the denominator of closed loop transfer function, equivalent to an open-loop control system The network delay τ of stability of uniting₃And τ₄Exponential termWithThe stability of system only with controlled device and internal mode controller The stability of itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance of system Quality, realizes the dynamic compensation to random network time delay and two degrees of freedom IMC；When system is present compared with large disturbances and model mismatch When, feedback filter F₂S the presence of () can improve the tracing property and antijamming capability of system, reduce network delay steady to system Qualitatively influence, further improve the dynamic property quality of system.

In close loop control circuit 1, controller C₁The selection of (s)：

Close loop control circuit 1 uses SPC methods, is realized from TITO-NDCS structures and specific controller C₁The control of (s) The selection of strategy is unrelated.Controller C₁S () can be according to controlled device G₁₁The Mathematical Modeling of (s) and the change feelings of model parameter Condition, both may be selected conventional control strategy, and Based Intelligent Control or complex control strategy also may be selected.

In close loop control circuit 2, design and the selection of two degrees of freedom IMC：

(1) internal mode controller C_2IMCThe 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 C₂₂(s)；Second step is that certain order is added in feedforward controller Feedforward filter f₂S (), constitutes a complete internal mode controller C_2IMC(s)。

1) feedforward controller 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 2, controlled device prediction model is equal to its true model, i.e.,：G_22m(s)=G₂₂ (s)。

Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G_22m(s)= G_22m+(s)G_22m- (s), wherein：G_22m+S () is controlled device prediction model G_11mPure lag system and s RHPs are included in (s) The irreversible part of zero pole point；G_22m- (s) is the reversible part of minimum phase in controlled device prediction model.

Under normal circumstances, the feedforward controller C of close loop control circuit 2₂₂S () can be chosen for：

2) feedforward filter 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 controller_22m-(s), Have ignored G_22m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.

Generally the feedforward filter f of close loop control circuit 2₂S (), is chosen for fairly simple n2 rank wave filtersWherein：λ₂It is feedforward filter time constant；n₂It is the order of feedforward filter, and n₂=n_2a-n_2b；n_2a It is controlled device G₂₂The order of (s) denominator；n_2bIt is controlled device G₂₂The order of (s) molecule, usual n₂＞ 0.

3) internal mode controller C_2IMC(s)

The internal mode controller C of close loop control circuit 2_2IMCS () can be chosen for:

Be can be seen that from equation (15)：The internal mode controller C of one degree of freedom_2IMCIn (s), the adjustable ginseng of only one of which Number λ₂, due to λ₂The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting The customized parameter λ of ripple device₂When, the tracing property generally required in system is traded off between the two with antijamming capability.

(2) feedback filter F₂The design of (s) and selection：

The feedback filter F of close loop control circuit 2₂S (), can choose fairly simple firstorder filter F₂(s)=(λ₂s+ 1)/(λ_2fS+1), wherein：λ₂It is feedforward filter f₂Time constant in (s)；λ_2fIt is feedback filter regulation parameter.

Under normal circumstances, in feedback filter regulation parameter λ_2fIn the case of immobilizing, the tracking performance of system can be with Feedforward filter regulation parameter λ₂Reduction and improve；In feedforward filter regulation parameter λ₂In the case of immobilizing, system Tracing property it is almost unchanged, and antijamming capability then can be with λ_2fReduction and become strong.

Therefore, the TITO-NDCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f₂(s) and feedback Wave filter F₂S the parameter of (), to improve the tracing property and antijamming capability of system, reduces shadow of the network delay to the stability of a system Ring, improve the dynamic property quality of system.

The scope of application of the invention：

Close loop control circuit l uses SPC when being equal to its true model suitable for controlled device prediction model；And it is controlled right Close loop control circuit 2 uses two degrees of freedom IMC when there may be certain deviation equal to its true model or model as prediction model, A kind of compensation of the TITO-NDCS random networks time delay for being constituted and control；Its Research Thinking and method, can equally be well applied to by Control object prediction model uses SPC when being equal to its true model；And prediction model is equal to its true model or model and may deposit In certain deviation using multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) random network of two degrees of freedom IMC The compensation of time delay and control.

It is a feature of the present invention that the method is comprised the following steps：

For close loop control circuit 1：

(1) is h when the sensor S1 nodes cycle₁Sampled signal trigger when, employing mode A is operated；

(2) is when control decoupler CD1 nodes are by feedback signal y_1b(s) or by cross decoupling network pathUnit Output signal y_p12When () triggers s, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1pWhen () 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 CD2 nodes are by feedback signal y_2b(s) or by cross decoupling network pathUnit Output signal y_p21When () triggers s, employing mode E is operated；

(6) is when actuator A2 nodes are by control decoupling signal u_2pWhen () 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 G₁₁(s) output signal y₁₁S () and controlled device are intersected logical Road transmission function G₁₂The output signal y of (s)₁₂(s), and actuator A1 nodes output signal y_11mb(s) and y_12mb(s) carry out Sampling, and calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+ y₁₂(s) and y_1b(s)=y₁(s)-y_11mb(s)-y_12mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to control Decoupler CD1 node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, control decoupler CD1 sections are got to Point；

The step of mode B, includes：

B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y_1b(s) or by cross decoupling Network pathThe output signal y of unit_p12S () is triggered；

B2：In decoupler CD1 nodes are controlled, by the system Setting signal x of close loop control circuit 1₁S (), subtracts feedback Signal y_1b(s) and controlled device prediction model G_11mThe output valve y of (s)_11ma(s) and controlled device cross aisle transmission function Prediction model G_12mThe output valve y of (s)_12maS (), obtains system deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)-y_11ma (s)-y_12ma(s)；

B3：To e₁S () implements control algolithm C₁S (), obtains control signal u₁(s)；

B4：By control signal u₁S () acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21 (s)；By y_p21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, y_p21When () will experience network transmission s Prolong τ₂₁Afterwards, get to control decoupler CD2 nodes；

B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P₁₂(s) and network pathThe signal y that unit is transmitted_p12S () acts on transmission function 1/P₁₂S () unit obtains its output signal u_2m(s)；By u_2m (s) and y_p21S () is added and obtains signal u_2pm(s)；By u_2pmS () acts on controlled device cross aisle transmission function prediction model G_12mS () obtains its output valve y_12ma(s)；

B6：By decoupling signal y_p12(s) and control signal u₁S () is added, obtain control decoupling signal u_1p(s), i.e. u_1p(s) =y_p12(s)+u₁(s)；Will control decoupling signal u_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11ma(s)；

B7：Will control decoupling signal u_1pS feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, u_1pS () 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 u_1pS () is triggered；

C2：Will control decoupling signal u_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11mb (s)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit_2pS () acts on controlled right As cross aisle transmission function prediction model G_12mS () obtains its output valve y_12mb(s)；

C3：Will control decoupling signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；Control is solved Coupling signal u_1pS () 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 SPC, while realizing to random network delay, τ₁And τ₂Compensation；

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 y_22mb(s) and y_21mbS () enters Row sampling, and calculate the system output signal y of close loop control circuit 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s) +y₂₁(s) and y_2b(s)=y₂(s)-y_22mb(s)-y_21mb(s)；

D3：Sensor S2 nodes are by feedback signal y_2b(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, control decoupler CD2 sections are got to Point；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y_2b(s) or by cross decoupling Network pathThe output signal y of unit_p21S () is triggered；

E2：In decoupler CD2 nodes are controlled, by feedback signal y_2b(s) and controlled device prediction model G_22mS () exports Value y_22ma(s) and controlled device cross aisle transmission function prediction model G_21mS () exports y_21maS () is added and obtains y_2c(s), i.e., y_2c(s)=y_2b(s)+y_22ma(s)+y_21ma(s)；By y_2cS () acts on feedback filter F₂S () obtains its output valve y_F2(s)；Will System Setting signal x₂S () subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains system deviation signal e₂(s), i.e. e₂ (s)=x₂(s)-y_F2(s)；

E3：To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E4：By IMC signals u₂S () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)； By y_p12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, y_p12S () will experience network transfer delay τ₁₂ Afterwards, get to control decoupler CD1 nodes；

E5：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P₂₁(s) and network pathThe signal y that unit is transmitted_p21S () acts on transmission function 1/P₂₁S () unit obtains its output signal u_1m(s)；By u_1m (s) and y_p12S () is added and obtains signal u_1pm(s)；By u_1pmS () acts on controlled device cross aisle transmission function prediction model G_21mS () obtains its output valve y_21ma(s)；

E6：By decoupling signal y_p21S () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma(s)；Will Decoupling signal y_p21(s) and IMC signals u₂S () is added, obtain control decoupling signal u_2p(s), i.e. u_2p(s)=y_p21(s)+u₂(s)；

E7：Will control decoupling signal u_2pS feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, u_2pS () 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 u_2pS () is triggered；

F2：Will control decoupling signal u_2pS () acts on controlled device prediction model G_22mS () obtains its output valve y_22mb (s)；The feedforward network path of close loop control circuit 1 will be come fromThe control decoupling signal u of unit_1pS () acts on controlled right As cross aisle transmission function prediction model G_21mS () obtains its output valve y_21mb(s)；

F3：Will control decoupling signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；Control is solved Coupling signal u_2pS () 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 two degrees of freedom IMC, while realizing to random network delay, τ₃And τ₄Compensation.

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 control loop 1 of SPC, due to being realized from TITO-NDCS structures and specific controller C₁S () controls plan Selection slightly is unrelated, thus can be not only used for using the TITO-NDCS of conventional control, also can be used for using Based Intelligent Control or using multiple The TITO-NDCS of miscellaneous control strategy.

4th, using the control loop 2 of two degrees of freedom IMC, with each close loop control circuits of the TITO-NDCS of single-degree-of-freedom IMC Adjustable parameter is compared for 1, and using the TITO-NDCS of two degrees of freedom IMC, the adjustable parameter of its close loop control circuit is 2, can Further improve stability, tracking performance and the antijamming capability of system；Especially lost compared with large disturbances and model when system is present Timing, feedback filter F₂S the presence of () can further improve the dynamic property quality of system, reduce network delay steady to system Qualitatively influence.

5th, 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

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；τ_caThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions Tunnel time delay；τ_scThe 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 delay(i=1,2 ..., m) unit, and r feedback network tunnel time delay(j= 1,2 ..., r) unit is constituted.

In Fig. 2：y_jS () represents j-th output signal of system；u_iS () represents i-th control signal of system；Represent Will control decoupling signal u_iS 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 system_jS () 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

Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and CD2 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 unitWithAnd cross decoupling network path transmission unitWithInstitute Composition；

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；y_p21(s) and y_p12S () represents and intersects Decoupling path output signal；u_1p(s) and u_2pS () represents control decoupling signal；τ₁And τ₃Representing will control decoupling signal u_1p(s) and u_2pDuring s feedforward network tunnel that () is experienced from from control decoupler CD1 and CD2 node to actuator A1 and A2 node-node transmission Prolong；τ₂And τ₄Represent the detection signal y of sensor S1 and S2 node₁(s) and y₂S () is to control decoupler CD1 and CD2 node The experienced feedback network tunnel time delay of transmission；τ₂₁And τ₁₂Represent cross decoupling channel transfer function P₂₁(s) and P₁₂ The output signal y of (s)_p21(s) and y_p12When () transmits to the network path that control decoupler CD2 and CD1 node-node transmission is experienced s Prolong.

Fig. 4：A kind of TITO-NDCS random delay compensation comprising prediction model and control structure

In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G_11m(s) and G_22mS () is controlled device transmission function G₁₁(s) and G₂₂The prediction model of (s), G_12m(s) and G_21mS () is controlled device cross aisle transmission function G₁₂(s) and G₂₁S () estimates mould Type；C_2IMCS () is internal mode controller.

Fig. 5：A kind of TITO-NDCS random network delay compensation methods of SPC and two degrees of freedom IMC

In Fig. 5, F₂S () is feedback filter.

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, are h when the sensor S1 nodes cycle₁Sampling After signal triggering, to controlled device G₁₁The output signal y of (s)₁₁(s) and controlled device cross aisle transmission function G₁₂(s) it is defeated Go out signal y₁₂(s), and actuator A1 nodes output signal y_11mb(s) and y_12mbS () is sampled, and calculate closed loop control The system output signal y in loop processed 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂(s) and y_1b(s)=y₁(s)- y_11mb(s)-y_12mb(s)；

Second step：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, get to control decoupler CD1 nodes；

3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y_1b(s) or intersected Decoupling network pathThe output signal y of unit_p12After (s) triggering, by the system Setting signal x of close loop control circuit 1₁S (), subtracts Remove feedback signal y_1b(s) and controlled device prediction model G_11mThe output valve y of (s)_11maS () and controlled device cross aisle are passed Delivery function prediction model G_12mThe output valve y of (s)_12maS (), obtains deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)- y_11ma(s)-y_12ma(s)；To e₁S () implements control algolithm C₁S (), obtains control signal u₁(s)；

4th step：By control signal u₁S () acts on cross decoupling channel transfer function P₂₁S () obtains output signal y_p21 (s)；By y_p21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, y_p21When () will experience network transmission s Prolong τ₂₁, get to control decoupler CD2 nodes；

5th step：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P₁₂(s) and its net Network pathThe signal y that unit is transmitted_p12S () acts on transmission function 1/P₁₂S () unit obtains its output signal u_2m (s)；By u_2m(s) and y_p21S () is added and obtains signal u_2pm(s)；By u_2pmS () acts on controlled device cross aisle transmission function Prediction model G_12mS () obtains its output valve y_12ma(s)；

6th step：By decoupling signal y_p12(s) and control signal u₁S () is added, obtain control decoupling signal u_1p(s), i.e. u_1p (s)=y_p12(s)+u₁(s)；Will control decoupling signal u_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11ma(s)；

7th step：Will control decoupling signal u_1pS feedforward network path that () passes through close loop control circuit 1Unit is to holding Row device A1 node-node transmissions, u_1pS () will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

8th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u_1pAfter (s) triggering, will control Decoupling signal u processed_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11mb(s)；Closed loop control will be come from The feedforward network path in loop processed 2The control decoupling signal u of unit_2pS () acts on controlled device cross aisle transmission function Prediction model G_12mS () obtains its output valve y_12mb(s)；

9th step：Will control decoupling signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；Will control Decoupling signal u processed_1pS () 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 SPC, while realizing to random network delay, τ₁And τ₂Compensation；

Tenth 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, to controlled device G₂₂The output signal y of (s)₂₂(s) and controlled device cross aisle transmission function G₂₁(s) it is defeated Go out signal y₂₁(s), and actuator A2 nodes output signal y_22mb(s) and y_21mbS () is sampled, and calculate closed loop control The system output signal y in loop processed 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s)+y₂₁(s) and y_2b(s)=y₂(s)- y_22mb(s)-y_21mb(s)；

Second step：Sensor S2 nodes are by feedback signal y_2b(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y_2b(s) or intersected Decoupling network pathThe output signal y of unit_p21After (s) triggering, by feedback signal y_2b(s) and controlled device prediction model G_22m(s) output valve y_22ma(s) and controlled device cross aisle transmission function prediction model G_21mThe output y of (s)_21maS () is added To signal y_2c(s), i.e. y_2c(s)=y_2b(s)+y_22ma(s)+y_21ma(s)；By y_2cS () acts on feedback filter F₂S () obtains it Output valve y_F2(s)；By system Setting signal x₂S () subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains system inclined Difference signal e₂(s), i.e. e₂(s)=x₂(s)-y_F2(s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂ (s)；

4th step：By IMC signals u₂S () acts on cross decoupling channel transfer function P₁₂S () obtains output signal y_p12 (s)；By y_p12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, y_p12When () will experience network transmission s Prolong τ₁₂, get to control decoupler CD1 nodes；

5th step：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P₂₁(s) and network PathThe signal y that unit is transmitted_p21S () acts on transmission function 1/P₂₁S () unit obtains its output signal u_1m(s)； By u_1m(s) and y_p12S () is added and obtains signal u_1pm(s)；By u_1pmS () acts on controlled device cross aisle transmission function and estimates Model G_21mS () obtains its output valve y_21ma(s)；

6th step：By decoupling signal y_p21S () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma (s)；By decoupling signal y_p21(s) and IMC signals u₂S () is added, obtain control decoupling signal u_2p(s), i.e. u_2p(s)=y_p21(s)+ u₂(s)；

7th step：Will control decoupling signal u_2pS feedforward network path that () passes through close loop control circuit 2Unit is to holding Row device A2 node-node transmissions, u_2pS () will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

8th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u_2pAfter (s) triggering, will control Decoupling signal u processed_2pS () acts on controlled device prediction model G_22mS () obtains its output valve y_22mb(s)；Closed loop control will be come from The feedforward network path in loop processed 1The control decoupling signal u of unit_1pS () acts on controlled device cross aisle transmission function Prediction model G_21mS () obtains its output valve y_21mb(s)；

9th step：Will control decoupling signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；Will control Decoupling signal u processed_2pS () 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 two degrees of freedom IMC, while realizing to random network delay, τ₃And τ₄Compensation；

Tenth step：Return to the first step；

The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.

The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (5)

1. a kind of TITO-NDCS random network delay compensation methods of SPC and two degrees of freedom IMC, 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 CD1 nodes are by feedback signal y_1b(s) or by cross decoupling network pathThe output of unit Signal y_p12(When s) triggering, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1pWhen () 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 CD2 nodes are by feedback signal y_2b(s) or by cross decoupling network pathThe output of unit Signal y_p21When () triggers s, employing mode E is operated；

(6) is when actuator A2 nodes are by control decoupling signal u_2pWhen () 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 G₁₁S () output signal y11 (s) and controlled device cross aisle are passed Delivery function G₁₂The output signal y of (s)₁₂(s), and actuator A1 nodes output signal y_11mb(s) and y_12mbS () is adopted Sample, and calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂ (s) and y_1b(s)=y₁(s)-y_11mb(s)-y_12mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1bS (), is decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, get to control decoupler CD1 nodes；

The step of mode B, includes：

B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y_1b(s) or by cross decoupling network PathThe output signal y of unit_p12S () is triggered；

B2：In decoupler CD1 nodes are controlled, by the system Setting signal x of close loop control circuit 1₁S (), subtracts feedback signal y_1b(s) and controlled device prediction model G_11mThe output valve y of (s)_11maS () and controlled device cross aisle transmission function are estimated Model G_12mThe output valve y of (s)_12maS (), obtains system deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)-y_11ma(s)- y_12ma(s)；

B3：To e₁S () implements control algolithm C₁S (), obtains control signal u₁(s)；

B4：By control signal u₁S () acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；Will y_p21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, y_p21S () will experience network transfer delay τ₂₁ Afterwards, get to control decoupler CD2 nodes；

B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P₁₂(s) and network pathIt is single The signal y that unit transmits_p12S () acts on transmission function 1/P₁₂S () unit obtains its output signal u_2m(s)；By u_2m(s) with y_p21S () is added and obtains signal u_2pm(s)；By u_2pmS () acts on controlled device cross aisle transmission function prediction model G_12m(s) Obtain its output valve y_12ma(s)；

B6：By decoupling signal y_p12(s) and control signal u₁S () is added, obtain control decoupling signal u_1p(s), i.e. u_1p(s)=y_p12 (s)+u₁(s)；Will control decoupling signal u_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11ma(s)；

B7：Will control decoupling signal u_1pS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1 Point transmission, u_1pS () 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 u_1pS () is triggered；

C2：Will control decoupling signal u_1pS () acts on controlled device prediction model G_11mS () obtains its output valve y_11mb(s)；Will Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit_2pS () acts on controlled device intersection Channel transfer function prediction model G_12mS () obtains its output valve y_12mb(s)；

C3：Will control decoupling signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By control decoupling letter Number u_1pS () 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 SPC, while realizing to random network delay, τ₁And τ₂Compensation；

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 y_22mb(s) and y_21mbS () is adopted Sample, and calculate the system output signal y of close loop control circuit 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s)+y₂₁ (s) and y_2b(s)=y₂(s)-y_22mb(s)-y_21mb(s)；

D3：Sensor S2 nodes are by feedback signal y_2bS (), is decoupled by the feedback network path of close loop control circuit 2 to control Device CD2 node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y_2b(s) or by cross decoupling network PathThe output signal y of unit_p21S () is triggered；

E2：In decoupler CD2 nodes are controlled, by feedback signal y_2b(s) and controlled device prediction model G_22m(s) output valve y_22ma(s) and controlled device cross aisle transmission function prediction model G_21mS () exports y_21maS () is added and obtains y_2c(s), i.e. y_2c (s)=y_2b(s)+y_22ma(s)+y_21ma(s)；By y_2cS () acts on feedback filter F₂S () obtains its output valve y_F2(s)；To be System Setting signal x₂S () subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains system deviation signal e₂(s), i.e. e₂ (s)=x₂(s)-y_F2(s)；

E3：To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E4：By IMC signals u₂S () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；Will y_p12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, y_p12S () will experience network transfer delay τ₁₂ Afterwards, get to control decoupler CD1 nodes；

E5：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P₂₁(s) and network pathIt is single The signal y that unit transmits_p21S () acts on transmission function 1/P₂₁S () unit obtains its output signal u_1m(s)；By u_1m(s) with y_p12S () is added and obtains signal u_1pm(s)；By u_1pmS () acts on controlled device cross aisle transmission function prediction model G_21m(s) Obtain its output valve y_21ma(s)；

E6：By decoupling signal y_p21S () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma(s)；Will decoupling Signal y_p21(s) and IMC signals u₂S () is added, obtain control decoupling signal u_2p(s), i.e. u_2p(s)=y_p21(s)+u₂(s)；

E7：Will control decoupling signal u_2pS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2 Point transmission, u_2pS () 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 u_2pS () is triggered；

F2：Will control decoupling signal u_2pS () acts on controlled device prediction model G_22mS () obtains its output valve y_22mb(s)；Will Come from the feedforward network path of close loop control circuit 1The control decoupling signal u of unit_1pS () acts on controlled device friendship Fork channel transfer function prediction model G_21mS () obtains its output valve y_21mb(s)；

F3：Will control decoupling signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By control decoupling letter Number u_2pS () 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 two degrees of freedom IMC, while realizing to random network delay, τ₃And τ₄Compensation.

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：From TITO-NDCS structures, realize compensating network delay 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 control loop 1 of SPC, due to being tied from TITO-NDCS Realized on structure and specific controller C₁S the selection of () control strategy is unrelated, thus can be not only used for using the TITO- of conventional control NDCS, also can be used for using Based Intelligent Control or the TITO-NDCS using complex control strategy.

5. method according to claim 1, it is characterised in that：Using the control loop 2 of two degrees of freedom IMC, its closed loop control The adjustable parameter in loop processed is 2, can improve stability, tracking performance and the antijamming capability of system；Especially when system is deposited When compared with large disturbances and model mismatch, feedback filter F₂S the presence of () can further improve the dynamic property quality of system, drop Influence of the low network delay to the stability of a system.