CN106773733A - A kind of dual input output network decoupling and controlling system does not determine the compensation method of time delay - Google Patents
A kind of dual input output network decoupling and controlling system does not determine the compensation method of time delay Download PDFInfo
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Abstract
Dual input output network decoupling and controlling system does not determine the compensation method of time delay, belongs to the multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.Affect one another and couple between a kind of two-output impulse generator signal, need the TITO NDCS by decoupling treatment, due to network delay produced in network data among the nodes transmitting procedure, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, the measurement to network delay between node can be exempted, estimate or recognize, reduce the requirement of clock signal synchronization, reduction does not determine influence of the network delay to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band
The multiple-input and multiple-output network decoupling and controlling system technical field of resource-constrained wide.
Background technology
The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked
Control systems, NCS), the typical structure of NCS is as shown in Figure 1.
In NCS, due to the introducing of network, control system complexity and cost are reduced, will be numerous long-range by network
Node (or equipment) organically combines, and collaboration completes the work that individual node (or equipment) cannot be completed.Additionally, passing through net
The comprehensive information from different nodes of network, the state to network system is estimated, analyzed and is monitored in real time, by different
Equipment carries out networking, can further lifting system allomeric function and riding quality.On the other hand, also one is brought to NCS
A little new problems, such as communication network makes data inevitably be subject to noise, communication delay, quantization error sum in the transmission
According to the influence of the factors such as packet loss, the presence of network delay is not determined especially, it is possible to decrease the control quality of NCS, in addition make be
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 uncertain, network delay is less than
One sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, to it
Carry out mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing it is defeated including at least two
Enter the multiple-input and multiple-output constituted with the control system of two outputs (Two-input and two-output, TITO)
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 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
(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 dozens of sampling period network delay, to set up each control loop in MIMO-NDCS
The network delay Mathematical Modeling accurately predicting, estimate or recognize, be nearly impossible at present.
(2) occur when previous node in MIMO-NDCS is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, it is implemented time delay benefit
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
A kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) in the present invention relates to MIMO-NDCS is not
Determine the compensation and control of time 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 control unit, G11S () is controlled device；τ1Representing will control decoupler CD1 node output letter
Number u1S (), the network delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent output signal y1(s)
From sensor S1 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD1 nodes.
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 network pathUnit acts on close loop control circuit 1, from input signal u2S () arrives output signal y1(s)
Between closed loop transfer function, be：
3) from the output signal u of the actuator A2 nodes of close loop control circuit 22aS (), 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 u2aS () 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, contain and do not determine network
Delay, τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is control unit, G22S () is controlled device；τ3Representing will control decoupler CD2 node output letter
Number u2aS (), the network delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent output signal y2
(s) from sensor S2 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD2 nodes.
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 network pathUnit acts on close loop control circuit 2, from input signal u1S () arrives output signal y2(s)
Between closed loop transfer function, be：
3) from the output signal u of the actuator A1 nodes of close loop control circuit 11aS (), 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 u1aS () 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 and do not determine 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 network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2
Into the denominator of (6), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop
The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system
Performance quality processed 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, the measurement of network delay, estimation between node
Or the delay compensation method of identification, and then network delay is reduced to respective close loop control circuit and whole control system controlling
Energy quality and the influence of the stability of a system, improve the dynamic property quality of system, and realization does not determine network delay to TITO-NDCS
Segmentation, in real time, online and dynamic compensation and control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation with control, around controlled device G11(s), to close
The output signal y of ring control loop 11S () constructs two Predictive Compensation Control loops as input signal：One is by y1S () leads to
Cross predictor controller C1mS () constructs a negative-feedback Prediction Control loop；Two is by y1S () estimates mould by network transfer delay
TypeWith predictor controller C1m(s) and network transfer delay prediction modelA positive feedback Prediction Control is constructed afterwards to return
Road, 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, meet predictor controller C1mS () is equal to its real controllers C1S the condition of () is (due to controller C1S () is people
To design and selecting, C is met naturally1m(s)=C1(s)).Therefore, from sensor S1 nodes to control decoupler CD1 nodes it
Between, and from control decoupler CD1 nodes to actuator A1 nodes, using real network data transmission processWith
AndInstead of the predict-compensate model of network delay therebetweenAndObtain the network delay compensation and control shown in Fig. 5
Structure processed；
3rd step：By Fig. 5 by the further abbreviation of transmission function equivalence transformation rule, the implementation present invention shown in Fig. 6 is obtained
The network delay compensation of method and control structure；Predictive compensation mould of the system not comprising network delay therebetween is realized from structure
Type, so that in exempting to close loop control circuit 1, network delay τ between node and node1And τ2Measurement, estimate or recognize；Can
Realize to not determining network delay τ1And τ2Compensation with control；
For the close loop control circuit 2 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 2
Exponential term containing network delay, to realize to network delay τ3And τ4Compensation with control, around controlled device G22S (), uses
With the output signal y of close loop control circuit 22S () constructs two Predictive Compensation Control loops as input signal：One is by y2
S () passes through predictor controller C2mS () constructs a negative-feedback Prediction Control loop；Two is by y2S () passes through network transfer delay
Prediction modelWith predictor controller C2m(s) and network transfer delay prediction modelA positive feedback is constructed afterwards to estimate
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, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, meet predictor controller C2mS () is equal to its real controllers C2S the condition of () is (due to controller C2S () is people
To design and selecting, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to control decoupler CD2 nodes it
Between, and from control decoupler CD2 nodes to actuator A2 nodes, using real network data transmission processWith
AndInstead of the predict-compensate model of network delay therebetweenAndObtain the network delay compensation and control shown in Fig. 5
Structure processed；
3rd step：By Fig. 5 by the further abbreviation of transmission function equivalence transformation rule, the implementation present invention shown in Fig. 6 is obtained
The network delay compensation of method and control structure；Predictive compensation mould of the system not comprising network delay therebetween is realized from structure
Type, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or recognize；It is right to be capable of achieving
Network delay τ is not determined3And τ4Compensation with control.
Herein it should be strongly noted that in the control decoupler CD1 nodes and CD2 nodes of Fig. 6, occurring in that closed loop control
The Setting signal x in loop processed 1 and 21(s) and x2(s), respectively with the feedback signal y of each self-loop1(s) and y2S () implements first
" subtracting " afterwards " plus ", or first " plus " " subtract " operation rule, i.e. y afterwards1(s) and y2S () signal is connected by positive feedback and negative-feedback simultaneously
To in CD1 nodes and CD2 nodes：
(1) this is due to by the controller C in Fig. 5 close loop control circuits 1 and control loop 21(s) and C2S () unit, presses
The result shown in Fig. 6, and non-artificial setting are obtained according to the further abbreviation of transmission function equivalence transformation rule；
(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage and control function, same signal is carried out in node elder generation " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in algorithm
On 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 that1(s) and y2S () does not just exist, or do not obtain y1(s) and y2S () signal, or signal does not have
It is stored for；Or do not exist because " cancelling out each other " causes " zero " signal value to reform into, or it is nonsensical；
(4) triggering of control decoupler CD1 nodes or CD2 nodes just comes from signal y1(s) or y2The driving of (s),
If control decoupler CD1 nodes or CD2 nodes are not received by the signal y come from feedback network tunnel1(s)
Or y2S (), then control decoupler CD1 nodes or CD2 nodes in event-driven working method will not be triggered.
For the close loop control circuit 1 in Fig. 6：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
2) from the control decoupler CD2 nodes of close loop control circuit 2 e2(s) as input signal, by C2S () control is single
Unit and cross decoupling channel transfer function P12(s) and network pathThe signal y that unit is transmittedp12S () acts on and closes
Ring control loop 1, from input signal e2S () arrives output signal y1S the closed loop transfer function, between () is：
3) from the actuator A2 output signal nodes u of close loop control circuit 22fS (), is transmitted by controlled device cross aisle
Function G12S () acts on close loop control circuit 1, from input signal u2fS () arrives output signal y1Closed loop transfer function, between (s)
For：
Be can be seen that from above-mentioned closed loop transfer function, equation (7) to (9)：The closed loop transform function 1 of close loop control circuit 1
+C1(s)G11In (s)=0, no longer comprising the network delay τ of the influence stability of a system1And τ2Exponential termWithSo that can
Influence of the network delay to the stability of a system is reduced, improves the dynamic control performance quality of system, realized to not determining during network
Dynamic compensation and the control prolonged.
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：
2) from the control decoupler CD1 nodes of close loop control circuit 1 e1(s) as input signal, by C1S () control is single
Unit and cross decoupling channel transfer function P21(s) and network pathThe signal y that unit is transmittedp21S () acts on and closes
Ring control loop 2, from input signal e1S () arrives output signal y2S the closed loop transfer function, between () is：
3) from the actuator A1 output signal nodes u of close loop control circuit 11fS (), is transmitted by controlled device cross aisle
Function G21S () acts on close loop control circuit 2, from input signal u1fS () arrives output signal y2Closed loop transfer function, between (s)
For：
Be can be seen that from above-mentioned closed loop transfer function, equation (10) to (12)：The closed loop feature side of close loop control circuit 2
Journey 1+C2(s)G22In (s)=0, no longer comprising the network delay τ of the influence stability of a system3And τ4Exponential termWithFrom
And influence of the network delay to the stability of a system can be reduced, and improve the dynamic control performance quality of system, realize to not determining net
Dynamic compensation and the control of network time delay.
The scope of application of the invention：
Suitable for known to controlled device Mathematical Modeling or a kind of two-output impulse generator network decoupling and controlling system for being uncertain of
(TITO-NDCS) compensation and control of network delay are not determined；Its Research Thinking and method, can equally be well applied to controlled device number
The two or more input learned known to model or be uncertain of and the constituted multiple-input and multiple-output network decoupling and controlling system of output
(MIMO-NDCS) compensation and control of network delay are not determined.
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 y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal u1a(s) or by cross decoupling network pathElement output signal
yp12When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(5) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(6) is when control decoupler CD2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(7) is when actuator A2 nodes are by signal u2a(s) or by cross decoupling network pathElement output signal yp21
When () 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)12S () is sampled, and calculate the system output signal of close loop control circuit 1
y1(s), and y1(s)=y11(s)+y12(s)；
A3：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD1 node-node transmissions, feedback signal y1S () 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 y1S () is triggered；
B2：In control decoupler CD1, by the system Setting signal x of close loop control circuit 11S () subtracts feedback signal y1
S () obtains error signal e1(s), i.e. e1(s)=x1(s)-y1(s)；To e1S () implements control algolithm C1(s), and output it letter
Number act on cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；By signal yp21S () is solved by intersecting
Coupling network pathUnit is to actuator A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards, could arrive
Up to actuator A2 nodes；
B3：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)+y1
(s)；
B4：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is passed to actuator A1 nodes
It is defeated, u1aS () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by signal u1a(s) or by cross decoupling network pathElement output signal yp12S () is triggered；
C2：After actuator A1 nodes are triggered, to u1aS () implements control algolithm C1S (), obtains its output signal u1b(s)；
To the feedback signal y from sensor S1 nodes1S () implements control algolithm C1S (), obtains its output signal u1c(s)；
C3：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bAfter (s) addition again
Subtract u1cS (), obtains signal u1f(s), i.e. u1f(s)=u1b(s)+yp12(s)-u1c(s)；
C4：By signal u1fS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1fS () 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 not determining 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 y of close loop control circuit 22
(s), and y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control
Decoupler CD2 node-node transmissions, feedback signal y2S () 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 y2S () is triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22S () subtracts feedback signal y2
S () obtains error signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2S () implements control algolithm C2(s), and output it letter
Number act on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；By signal yp12S () is solved by intersecting
Coupling network pathUnit is to actuator A1 node-node transmissions, signal yp12S () will experience network transfer delay τ12Afterwards, could arrive
Up to actuator A1 nodes；
E3：By error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)+y2
(s)；
E4：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is passed to actuator A2 nodes
It is defeated, u2aS () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) or by cross decoupling network pathElement output signal yp21S () is triggered；
F2：After actuator A2 nodes are triggered, to u2aS () implements control algolithm C2S () obtains its output signal u2b(s)；
To the feedback signal y from sensor S2 nodes2S () implements control algolithm C2S (), obtains its output signal u2c(s)；
F3：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s), with signal u2bAfter (s) addition again
Subtract u2cS (), obtains signal u2f(s), i.e. u2f(s)=u2b(s)+yp21(s)-u2c(s)；
F4：By signal u2fS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2fS () 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 not determining 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 network delay, observation, estimate or recognize, while also
The synchronous requirement of node clock signal can be exempted, and then time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid
Waste to expending node storage resources needed for time-delay identification, can also avoid due to " the sky sampling " or " sampling more " that time delay is caused
The compensation error brought.
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, also suitable for the TITO-NDCS of wireless network protocol；It is not only suitable for certainty
Procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while also fitting
For the TITO-NDCS that heterogeneous network is constituted.
3rd, due to realization, the implementation of its method and specific controller C from TITO-NDCS structures1(s) and C2The control of (s)
Policy selection is unrelated, is not only suitable for using the controller C of conventional control strategy1(s) and C2S (), is also applicable for use with the control such as intelligence
Make the controller C of strategy1(s) and C2(s)。
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path
Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NDCS
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G,
M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal of system；Represent
Will control decoupling signal uiS feedforward network that () is experienced from from control decoupler CD nodes to i-th actuator A node-node transmission leads to
Road propagation delay time；Represent j-th detection signal y of sensor S nodes of systemjS () passes to control decoupler CD nodes
Defeated experienced feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
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；yp21(s) and yp12S () represents and intersects
Decoupling path output signal；u1a(s) and u2aS () represents control decoupling signal；τ1And τ3Represent control signal u1(s) and u2(s)
From the feedforward network tunnel time delay that control decoupler CD1 and CD2 node is experienced to actuator A1 and A2 node-node transmission；τ2
And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to control decoupler CD1 and CD2 node-node transmission institute
The feedback network tunnel time delay of experience；τ21And τ12Represent cross decoupling channel transfer function P21(s) and P12(s) it is defeated
Go out signal yp21(s) and yp12S network path propagation delay time that () is experienced to control decoupler CD2 and CD1 node-node transmission.
Fig. 4：A kind of TITO-NDCS delay compensations comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is network
Propagation delay timeAndPrediction model；C1m(s) and C2mS () is controller C1(s) and C2The predictor controller of (s).
Fig. 5：Replace the TITO-NDCS delay compensations of prediction model and control structure with true model
Fig. 6：A kind of two-output impulse generator network decoupling and controlling system does not determine the compensation method of time delay
Fig. 6 can be realized to the compensation that network delay is not determined in close loop control circuit 1 and 2 and control.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 6 below, make the ordinary skill of this area
Personnel become apparent from features described above of the invention and advantage
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；When
After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device cross aisle transmit letter
Number G12The output signal y of (s)12S () is sampled, and calculate the system output signal y of close loop control circuit 11(s), and y1
(s)=y11(s)+y12(s)；
Second step：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD1 node-node transmissions, feedback signal y1S () 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 y1S () is triggered；Control
After decoupler CD1 nodes are triggered, by the system Setting signal x of close loop control circuit 11S () subtracts feedback signal y1S () obtains
Error signal e1(s), i.e. e1(s)=x1(s)-y1(s)；To e1S () implements control algolithm C1(s), and output it signal function
In cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；By signal yp21S () passes through cross decoupling network
PathUnit is to actuator A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards, get to perform
Device A2 nodes；
4th step：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)
+y1(s)；
5th step：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1
Point transmission, u1aS () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
6th step：Actuator A1 nodes work in event driven manner, by signal u1a(s) or led to by cross decoupling network
RoadElement output signal yp12S () is triggered；After actuator A1 nodes are triggered, to u1aS () implements control algolithm C1
S (), obtains its output signal u1b(s)；To the feedback signal y from sensor S1 nodes1S () implements control algolithm C1S (), obtains
To its output signal u1c(s)；
7th step：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bS () is added
Subtract u again afterwards1cS (), obtains signal u1f(s), i.e. u1f(s)=u1b(s)+yp12(s)-u1c(s)；
8th step：By signal u1fS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1fS () 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 not determining network delay τ1And τ2Compensation with control；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；When
After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device cross aisle transmit letter
Number G21The output signal y of (s)21S () 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
Control decoupler CD2 node-node transmissions, feedback signal y2S () 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 y2After (s) triggering, will close
The system Setting signal x of ring control loop 22S () subtracts feedback signal y2S () obtains error signal e2(s), i.e. e2(s)=x2(s)-
y2(s)；To e2S () implements control algolithm C2(s), and signal function is output it in cross decoupling channel transfer function P12(s)
To output signal yp12(s)；By signal yp12S () passes through cross decoupling network pathUnit is to actuator A1 node-node transmissions, letter
Number yp12S () will experience network transfer delay τ12Afterwards, actuator A1 nodes are got to；
4th step：Error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)+y2
(s)；
5th step：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2
Point transmission, u2aS () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
6th step：Actuator A2 nodes work in event driven manner, by signal u2a(s) or led to by cross decoupling network
RoadElement output signal yp21S () is triggered；After actuator A2 nodes are triggered, to u2aS () implements control algolithm C2(s)
Obtain its output signal u2b(s)；To the feedback signal y from sensor S2 nodes2S () implements control algolithm C2S (), obtains it
Output signal u2c(s)；
7th step：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s), with signal u2bS () is added
Subtract u again afterwards2cS (), obtains signal u2f(s), i.e. u2f(s)=u2b(s)+yp21(s)-u2c(s)；
8th step：By signal u2fS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2fS () 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 not determining network delay τ3And τ4Compensation with control；
9th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of dual input output network decoupling and controlling system does not determine the compensation method of time delay, 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 control decoupler CD1 nodes are by feedback signal y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal u1a(s) or by cross decoupling network pathElement output signal yp12(s)
During triggering, employing mode C is operated；
For close loop control circuit 2：
(5) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(6) is when control decoupler CD2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(7) is when actuator A2 nodes are by signal u2a(s) or by cross decoupling network pathElement output signal yp21(s)
During triggering, 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)12S () is sampled, and calculate the system output signal y of close loop control circuit 11
(s), and y1(s)=y11(s)+y12(s)；
A3：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to control decoupler
CD1 node-node transmissions, feedback signal y1S () 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 y1S () is triggered；
B2：In control decoupler CD1, by the system Setting signal x of close loop control circuit 11S () subtracts feedback signal y1(s)
To error signal e1(s), i.e. e1(s)=x1(s)-y1(s)；To e1S () implements control algolithm C1(s), and output it signal work
For cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；By signal yp21S () passes through cross decoupling net
Network pathUnit is to actuator A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards, get to hold
Row device A2 nodes；
B3：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)+y1(s)；
B4：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, u1a
S () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by signal u1a(s) or by cross decoupling network pathIt is single
First output signal yp12S () is triggered；
C2：After actuator A1 nodes are triggered, to u1aS () implements control algolithm C1S (), obtains its output signal u1b(s)；To coming
From the feedback signal y of sensor S1 nodes1S () implements control algolithm C1S (), obtains its output signal u1c(s)；
C3：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bS () subtracts again after being added
u1cS (), obtains signal u1f(s), i.e. u1f(s)=u1b(s)+yp12(s)-u1c(s)；
C4：By signal u1fS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1fS () 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 not determining 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：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler
CD2 node-node transmissions, feedback signal y2S () 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 y2S () is triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22S () subtracts feedback signal y2(s)
To error signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2S () implements control algolithm C2(s), and output it signal work
For cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；By signal yp12S () passes through cross decoupling net
Network pathUnit is to actuator A1 node-node transmissions, signal yp12S () will experience network transfer delay τ12Afterwards, get to hold
Row device A1 nodes；
E3：By error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)+y2(s)；
E4：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, u2a
S () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) or by cross decoupling network pathIt is single
First output signal yp21S () is triggered；
F2：After actuator A2 nodes are triggered, to u2aS () implements control algolithm C2S () obtains its output signal u2b(s)；To coming
From the feedback signal y of sensor S2 nodes2S () implements control algolithm C2S (), obtains its output signal u2c(s)；
F3：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s), with signal u2bS () subtracts again after being added
u2cS (), obtains signal u2f(s), i.e. u2f(s)=u2b(s)+yp21(s)-u2c(s)；
F4：By signal u2fS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2fS () 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 not determining network delay τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, with specific control strategy C1(s) and C2S the selection of () is unrelated.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045338A (en) * | 2017-06-07 | 2017-08-15 | 海南大学 | A kind of two input two exports the SPC methods of NDCS random delay |
| CN110989347A (en) * | 2019-12-07 | 2020-04-10 | 天津大学 | Networked control system and control method based on event trigger mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045338A (en) * | 2017-06-07 | 2017-08-15 | 海南大学 | A kind of two input two exports the SPC methods of NDCS random delay |
| CN110989347A (en) * | 2019-12-07 | 2020-04-10 | 天津大学 | Networked control system and control method based on event trigger mechanism |
| CN110989347B (en) * | 2019-12-07 | 2022-04-08 | 天津大学 | Networked control system and control method based on event trigger mechanism |
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