CN106773738A - A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay - Google Patents
A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay Download PDFInfo
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Abstract
The IMC methods of two input and output network decoupling and controlling system time-varying network time delays, belong to the MIMO NDCS technical fields of limited bandwidth resources.Affect one another and couple between a kind of two input/output signal, need the TITO NDCS by decoupling treatment, transmit produced network delay among the nodes due to network data, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with the network data transmission process between all real nodes in TITO NDCS, instead of network delay compensation model therebetween, IMC methods are implemented to two loops simultaneously, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, reduce influence of the time-varying network time delay to TITO NDCS stability, improve quality of system control.
Description
Technical field
A kind of IMC (Internal Model of two input and output network decoupling and controlling system time-varying network time delay
Control, IMC) method, it is related to the crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to
The multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.
Background technology
In dcs, between sensor and controller, controller and actuator, by Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
NCS is capable of achieving resource-sharing, remote operation and control, tool compared with the control system of traditional point-to-point structure
Many advantages, such as having high diagnosis capability, I＆M simplicity, increased flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to the category of NCS, additionally, NCS is in aerospace field and complexity, dangerous industry control
Also there is wide application in field processed, studies it just hot subject as international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.Sensor as NCS, when passing through network exchange data between controller and actuator, when inevitably resulting in network
Prolong, so as to the performance of system can be reduced or even cause the unstable of system.Because the information source in network is a lot, transmitting data stream
Through numerous computers and communication apparatus and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, net
The reason such as network congestion or disconnecting, will cause the sequential entanglement of network packet and the loss of packet.Although time-delay system
Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS various time delays of different nature (constant, bounded,
At random, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory being analyzed to system and
During design, often do many Utopian it is assumed that transmitting and adjusting such as the sampling of single rate, Synchronization Control, without time delay.And in NCS
In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will be reappraised
Can be applied in NCS.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one
The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered
Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
(Networked decoupling control systems, NDCS) delay compensation with control achievement in research then it is relative more
It is few.
The typical structure of MIMO-NDCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Selection pairing, also exists and influences each other unavoidably between each control loop, thus it is respective output signal is independently tracked
Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit failure
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method,
The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO-
In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point of control：
(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size
It is relevant etc. factor, to more than several or even the dozens of sampling period time-varying network time delay, to set up each control in MIMO-NDCS
The Mathematical Modeling that the time-varying network time delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance
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, to MIMO-NDCS implement
Delay compensation is more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
When exporting network decoupling and controlling system (TITO-NDCS) the present invention relates to a kind of two input two in MIMO-NDCS
Become the compensation and control of network delay, the typical structure of its TITO-NDCS is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is controller, G11S () is controlled device；τ1Represent the output signal u of controller C nodes1(s),
Through preceding the time-varying network time delay that decoupling actuator DA1 nodes are experienced is transferred to network path；τ2Represent sensor S1 sections
The output signal y of point1(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s), by cross decoupling
Path transmission function P12(s) and controlled device line passing transmission function G12S () acts on close loop control circuit 1, believe from input
Number up2S () arrives output signal y1S the closed loop transfer function, between () is：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, when containing time-varying network
Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated 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 controller, G22S () is controlled device；τ3Represent the controlled output signal u of controller C nodes2
S (), the time-varying network time delay that decoupling actuator DA2 nodes are experienced is transferred to through preceding to network path；τ4Represent sensor
The output signal y of S2 nodes2(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s), by cross decoupling
Path transmission function P21(s) and controlled device line passing transmission function G21S () acts on close loop control circuit 2, believe from input
Number up1S () arrives output signal y2S the closed loop transfer function, between () is：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, when containing time-varying network
Prolong τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated surely
It is qualitative.
Goal of the invention：
For the TITO-NDCS of Fig. 3, in the closed loop transfer function, equation (1) of its close loop control circuit 1 and the denominator of (2),
Contain time-varying network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2
(3) and in the denominator of (4), time-varying network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can be reduced respectively
From the control performance quality of close loop control circuit and the stability of respective close loop control circuit is influenceed, while will also decrease whole system
The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, the present invention proposes a kind of delay compensation method based on IMC, exempt in each close loop control circuit, node
Between time-varying network time delay measurement, estimate or recognize, and then reduce network delay τ1And τ2, and τ3And τ4To respective closed loop
The influence of control loop and whole control system control performance quality and the stability of a system.When prediction model is equal to its true mould
During type, the exponential term not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving, and then network can be reduced
Influence of the time delay to the stability of a system, improves the dynamic property quality of system, and realization divides TITO-NDCS time-varying network time delays
Section, real-time, online and dynamic predictive compensation and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first1IMCS () is used to replace controller C1
(s)；In order to realize meeting during predictive compensation condition, network delay is no longer included in the closed loop transform function of close loop control circuit 1
Exponential term, to realize to network delay τ1And τ2Compensation with control, use with control signal u1(s) and up2mS () is used as defeated
Enter signal, controlled device prediction model G11m(s) and G12mS () and intersection estimate Decoupled Model P12mS () conduct is controlled and decoupled
Journey, control passes through network transfer delay prediction model with process dataAndAround internal mode controller C1IMC(s), structure
A positive feedback Prediction Control loop and a negative-feedback Prediction Control loop are made, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman
Foot estimates Decoupled Model P12mS () is equal to its true Decoupled Model P12S the condition of () is (due to decoupling channel transfer function P12(s)
It is artificial design and selection, P is met naturally12m(s)=P12(s))；Therefore, from sensor S1 nodes to controller C nodes,
And from controller C nodes to decoupling actuator DA1 nodes, using real network data transmission processAnd
Instead 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 the predict-compensate model not comprising network delay therebetween, so as to exempt right from system architecture
In close loop control circuit 1, time-varying network delay, τ between node1And τ2Measurement, estimate or recognize；When prediction model is true equal to its
During real mould, it is capable of achieving to its time-varying network delay τ1And τ2Compensation and IMC；Implement the network delay compensation of the inventive method
It is as shown in Figure 5 with IMC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first2IMCS () is used to replace controller C2
(s)；In order to realize meeting during predictive compensation condition, network delay is no longer included in the closed loop transform function of close loop control circuit 2
Exponential term, to realize to network delay τ3And τ4Compensation with control, use with control signal u2(s) and up1mS () is used as defeated
Enter signal, controlled device prediction model G22m(s) and G21mS () and intersection estimate Decoupled Model P21mS () conduct is controlled and decoupled
Journey, control passes through network transfer delay prediction model with process dataAndAround internal mode controller C2IMC(s), structure
A positive feedback Prediction Control loop and a negative-feedback Prediction Control loop are made, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman
Foot estimates Decoupled Model P21mS () is equal to its true Decoupled Model P21S the condition of () is (due to decoupling channel transfer function P21(s)
It is artificial design and selection, P is met naturally21m(s)=P21(s))；Therefore, from sensor S2 nodes to controller C nodes,
And from controller C nodes to decoupling actuator DA2 nodes, using real network data transmission processAnd
Instead 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 the predict-compensate model not comprising network delay therebetween, so as to exempt right from system architecture
In close loop control circuit 2, time-varying network delay, τ between node3And τ4Measurement, estimate or recognize；When prediction model is true equal to its
During real mould, it is capable of achieving to its time-varying network delay τ3And τ4Compensation and IMC；Implement the network delay compensation of the inventive method
It is as shown in Figure 5 with IMC structures.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller.
2) from controlling pre- decoupler CPD nodes, the internal mode controller C of close loop control circuit 22IMCThe output letter of (s)
Number u2(s) and cross decoupling channel transfer function prediction model P21mThe output signal y of (s)p21mS () obtains signal u after subtracting each otherp2m
(s), i.e. up2m(s)=u2(s)-yp21m(s)；By up2mS () acts on close loop control circuit 1, from input signal up2mS () arrives output
Signal y1S the closed loop transfer function, between () is：
3) from the uneoupled control signal u in the decoupling actuator DA2 nodes of close loop control circuit 2p2S (), is solved by intersecting
Coupling path transmission function P12(s), and by controlled device cross aisle transmission function G12(s) and its prediction model G12m(s)
Close loop control circuit 1 is acted on, from input signal up2S () arrives output signal y1S the closed loop transfer function, between () is：
Using the inventive method, work as G11m(s)=G11S when (), the closed loop transfer function, denominator of close loop control circuit 1 will be byBecome 1.
Now, close loop control circuit 1 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device and
Internal mode controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
State control performance quality, realizes to the dynamic compensation of time-varying network time delay and IMC.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：G22mS () is controlled device G22The prediction model of (s)；C2IMCS () is internal mode controller.
2) from controlling pre- decoupler CPD nodes, the internal mode controller C of close loop control circuit 11IMC(s) output signal u1
(s) and cross decoupling channel transfer function prediction model P12mThe output signal y of (s)p12mS () obtains signal u after subtracting each otherp1m(s),
That is up1m(s)=u1(s)-yp12m(s)；By up1mS () acts on close loop control circuit 2, from input signal up1mS () arrives output signal
y2S the closed loop transfer function, between () is：
3) the uneoupled control signal u in the decoupling actuator DA1 nodes from close loop control circuit 1p1(s), by intersecting
Decoupling path transmission function P21(s), and by controlled device cross aisle transmission function G21(s) and its prediction model G21m
S () acts on close loop control circuit 2, from input signal up1S () arrives output signal y2S the closed loop transfer function, between () is：
Using the inventive method, work as G22m(s)=G22S when (), the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1.
Now, close loop control circuit 2 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled device and
Internal mode controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
State control performance quality, realizes to the dynamic compensation of time-varying network time delay and IMC.
Internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：
The first step is to design one take is the inversion model of plant model as feedforward controller C11(s) and C22
(s)；
Second step is the feedforward filter f that certain order is added in feedforward controller1(s) and f2S (), composition one is complete
Whole internal mode controller C1IMC(s) and C2IMC(s)。
(1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-(s) and G22m(s)=G22m+(s)G22m-(s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m-(s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
(2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2It is feedforward
Filter time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22The order of (s) molecule,
Usual n1＞ 0 and n2＞ 0.
(3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (11) and (12)：The internal mode controller C of one degree of freedom1IMC(s) and C2IMCIn (s), all
Only one of which customized parameter λ1And λ2, due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore in the customized parameter λ of wave filter of adjusting1And λ2When, generally require dry with anti-in the tracing property of system
Ability is disturbed to trade off between the two.
The scope of application of the invention：
A kind of two input and output network decoupling and controlling system of its true model is equal to suitable for controlled device prediction model
(TITO-NDCS) compensation of time-varying network time delay and IMC；Its Research Thinking and method, are equally applicable to controlled device and estimate mould
Type is equal to the two or more input of its true model and exports constituted multiple-input and multiple-output network decoupling and controlling system
(MIMO-NDCS) compensation of time-varying network time delay and IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when the pre- decoupler CPD nodes of control are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by IMC signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when the pre- decoupler CPD nodes of control are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device are intersected
Channel transfer function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mb(s) and y12mb
S () is sampled, and calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=
y11(s)+y12(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control
Pre- decoupler CPD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control pre- decoupler
CPD nodes；
The step of mode B, includes：
B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1bS () is triggered；
B2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 11(s) and feedback letter
Number y1b(s) and controlled device cross aisle transmission function prediction model G12mThe output valve y of (s)12maS () subtracts each other, along with controlled
Object prediction model G11mThe output valve y of (s)11maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-
y12ma(s)+y11ma(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：By IMC signals u1(s) and pre- decoupling cross aisle transmission function P12mThe output signal y of (s)p12mS () subtracts each other,
Obtain pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2mS () acts on and closes
The controlled device cross aisle transmission function prediction model G of ring control loop 112mS () obtains its output signal y12ma(s)；Will be pre-
Decoupling signal up2mS () acts on cross decoupling channel transfer function prediction model P12mS () obtains its output signal yp12m(s)；
By yp12mS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
B6：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator
DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come fromp2S (), acts on and closes
The decoupling cross aisle transmission function P of ring control loop 112S () obtains its output valve yp12(s)；By IMC signals u1(s) and yp12
S () subtracts each other, obtain the decoupling output signal u of control loop 1p1(s), i.e. up1(s)=u1(s)-yp12(s)；
C3：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come fromp2S (), acts on solution
Prediction model G in coupling actuator DA1 nodes12mS () obtains its output valve y12mb(s)；
C4：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device transmission function prediction model
G11mS () obtains its output valve y11mb(s)；
C5：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device G11S () obtains its output
Value y11(s)；By signal up1S () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to
Realize to controlled device G11(s) and G21The decoupling of (s) and IMC, and realize to time-varying network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22S () and controlled device are intersected logical
Road transmission function G21(s) output signal y21(s), and decouple the output signal y of actuator DA2 nodes22mb(s) and y21mb(s)
Sampled, and calculated the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)
+y21(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to control
Pre- decoupler CPD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control pre- decoupler
CPD nodes；
The step of mode E, includes：
E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2bS () is triggered；
E2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 22(s) and feedback letter
Number y2b(s) and controlled device cross aisle transmission function prediction model G21mThe output valve y of (s)21maS () subtracts each other, along with controlled
Object prediction model G22mThe output valve y of (s)22maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-
y21ma(s)+y22ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：By IMC signals u2(s) and pre- decoupling cross aisle transmission function P21mThe output signal y of (s)p21mS () subtracts each other,
Obtain pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1mS () acts on and closes
The controlled device cross aisle transmission function prediction model G of ring control loop 221mS () obtains its output signal y21ma(s)；Will be pre-
Decoupling signal up1mS () acts on cross decoupling channel transfer function prediction model P21mS () obtains its output signal yp21m(s)；
By yp21mS () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；
E6：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2
Node-node transmission, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come fromp1S (), acts on and closes
The decoupling cross aisle transmission function P of ring control loop 221S () obtains its output valve yp21(s)；By IMC signals u2(s) and yp21
S () subtracts each other, obtain the decoupling output signal u of control loop 2p2(s), i.e. up2(s)=u2(s)-yp21(s)；
F3：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come fromp1S (), acts on solution
Prediction model G in coupling actuator DA2 nodes21mS () obtains its output valve y21mb(s)；
F4：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device transmission function prediction model
G22mS () obtains its output valve y22mb(s)；
F5：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device G22S () obtains its output
Value y22(s)；By signal up2S () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to
Realize to controlled device G22(s) and G12The decoupling of (s) and IMC, and realize to time-varying network delay, τ3And τ4Compensation with control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of time-varying network time delay, observation, estimate or recognize, together
When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid
To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused
The compensation error that sampling " brings.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, using the TITO-NDCS of IMC, its internal mode controller C1IMC(s) and C2IMCS the adjustable parameter of () only has λ1And λ2,
The regulation of parameter is simple with selection, and explicit physical meaning；Stability, the tracking performance of system can be not only improved using IMC
With interference free performance, but also can realize to the compensation of system time-varying network time delay and control.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path
Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NDCS
In Fig. 2, system by r sensor S node, controller C nodes, m decoupling actuator DA 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；Representing will control
Signal ui(s) from controller C nodes to i-th decoupling actuator DA node-node transmissions experienced feedforward network tunnel when
Prolong；Represent j-th detection signal y of sensor S nodesjS () leads to the feedback network that controller C node-node transmissions are experienced
Road propagation delay time；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
In Fig. 3, system is made up of close loop control circuit 1 and 2, and system includes sensor S1 and S2 node, controller C sections
Point, decouples actuator DA1 and DA2 node, controlled device transmission function G11(s) and G22S () and controlled device cross aisle are passed
Delivery function G21(s) and G12(s), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unit
WithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1(s) and x2S () represents system input signal；y1(s) and y2S () represents system output signal；C1(s) and
C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；up1(s) and up2S () represents control solution
Coupling signal；τ1And τ3Represent control signal u1(s) and u2S () passes from controller C nodes to decoupling actuator DA1 and DA2 node
Defeated experienced feedforward network tunnel time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2
S () experiences feedback network tunnel time delay to controller C node-node transmissions.
Fig. 4：A kind of TITO-NDCS time-vary delay systems 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；G11m(s) and G22mS () is controlled device transmission function G11(s) and
G22The prediction model of (s)；G12m(s) and G21mS () is controlled device cross aisle transmission function G12(s) and G21S () estimates mould
Type；P12m(s) and P21mS () is cross decoupling channel transfer function P21(s) and P12The prediction model of (s)；C1IMC(s) and C2IMC
S () is internal mode controller.
Fig. 5：A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay
Fig. 5 can be realized to the compensation of time-varying network time delay and IMC in close loop control circuit 1 and 2.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill of this area
Personnel become apparent from features described above of the invention and advantage
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are sampled the cycle for h1Signal triggered；Work as biography
After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function
G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mb(s) and y12mbS () is sampled,
And calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s)
And y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Control pre- decoupler CPD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control pre- solution
Coupling device CPD nodes；
3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1bAfter (s) triggering, will
The system Setting signal x of close loop control circuit 11(s) and feedback signal y1bS () and controlled device cross aisle transmission function are estimated
Model G12mThe output valve y of (s)12maS () subtracts each other, along with controlled device prediction model G11mThe output valve y of (s)11maS (), obtains
System deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma(s)+y11ma(s)；To e1S () implements Internal Model Control Algorithm
C1IMCS (), obtains IMC signals u1(s)；
4th step：By IMC signals u1(s) and pre- decoupling cross aisle transmission function P12mThe output signal y of (s)p12m(s) phase
Subtract, obtain pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2mS () acts on
In the controlled device cross aisle transmission function prediction model G of close loop control circuit 112mS () obtains its output signal y12ma(s)；
By pre- decoupling signal up2mS () acts on cross decoupling channel transfer function prediction model P12mS () obtains its output signal yp12m
(s)；By yp12mS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
6th step：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is performed to decoupling
Device DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
7th step：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1S () triggers after, will
Come from the decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodesp2S (), acts on close loop control circuit 1
Decoupling cross aisle transmission function P12S () obtains its output valve yp12(s)；By IMC signals u1(s) and yp12S () subtracts each other, controlled
The decoupling output signal u in loop processed 1p1(s), i.e. up1(s)=u1(s)-yp12(s)；
8th step：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come fromp2(s), effect
Prediction model G in actuator DA1 nodes are decoupled12mS () obtains its output valve y12mb(s)；
9th step：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device transmission function and estimates
Model G11mS () obtains its output valve y11mb(s)；
Tenth step：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device G11S () obtains it
Output valve y11(s)；By signal up1S () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；
So as to realize to controlled device G11(s) and G21The decoupling of (s) and IMC, and realize to time-varying network delay, τ1And τ2Compensation with
Control；
11st 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 sampled the cycle for h2Signal triggered；Work as biography
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 decouple the output signal y of actuator DA2 nodes22mb(s) and y21mbS () is sampled,
And calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s)
And y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to
Control pre- decoupler CPD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control pre- solution
Coupling device CPD nodes；
3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2bAfter (s) triggering, will
The system Setting signal x of close loop control circuit 22(s) and feedback signal y2bS () and controlled device cross aisle transmission function are estimated
Model G21mThe output valve y of (s)21maS () subtracts each other, along with controlled device prediction model G22mThe output valve y of (s)22maS (), obtains
System deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma(s)+y22ma(s)；To e2S () implements Internal Model Control Algorithm
C2IMCS (), obtains IMC signals u2(s)；
4th step：By IMC signals u2(s) and pre- decoupling cross aisle transmission function P21mThe output signal y of (s)p21m(s) phase
Subtract, obtain pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1mS () acts on
In close loop control circuit 2
6th step：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is performed to decoupling
Device DA2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
7th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2S () triggers after, will
Come from the decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodesp1S (), acts on close loop control circuit 2
Decoupling cross aisle transmission function P21S () obtains its output valve yp21(s)；By IMC signals u2(s) and yp21S () subtracts each other, controlled
The decoupling output signal u in loop processed 2p2(s), i.e. up2(s)=u2(s)-yp21(s)；
8th step：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come fromp1(s), effect
Prediction model G in actuator DA2 nodes are decoupled21mS () obtains its output valve y21mb(s)；
9th step：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device transmission function and estimates
Model G22mS () obtains its output valve y22mb(s)；
Tenth step：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device G22S () obtains it
Output valve y22(s)；By signal up2S () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；
So as to realize to controlled device G22(s) and G12The decoupling of (s) and IMC, and realize to time-varying network delay, τ3And τ4Compensation with
Control；
11st step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay, it is characterised in that the method bag
Include following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when the pre- decoupler CPD nodes of control are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by IMC signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when the pre- decoupler CPD nodes of control are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle
Transmission function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mb(s) and y12mb(s)
Sampled, and calculated the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11
(s)+y12(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to the pre- solution of control
Coupling device CPD node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control pre- decoupler CPD to save
Point；
The step of mode B, includes：
B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1bS () is triggered；
B2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 11(s) and feedback signal y1b
(s) and controlled device cross aisle transmission function prediction model G12mThe output valve y of (s)12maS () subtracts each other, along with controlled device
Prediction model G11mThe output valve y of (s)11maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma
(s)+y11ma(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：By IMC signals u1(s) and pre- decoupling cross aisle transmission function P12mThe output signal y of (s)p12mS () subtracts each other, obtain
Pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2mS () acts on closed loop control
The controlled device cross aisle transmission function prediction model G in loop processed 112mS () obtains its output signal y12ma(s)；To decouple in advance
Signal up2mS () acts on cross decoupling channel transfer function prediction model P12mS () obtains its output signal yp12m(s)；By yp12m
S () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
B6：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator DA1 nodes
Transmission, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come fromp2S (), acts on closed loop control
The decoupling cross aisle transmission function P in loop processed 112S () obtains its output valve yp12(s)；By IMC signals u1(s) and yp12(s) phase
Subtract, obtain the decoupling output signal u of control loop 1p1(s), i.e. up1(s)=u1(s)-yp12(s)；
C3：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come fromp2S (), acts on decoupling and holds
Prediction model G in row device DA1 nodes12mS () obtains its output valve y12mb(s)；
C4：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device transmission function prediction model G11m
S () obtains its output valve y11mb(s)；
C5：The output signal u of actuator DA1 nodes will be decoupledp1S (), acts on controlled device G11S () obtains its output valve y11
(s)；By signal up1S () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize
To controlled device G11(s) and G21The decoupling of (s) and IMC, and realize to time-varying network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22S () and controlled device cross aisle are passed
Delivery function G21(s) output signal y21(s), and decouple the output signal y of actuator DA2 nodes22mb(s) and y21mb(s) carry out
Sampling, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21
(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to the pre- solution of control
Coupling device CPD node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control pre- decoupler CPD to save
Point；
The step of mode E, includes：
E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2bS () is triggered；
E2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 22(s) and feedback signal y2b
(s) and controlled device cross aisle transmission function prediction model G21mThe output valve y of (s)21maS () subtracts each other, along with controlled device
Prediction model G22mThe output valve y of (s)22maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma
(s)+y22ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：By IMC signals u2(s) and pre- decoupling cross aisle transmission function P21mThe output signal y of (s)p21mS () subtracts each other, obtain
Pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1mS () acts on closed loop control
The controlled device cross aisle transmission function prediction model G in loop processed 221mS () obtains its output signal y21ma(s)；To decouple in advance
Signal up1mS () acts on cross decoupling channel transfer function prediction model P21mS () obtains its output signal yp21m(s)；By yp21m
S () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；
E6：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2 nodes
Transmission, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come fromp1S (), acts on closed loop control
The decoupling cross aisle transmission function P in loop processed 221S () obtains its output valve yp21(s)；By IMC signals u2(s) and yp21(s) phase
Subtract, obtain the decoupling output signal u of control loop 2p2(s), i.e. up2(s)=u2(s)-yp21(s)；
F3：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come fromp1S (), acts on decoupling and holds
Prediction model G in row device DA2 nodes21mS () obtains its output valve y21mb(s)；
F4：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device transmission function prediction model G22m
S () obtains its output valve y22mb(s)；
F5：The output signal u of actuator DA2 nodes will be decoupledp2S (), acts on controlled device G22S () obtains its output valve y22
(s)；By signal up2S () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize
To controlled device G22(s) and G12The decoupling of (s) and IMC, and realize to time-varying network delay, τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the TITO-NDCS of IMC, its internal mode controller C1IMC
(s) and C2IMCS the adjustable parameter of () only has λ1And λ2, the regulation of its parameter is simple with selection, and explicit physical meaning；Using IMC
Stability, tracking performance and the interference free performance of system can be not only improved, but also the benefit to random network time delay can be realized
Repay and control.
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| CN107065574A (en) * | 2017-06-07 | 2017-08-18 | 海南大学 | A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065574A (en) * | 2017-06-07 | 2017-08-18 | 海南大学 | A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods |
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Application publication date: 20170531 |