CN106802559A - A kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods - Google Patents
A kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods Download PDFInfo
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Abstract
Two inputs two export Network Delays in Networked Control Systems Based two degrees of freedom IMC methods, belong to the MIMO NCS technical fields of limited bandwidth resources.For a kind of TITO NCS, influenced each other between its two inputs, two output signal, transmit produced network delay among the nodes due to network data, not only influence the stability of its own close loop control circuit, but also the stability of another close loop control circuit will be influenceed, and the problem of TITO NCS loss of stability is even resulted in, propose with network data transmission process between all real nodes in TITO NCS, instead of the compensation model of network delay therebetween, and two degrees of freedom IMC is implemented to two loops.Measurement, estimation or identification to network delay between node can be exempted using the inventive method, exempt the requirement synchronous to node clock signal, reduce influence of the network delay to TITO NCS stability, the control performance quality of improvement system.
Description
Technical field
A kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC (Internal Model
Control, IMC) method, it is related to automatically control, the crossing domain of network service and computer technology, more particularly to bandwidth resources
Limited MIMO Networked Control Systems technical field.
Background technology
With the development of network service, computer and control technology, and production process control increasingly maximization, wide area
The development of change, complication and networking, increasing application of net is in control system.Network control system
(Networked control systems, NCS) refers to network real-time closed-loop feedback control system, typical case's knot of NCS
Structure is as shown in Figure 1.
NCS can realize complex large system and remote control, and node resource is shared, and increase the flexibility and reliability of system, closely
Nian Laiyi is widely used in complex industrial process control, power system, petrochemical industry, track traffic, Aero-Space, environment prison
The multiple fields such as survey.
In NCS, when sensor, controller and actuator pass through network exchange data, network there may be many bags and pass
Defeated, multi-path transmission, data collision, the network congestion even phenomenon such as disconnecting so that NCS faces many new challenges.Especially
It is the presence of network delay, it is possible to decrease the control quality of NCS, or even makes system loss of stability, may cause when serious be
System breaks down.
At present, research both at home and abroad for NCS, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, constant, unknown or random in network delay respectively, network delay is 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 it is defeated including at least two
Enter the multiple-input and multiple-output (Multiple- constituted with two outputs (Two-input and two-output, TITO)
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for based on it
The achievement in research of the delay compensation method of system architecture is then relatively less.
The typical structure of MIMO-NCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NCS has the characteristics that：
(1) affected one another between input signal and output signal and there may be coupling
In MIMO-NCS, a change for input signal can cause that multiple output signals change, and each is defeated
Go out signal is also not only influenceed by an input signal.Even if by selection pairing meticulously between input and output signal, respectively
Also existed unavoidably between control loop and influenced each other, thus output signal is independently tracked respective input signal is have
Difficult.
(2) internal structure is more much more complex than SISO-NCS
(3) to there is probabilistic factor more for controlled device
In MIMO-NCS, the parameter being related to is more, and the contact between each control loop is more, and object parameters change is right
The influence of overall control performance can become complex.
(4) possibility of control unit failure is larger
In MIMO-NCS, including at least there is two or more close loop control circuits, and including at least having two
Individual or more than two sensors and actuator.The failure of each element may influence the performance matter of whole control system
Amount, can make system unstable, or even cause a serious accident when serious.
Due to the above-mentioned particularity of MIMO-NCS so that be designed the method with control based on SISO-NCS, cannot
Meet the requirement of the control performance of MIMO-NCS and control quality, prevent its from or be not directly applicable the design of MIMO-NCS
In control, the design and analysis to MIMO-NCS bring difficulty.
For MIMO-NCS, 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, control back more than several or even the dozens of sampling period network delay, to set up in MIMO-NCS each
The Mathematical Modeling that the network delay on road is accurately predicted, estimates or recognized, is currently what is had any problem.
(2) occur in MIMO-NCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance
The exact value of network time delay.Time delay causes systematic function to decline or even causes system unstable, while also to the analysis of control system
Difficulty is brought with design.
(3) to meet in MIMO-NCS, all node clock signal Complete Synchronizations in different distributions place are unpractical.
(4) due in MIMO-NCS, being affected one another between input and output signal, and there may be coupling, system
Internal structure is more complicated than SISO-NCS, and the uncertain factor for existing is more, the control performance quality good or not of each control loop
Influence will be produced on the performance quality of whole system and stability with its stability problem and will be restricted, its implement delay compensation with
Control is more much more difficult than SISO-NCS.
The content of the invention
The present invention relates to the benefit that a kind of two input two in MIMO-NCS exports network control system (TITO-NCS) time delay
Repay with control, the typical structure of its TITO-NCS 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 control signal u1S () is from C1(s) controller
The C nodes at place, 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 feedback network tunnel to C1During s network that the C nodes where () controller are experienced
Prolong.
2) from the drive signal u of the actuator A2 nodes of close loop control circuit 2 output2S (), is intersected logical by controlled device
Road transmission function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2S () arrives output signal y1(s)
Between closed loop transfer function, be：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, contain network delay τ1
And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
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 control signal u2S () is from C2(s) controller
The C nodes at place, 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 feedback network tunnel to C2During s network that the C nodes where () controller are experienced
Prolong.
2) from the drive signal u of the actuator A1 nodes of close loop control circuit 1 output1S (), is intersected logical by controlled device
Road transmission function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1S () arrives output signal y2(s)
Between closed loop transfer function, be：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, contain network delay τ3
And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
Goal of the invention：
For the TITO-NCS of Fig. 3, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap
Network delay τ is contained1And τ2Exponential termWithAnd the transmission function equation (3) of close loop control circuit 2 and dividing for (4)
In mother, network delay τ is contained3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11S () is not only subject to its input signal x1The influence of (s), while also receiving
To the input signal x of close loop control circuit 22The influence of (s)；At the same time, the output signal y of close loop control circuit 22S () not only
By its input signal x2The influence of (s), while also by the input signal x of close loop control circuit 11The influence of (s).During network
The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together
When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious
Go stability.
It is an object of the invention to：
1) in order to exempt to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then drop
Low network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality be
The influence of stability of uniting, when prediction model is equal to its true model, is capable of achieving in the characteristic equation of respective close loop control circuit
Exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
Energy quality, realizes the segmentation to TITO-NCS network delays, real-time, online and dynamic predictive compensation and controls.
2) two inputs two for single-degree-of-freedom IMC export network control system, due to its internal mode controller C1IMC(s) and
C2IMCIn (s), only one of which feedforward filter parameter lambda1And λ2Can adjust, it is necessary to enter between the tracing property and robustness of system
It is capable compromise, the system of control system or presence compared with large disturbances and model mismatch for high performance requirements, it is difficult to take into account each side
Performance and obtain satisfied control effect.
Therefore, the present invention proposes that a kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods.
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 u2S () is used as input
Signal, controlled device prediction model G11m(s) and G12mWhen () passes through network transmission as controlled process, control and process data s
Prolong prediction modelAndAround internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop and one
Negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from sensor
S1 nodes between controller C nodes, and from controller C nodes to actuator A1 nodes, using real network number
According to transmitting procedureAndInstead of the predict-compensate model of network delay therebetweenAndIt is thus no matter controlled right
Whether the prediction model of elephant is equal to its true model, and estimating not comprising network delay therebetween can be realized from system architecture
Compensation model, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or recognize；When
When prediction model is equal to its true model, it is capable of achieving to its network delay τ1And τ2Compensation with control；At the same time, in control
In the backfeed loop of device C nodes close loop control circuit 1, increase feedback filter F1(s)；Implement the network delay of the inventive method
Two degrees of freedom IMC method structures are as shown in Figure 5；
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 u1(s) and u2S () is used as input
Signal, controlled device prediction model G22m(s) and G21mS () is passed with process data as controlled process, control by network delay
Defeated prediction modelAndAround internal mode controller C2IMCS (), constructs a positive feedback Prediction Control loop and one negative
Feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
The network delay prediction model of satisfactionAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S2 nodes between controller C nodes, and from controller C nodes to actuator A2 nodes, using real network
Data transmission procedureAndInstead of the predict-compensate model of network delay therebetweenAndThus no matter it is controlled
Whether the prediction model of object is equal to its true model, can be realized from system architecture not comprising the pre- of network delay therebetween
Estimate compensation model, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or recognize；
When prediction model is equal to its true model, it is capable of achieving to its network delay τ3And τ4Compensation with control；At the same time, in control
In the backfeed loop of device C nodes processed close loop control circuit 2, increase feedback filter F2(s)；When implementing the network of the inventive method
Prolong two degrees of freedom IMC method structures as shown in Figure 5.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller；F1S () is feedback
Wave filter.
2) the internal model control signal u in the controller C nodes of close loop control circuit 2 is come from2(s), in controller C nodes
By controlled device cross aisle transmission function prediction model G12mS () acts on close loop control circuit 1；Returned from closed-loop control
The output internal model control signal u of the actuator A2 nodes on road 22(s), while passing through controlled device cross aisle transmission function G12
(s) and its prediction model G12mS () acts on close loop control circuit 1；From input signal u2S () arrives output signal y1Between (s)
Closed loop transfer function, is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11When (s),
The closed loop transfer function, formula (5) of close loop control circuit 1 and the denominator of (6) byBecome
It is 1；Now, close loop control circuit 1 is no longer included equivalent to an open-loop control system in the denominator of closed loop transfer function,
Influence the network delay τ of the stability of a system1And τ2Exponential termWithThe stability of system only with controlled device and internal model
Controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control of system
Performance quality processed, realizes the dynamic compensation to network delay and two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F1The presence of (s) can improve system with
Track and antijamming capability, reduce influence of the network delay to the stability of a system, improve the dynamic property quality of system.
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 the internal model control signal u in the controller C nodes of close loop control circuit 11S (), leads in controller C nodes
Cross the prediction model G of controlled device cross aisle transmission function21mS () acts on close loop control circuit 2；Returned from closed-loop control
The output internal model control signal u of the actuator A1 nodes on road 11(s), while passing through controlled device cross aisle transmission function G21
(s) and its prediction model G21mS () acts on close loop control circuit 2；From input signal u1S () arrives output signal y2Between (s)
Closed loop transfer function, is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22When (s),
The closed loop transfer function, formula (7) of close loop control circuit 2 and the denominator of (8) byBecome
As 1；Now, close loop control circuit 2 is no longer wrapped equivalent to an open-loop control system in the denominator of closed loop transfer function,
Network delay τ containing the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled device and interior
Mould 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
Control performance quality, realizes the dynamic compensation to network delay and two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F2The presence of (s) can improve system with
Track and antijamming capability, reduce influence of the network delay to the stability of a system, improve the dynamic property quality of system.
In close loop control circuit 1 and loop 2, the design of two degrees of freedom IMC：
1) internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller C11(s) and C22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1(s) and f2S (), constitutes a complete internal mode controller C1IMC(s) and C2IMC(s)。
(1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-(s) and G22m(s)=G22m+(s)G22m-(s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m- (s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
(2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2It is feedforward
Filter time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22The order of (s) molecule,
Usual n1＞ 0 and n2＞ 0.
(3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (9) and (10)：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.
2) feedback filter F1(s) and F2The design of (s) and selection：
Close loop control circuit 1 and the feedback filter F in loop 21(s) and F2S (), can respectively choose fairly simple single order
Wave filter F1(s)=(λ1s+1)/(λ1f) and F s+12(s)=(λ2s+1)/(λ2fS+1), wherein：λ1And λ2It is feedforward filter f1
(s) and f2Time constant in (s), and it is consistent with the selection of its parameter；λ1fAnd λ2fIt is feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fAnd λ2fIn the case of immobilizing, the tracking performance of system
Can be with feedforward filter regulation parameter λ1And λ2Reduction and improve；In feedforward filter regulation parameter λ1And λ2Immobilize
In the case of, the tracing property of system is almost unchanged, and antijamming capability then can be with λ1fAnd λ2fReduction and become strong.
Therefore, the TITO-NCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f1(s) and f2(s)
With feedback filter F1(s) and F2S the parameter of (), to improve the tracing property and antijamming capability of system, reduces network delay to being
The influence of stability of uniting, improves the dynamic property quality of system.
The scope of application of the invention：
Its true model is equal to suitable for controlled device prediction model, or prediction model there may be with its true model
A kind of two input two of certain deviation exports the compensation and two degrees of freedom IMC of network control system (TITO-NCS) network delay；
Its Research Thinking and method, can equally be well applied to controlled device prediction model equal to its true model, or prediction model and its
True model there may be the two or more input of certain deviation and export constituted MIMO Networked Control Systems
(MIMO-NCS) compensation of network delay and two degrees of freedom 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 controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 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 controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 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 actuator A1 nodes output signal y11mb(s) and y12mbS () enters
Row sampling, and calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)
+y12(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions,
Feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C nodes, by feedback signal y1b(s) and controlled device cross aisle transmission function prediction model
G12mThe output y of (s)12maS () acts on feedback filter F after being added1S () obtains its output valve yF1(s), i.e. yF1(s)=(y1b
(s)+y12ma(s))F1(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter F1The output of (s)
Signal yF1S (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：The Internal Model Control Algorithm C of close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2(s) act on by
Control object cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
B5：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 nodes
Transmission, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：In actuator A1 nodes, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains it
Output valve y11mb(s)；The IMC signals u of the actuator A2 nodes of close loop control circuit 2 will be come from2S () acts on controlled device friendship
Fork channel transfer function prediction model G12mS () obtains its output valve y12mb(s)；
C3：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1(s)
Act 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 two degrees of freedom IMC of (s), while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device are intersected
Channel transfer function G21The output signal y of (s)21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () enters
Row sampling, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)
+y21(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions,
Feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by feedback signal y2b(s) and controlled device cross aisle transmission function prediction model
G21mS () exports y21maS () is added, and the result that will add up acts on feedback filter F2S () obtains its output valve yF2(s), i.e.,
yF2(s)=(y2b(s)+y21ma(s))F2(s)；By the system Setting signal x of close loop control circuit 22S (), subtracts feedback filter
F2The output signal y of (s)F2S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：The Internal Model Control Algorithm C of close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1(s) act on by
Control object cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
E5：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 nodes
Transmission, u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：In actuator A2 nodes, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains it
Output valve y22mb(s)；The IMC signals u of the actuator A1 nodes of close loop control circuit 1 will be come from1S () acts on controlled device friendship
Fork channel transfer function prediction model G21mS () obtains its output valve y21mb(s)；
F3：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2(s)
Act 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 two degrees of freedom IMC of (s), while realizing to network delay τ3And τ4Compensation with control.
The present invention has following features：
1st, from exempting in structure in TITO-NCS, the measurement of network delay, observation, estimate or recognize, when exempting node
The synchronous requirement of clock signal；And then avoid estimating the inaccurate evaluated error for causing of model to time delay, it is to avoid to time-delay identification institute
The waste of node storage resources need to be expended, it is to avoid due to the compensation error that " sky sampling " or " sampling " that time delay is caused brings more.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NCS structures, realizing, thus be both applicable
In the TITO-NCS using wired network protocol, the TITO-NCS of wireless network protocol is also applicable for use with；It is not only suitable for determining
Property procotol, also suitable for the procotol of uncertainty；The TITO-NCS of heterogeneous network composition is not only suitable for, while also fitting
For the TITO-NCS that heterogeneous network is constituted.
3rd, the adjustable parameter for using the TITO-NCS of two degrees of freedom IMC its each close loop control circuit is 2, with a freedom
The adjustable parameter of TITO-NCS its each close loop control circuit of IMC is spent for 1 is compared, and the inventive method can further improve system
Stability, tracking performance and antijamming capability, reduce influence of the network delay to the stability of a system, improve the dynamic of system
Can quality.
4th, because the present invention uses compensation and control method that " software " changes TITO-NCS structures, thus in fact
Any hardware device need not be further added by during existing, the software resource carried using existing TITO-NCS intelligent nodes, it is sufficient to real
Existing its compensation function, can save hardware investment and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list
UnitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NCS
Fig. 2 is by r sensor S node, controller C nodes, m actuator A node, controlled device G, m feedforward network
Tunnel time delayUnit, and r feedback network tunnel time delayUnit institute group
Into.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal；Representing will control
Signal uiS feedforward network tunnel time delay that () is experienced from from controller C nodes to i-th actuator A node-node transmission；
Represent j-th detection signal y of sensor S nodesjS () passes to the feedback network path that controller C node-node transmissions are experienced
Defeated time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NCS
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, and controller C nodes are held
Row device A1 and A2 node, controlled device transmission function G11(s) and G22(s) and controlled device cross aisle transmission function G21(s)
And G12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1(s) and x2S () represents the input signal of system；y1(s) and y2S () represents the output signal of system；C1
(s) and C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；τ1And τ3Represent and believe control
Number u1(s) and u2S feedforward network tunnel time delay that () is experienced from from controller C nodes to actuator A1 and A2 node-node transmission；
τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2(s) to controller C node-node transmissions experienced it is anti-
Feedback network path propagation delay time.
Fig. 4：A kind of TITO-NCS delay compensations comprising prediction model and control structure
In Fig. 4：C1IMC(s) and C2IMCS () is the internal mode controller of control loop 1 and 2；AndIt is network transmission
Time delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate time delay mould
Type；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22The prediction model of (s)；G12m(s) and G21m(s) be by
Control object cross aisle transmission function G12(s) and G21The prediction model of (s).
Fig. 5：A kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods
In Fig. 5：F1(s) and F2S () is feedback filter.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill people of this area
Member becomes apparent from features described above of the invention and advantage.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
After signal triggering, will be to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function G12(s)
Output signal y12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () is sampled, and calculate closed loop
The system output signal y of control loop 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
Unit is to controller C node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C sections are got to
Point；
3rd step：Controller C nodes work in event driven manner, when controller C nodes are by feedback signal y1bS () touches
After hair, by feedback signal y1b(s) and controlled device cross aisle transmission function prediction model G12mS () exports y12maS () is added,
And the result that will add up acts on feedback filter F1S () obtains its output valve yF1(s), i.e. yF1(s)=(y1b(s)+y12ma(s))
F1(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter F1The output signal y of (s)F1S (), obtains
To deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC letters
Number u1(s)；The Internal Model Control Algorithm C of close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2S () acts on controlled right
As cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
4th step：Controller C nodes are by IMC signals u1S feedforward network path that () passes through close loop control circuit 1It is single
Unit is to actuator A1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
5th step：Actuator A1 nodes work in event driven manner, when actuator A1 nodes are by IMC signals u1S () touches
After hair, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；To come from and close
The IMC signals u of the actuator A2 nodes of ring control loop 22What s () acted on controlled device cross aisle transmission function estimates mould
Type G12mS () obtains its output valve y12mb(s)；
6th step：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1
S () 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 two degrees of freedom IMC of (s), while realizing to network delay τ1And τ2Compensation with control；
7th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal y21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is sampled, and calculate closed loop
The system output signal y of control loop 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
Unit is to controller C node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C sections are got to
Point；
3rd step：Controller C nodes work in event driven manner, when controller C nodes are by feedback signal y2bS () touches
After hair, by feedback signal y2b(s) and controlled device cross aisle transmission function prediction model G21mS () exports y21maS () is added,
And the result that will add up acts on feedback filter F2S () obtains its output valve yF2(s), i.e. yF2(s)=(y2b(s)+y21ma(s))
F2(s)；By the system Setting signal x of close loop control circuit 22S (), subtracts feedback filter F2The output signal y of (s)F2S (), obtains
To deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC letters
Number u2(s)；The Internal Model Control Algorithm C of close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1S () acts on controlled right
As cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
4th step：Controller C nodes are by IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit
To actuator A2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
5th step：Actuator A2 nodes work in event driven manner, when actuator A2 nodes are by IMC signals u2S () touches
After hair, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；To come from and close
The IMC signals u of the actuator A1 nodes of ring control loop 11S () acts on controlled device cross aisle transmission function prediction model
G21mS () obtains its output valve y21mb(s)；
6th step：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2
S () 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 two degrees of freedom IMC of (s), while realizing to network delay τ3And τ4Compensation with control；
7th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods, 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 controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when actuator A1 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 controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when actuator A2 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 actuator A1 nodes output signal y11mb(s) and y12mbS () is adopted
Sample, and calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12
(s) and y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, feedback
Signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C nodes, by feedback signal y1b(s) and controlled device cross aisle transmission function prediction model G12m
The output y of (s)12maS () acts on feedback filter F after being added1S () obtains its output valve yF1(s), i.e. yF1(s)=(y1b(s)+
y12ma(s))F1(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter F1The output signal of (s)
yF1S (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：The Internal Model Control Algorithm C of close loop control circuit 2 will be come from2IMCThe output IMC signals u of (s)2S () acts on controlled right
As cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
B5：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit to actuator A1 node-node transmissions,
u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by IMC signals u1S () is triggered；
C2：In actuator A1 nodes, by IMC signals u1S () acts on controlled device prediction model G11mS () obtains its output valve
y11mb(s)；The IMC signals u of the actuator A2 nodes of close loop control circuit 2 will be come from2S () acts on controlled device cross aisle
Transmission function prediction model G12mS () obtains its output valve y12mb(s)；
C3：By IMC signals u1S () acts on controlled device G11S () obtains its output valve y11(s)；By IMC signals u1S () acts on
In 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 two degrees of freedom IMC of (s), while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle
Transmission function G21The output signal y of (s)21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is adopted
Sample, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21
(s) and y2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback
Signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by feedback signal y2b(s) and controlled device cross aisle transmission function prediction model G21m
S () exports y21maS () is added, and the result that will add up acts on feedback filter F2S () obtains its output valve yF2(s), i.e. yF2
(s)=(y2b(s)+y21ma(s))F2(s)；By the system Setting signal x of close loop control circuit 22S (), subtracts feedback filter F2
The output signal y of (s)F2S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：The Internal Model Control Algorithm C of close loop control circuit 1 will be come from1IMCThe output IMC signals u of (s)1S () acts on controlled right
As cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
E5：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit to actuator A2 node-node transmissions,
u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by IMC signals u2S () is triggered；
F2：In actuator A2 nodes, by IMC signals u2S () acts on controlled device prediction model G22mS () obtains its output valve
y22mb(s)；The IMC signals u of the actuator A1 nodes of close loop control circuit 1 will be come from1S () acts on controlled device cross aisle
Transmission function prediction model G21mS () obtains its output valve y21mb(s)；
F3：By IMC signals u2S () acts on controlled device G22S () obtains its output valve y22(s)；By IMC signals u2S () acts on
In 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 two degrees of freedom IMC of (s), while realizing to network delay τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay between node and node
τ1And 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-NCS 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 its each closed loop control of the TITO-NCS of two degrees of freedom IMC
The adjustable parameter in loop processed is 2, is 1 with the adjustable parameter of the TITO-NCS of one degree of freedom IMC its each close loop control circuit
Individual to compare, the inventive method can further improve stability, tracking performance and the antijamming capability of system, reduce network delay pair
The influence of the stability of a system, improves the dynamic property quality of system.
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| CN106707761A (en) * | 2017-02-20 | 2017-05-24 | 海南大学 | Two-input and two-output networked control system unknown time delay IMC method |
| CN107168043A (en) * | 2017-06-07 | 2017-09-15 | 海南大学 | The input of one kind two two exports the unknown delay compensations of NDCS and IMC methods |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106707761A (en) * | 2017-02-20 | 2017-05-24 | 海南大学 | Two-input and two-output networked control system unknown time delay IMC method |
| CN107168043A (en) * | 2017-06-07 | 2017-09-15 | 海南大学 | The input of one kind two two exports the unknown delay compensations of NDCS and IMC methods |
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