CN106802560A - A kind of two input two exports SPC the and IMC methods of network control system random delay - Google Patents
A kind of two input two exports SPC the and IMC methods of network control system random delay Download PDFInfo
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Abstract
Two inputs two export SPC the and IMC methods of network control system random delay, belong to the MIMO NCS technical fields of limited bandwidth resources.For in a kind of TITO NCS, influenced each other between two two output signals of input, transmit produced network delay among the nodes due to network data, not only influence its own close loop control circuit stability, but also another close loop control circuit stability will be influenceed, even result in the problem of TITO NCS loss of stability, propose with the network data transmission process between all real nodes in TITO NCS, instead of network delay compensation model therebetween, and dynamic Feedforward plus SPC and IMC are implemented respectively to two loops, measurement to network delay between node can be exempted using the inventive method, estimate or recognize, exempt the requirement synchronous to node clock signal, random network time delay is reduced to TITO NCS stability influences, improve system control performance quality.
Description
Technical field
It is a kind of two input two export network control system random delay SPC (Smith Predictor Control,
SPC) and IMC (Internal Model Control, IMC) method, it is related to automatic control technology, the network communications technology and calculating
The crossing domain of machine technology, more particularly to limited bandwidth resources 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 being produced on the performance quality of whole system and stability and being restricted, it implements delay compensation with control with its stability problem
System is more much more difficult than SISO-NCS.
The content of the invention
Network control system (TITO-NCS) random delay is exported the present invention relates to a kind of two input two in MIMO-NCS
Compensation and 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 C1 nodes at place, the network delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent and believe output
Number y1(s) from sensor S1 nodes, through feedback network tunnel to C1S network that the C1 nodes where () controller are experienced
Time delay.
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 it is random when
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 control signal u2S () is from C2(s) controller
The C2 nodes at place, the network delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent and believe output
Number y2(s) from sensor S2 nodes, through feedback network tunnel to C2S network that the C2 nodes where () controller are experienced
Time delay.
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 it is random when
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-NCS of Fig. 3, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap
Network random delay τ is contained1And τ2Exponential termWithAnd transmission function equation (3) and (4) of close loop control circuit 2
Denominator in, contain network random delay τ3And 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.
Therefore, for the close loop control circuit 1 in Fig. 3：The present invention proposes that one kind adds SPC (Smith based on dynamic Feedforward
Predictor Control, SPC) delay compensation method；For close loop control circuit 2：The present invention proposes a kind of dynamic Feedforward
Plus the delay compensation method of IMC (Internal Model Control, IMC)；Constitute two close loop control circuit network delays
Compensate and mix control, in exempting to each close loop control circuit, the measurement of random network time delay between node, estimate or distinguish
Know, and then reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole control system controlling
The influence of energy quality and the stability of a system；It is capable of achieving the finger not comprising network delay in the characteristic equation of respective close loop control circuit
It is several, and then influence of the network delay to whole system stability can be reduced, improve the dynamic property quality of system, it is right to realize
The segmentation of TITO-NCS random network time delays, real-time, online and dynamic predictive compensation and SPC and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, the closed loop transform function of close loop control circuit 1 is no longer included
Network delay exponential term, to realize to network random delay τ1And τ2Compensation with control, around controlled device G11(s), to close
Ring control loop 1 exports y1(s) as input signal, by y1S () passes through network transfer delay prediction modelAnd Prediction Control
Device C1m(s) and network transfer delay prediction modelOne positive feedback Prediction Control loop of construction, by y1S () is by estimating
Controller C1mS () constructs a negative-feedback Prediction Control loop；At the same time, in controlled device G11S () holds, build one and move
State feedforward controller D12(s), for reducing the interference signal u from close loop control circuit 22pS () passes through cross jamming passage G12
The influence of (s) to the dynamic property of close loop control circuit 1, while D12S () has uneoupled control effect concurrently；Implement the structure of this step such as
Shown in Fig. 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 control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet predictor controller C1mS () is equal to its controller C1S the condition of () is (due to controller C1S () is people
To design and selecting, C is met naturally1m(s)=C1(s)).Therefore, from sensor S1 nodes to controller C1 nodes, and
From controller C1 nodes to actuator A1 nodes, using real network data transmission processWithInstead of net therebetween
The predict-compensate model of network time delayWithObtain network delay compensation and the control structure shown in Fig. 5；
3rd step：By controller C in Fig. 51S (), by the further abbreviation of transmission function equivalence transformation rule, obtains Fig. 6 institutes
The network delay compensation of the implementation the inventive method shown and control structure；Realize system not comprising network delay therebetween from structure
Predict-compensate model so that in exempting to close loop control circuit 1, random network delay, τ between node1And τ2Measurement, estimate
Or identification, it is capable of achieving to random network delay, τ1And τ2Compensation and SPC；Implement the network random delay compensation of the inventive method
It is as shown in Figure 6 with SPC structures.
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C2 nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；In order to
When realization meets predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, with reality
Now to network random delay τ3And τ4Compensation with control, around controlled device G22S (), y is exported with close loop control circuit 22(s)
As input signal, by y2S () passes through network transfer delay prediction modelWith estimate internal mode controller C2mIMC(s) and net
Network propagation delay time prediction modelOne positive feedback Prediction Control loop of construction；At the same time, in controlled device G22S () holds,
Build a dynamic Feedforward controller D21(s), for reducing the interference signal u from close loop control circuit 11pS () is by intersecting
Interfering channel G21The influence of (s) to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently；Implement this
The structure of step is 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 control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and satisfaction estimate internal mode controller C2mIMCS () is equal to its internal mode controller C2IMCS the condition of () is (due to internal model
Controller C2IMCS () is artificial design and selection, C is met naturally2mIMC(s)=C2IMC(s)).Therefore, from sensor S2 nodes to
Between controller C2 nodes, and from controller C2 nodes to actuator A2 nodes, using real network data transmission
ProcessWithInstead of the predict-compensate model of network delay therebetweenWithObtain the network random delay shown in Fig. 5
Compensation and control structure；
3rd step：By internal mode controller C in Fig. 52IMCS (), by the further abbreviation of transmission function equivalence transformation rule, obtains
The network delay compensation of the implementation the inventive method shown in Fig. 6 and control structure；Realize system not comprising net therebetween from structure
The predict-compensate model of network time delay, so that in exempting to close loop control circuit 2, network random delay τ between node3And τ4Survey
Amount, estimation are recognized, and are capable of achieving to network random delay τ3And τ4Compensation and IMC；When the network of implementation the inventive method is random
Prolong compensation as shown in Figure 6 with IMC structures.
Herein it should be strongly noted that in controller C1 and the C2 node of Fig. 6, close loop control circuit is occurred in that respectively
The 1 and Setting signal x in loop 21(s) and x2(s), respectively with its feedback signal y1(s) and y2(s) implement first " subtracting " afterwards " plus ", or
First " plus " operation rule that " subtracts " afterwards, i.e. y1(s) and y2S () signal is connected to control by positive feedback and negative-feedback simultaneously respectively
In device C1 and C2 node：
(1) this is due to by the controller C in Fig. 51(s) and internal mode controller C2IMC(s), respectively according to transmission function etc.
The further abbreviation of valency transformation rule obtains the result shown in Fig. 6, and non-artificial setting；
(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage with control etc. function, same signal is carried out in node elder generation " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method
Then go up do not have what be not inconsistent normally part；
Same signal is carried out in node (3) " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that1(s) or y2S () does not just exist, or do not obtain y1(s) or y2(s) signal, or signal
It is not stored for；Or do not exist because " cancelling out each other " causes " zero " signal value to reform into, or it is nonsensical；
(4) triggering of controller C1 or C2 nodes, is just respectively from signal y1(s) or y2The driving of (s), if
Controller C1 or C2 node is not received by the signal y come from feedback network tunnel1(s) or y2S (), then locate
Will not be triggered in controller C1 or the C2 node of event-driven working method.
For the close loop control circuit 1 in Fig. 6：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is controller.
2) the signal u of actuator A2 nodes in close loop control circuit 2 is come from2p(s), by dynamic Feedforward controller D12
S () acts on close loop control circuit 1；At the same time, signal u2pS () passes through cross jamming passage G12S () acts on closed-loop control
Loop 1；From input signal u2pS () arrives output signal y1S the closed loop transfer function, between () is：
Using the inventive method, the closed loop transform function of close loop control circuit 1 is 1+C1(s)G11S ()=0, its closed loop is special
Levy in equation no longer comprising the network random delay τ of the influence stability of a system1And τ2Exponential termWithSo as to reduce
Influence of the network delay to the stability of a system, improves system dynamic control performance quality, realizes the dynamic to random network time delay
Compensation and dynamic Feedforward control plus SPC.
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2IMCS () is internal mode controller.
2) the signal u of actuator A1 nodes in close loop control circuit 1 is come from1p(s), by dynamic Feedforward controller D21
S () acts on close loop control circuit 2；At the same time, signal u1pS () passes through cross jamming passage G21S () acts on closed-loop control
Loop 2；From input signal u1pS () arrives output signal y2S the closed loop transfer function, between () is：
Using the inventive method, the denominator of transmission function equation (7) and (8) is 1+C2IMC(s)G22S (), closed-loop control is returned
The closed loop transform function on road 2 is 1+C2IMC(s)G22(s)=0, in closed loop transform function no longer comprising influence the stability of a system with
The exponential term of machine network delay τ 3 and τ 4WithSo as to influence of the network delay to the stability of a system can be reduced, improve system
System dynamic control performance quality, realizes the dynamic compensation to random network time delay and dynamic Feedforward control plus IMC.
In close loop control circuit 1, controller C1The selection of (s)：
Controller C1S () can be according to controlled device G11The Mathematical Modeling of (s), and model parameter change, both may be selected
Conventional control strategy, also may be selected Based Intelligent Control or complex control strategy；Close loop control circuit 1 uses SPC methods, from TITO-
Realized in NCS structures and specific controller C1S the selection of the control strategy of () is unrelated.
In close loop control circuit 2, internal mode controller 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 C22(s)；Second step is that certain order is added in feedforward controller
Feedforward filter f2S (), constitutes a complete internal mode controller C2IMC(s)。
(1) feedforward controller C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 2, controlled device prediction model is equal to its true model, i.e.,：G22m(s)=G22
(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G22m(s)=
G22m+(s)G22m-(s), wherein：G22m+S () is controlled device prediction model G22mPure lag system and s RHPs are included in (s)
The irreversible part of zero pole point；G22m-S () is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 222S () can be chosen for：
(2) feedforward filter f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller22m-(s),
Have ignored G22m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system
In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller
Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.
Generally the feedforward filter f of close loop control circuit 22S (), is chosen for fairly simple n2 rank wave filtersWherein：λ2It is feedforward filter time constant；n2It is the order of feedforward filter, and n2=n2a-n2b；n2a
It is controlled device G22The order of (s) denominator；n2bIt is controlled device G22The order of (s) molecule, usual n2＞ 0.
(3) internal mode controller C2IMC(s)
The internal mode controller C of close loop control circuit 22IMCS () can be chosen for:
Be can be seen that from equation (9)：The internal mode controller C of one degree of freedom2IMCS in (), all only one of which can adjust
Parameter lambda2；Due to λ2The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore is adjusting
The customized parameter λ of wave filter2When, the tracing property generally required in system is traded off between the two with antijamming capability.
In close loop control circuit 1 and loop 2, dynamic Feedforward controller D12(s) and D21The selection of (s)：
Influence close loop control circuit 1 and the interference signal u of the control performance quality of loop 22p(s) and u1p(s), by intersecting
Interfering channel G12(s) and G21S () acts on close loop control circuit 1 and loop 2, using dynamic Feedforward controller D12(s) and D21
S () is used to reduce interference signal to close loop control circuit 1 and the influence of the dynamic property of loop 2.Under normal circumstances, D may be selected12
(s)=G12(s)/G11(s), D21(s)=G21(s)/G22(s)。
The scope of application of the invention：
Suitable for known to plant model or a kind of two input two for being uncertain of exports network control system (TITO-
NCS) compensation of random network time delay and SPC and IMC.Its Research Thinking and method, can equally be well applied to plant model
The compensation of MIMO Networked Control Systems (MIMO-NCS) the random network time delay known or be uncertain of and SPC 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 controller C1 nodes are by feedback signal y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal e1When () 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 C2 nodes are by feedback signal y2When () 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)12S () is sampled, and calculate the system output signal of close loop control circuit 1
y1(s), and y1(s)=y11(s)+y12(s)；
A3：By feedback signal y1(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions,
Feedback signal y1S () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1S () is triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s), with feedback signal y1(s)
After phase adduction subtracts each other, signal, i.e. e are obtained1(s)=x1(s)+y1(s)-y1(s)=x1(s)；
B3：By signal e1S feedforward network path that () passes through close loop control circuit 1Unit is passed to actuator A1 nodes
It is defeated, e1S () 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 signal e1S () is triggered；
C2：By signal e1(s) and feedback signal y1S () subtracts each other and obtains signal e3(s), i.e. e3(s)=e1(s)-y1(s)；It is right
e3S () implements control algolithm C1S (), obtains control signal u1(s)；
C3：By control signal u1(s) and the output signal u for coming from the actuator A2 nodes of close loop control circuit 22pS () leads to
Cross dynamic Feedforward controller D12The output signal u of (s)d12S () subtracts each other and obtains signal u1p(s), i.e. u1p(s)=u1(s)-ud12
(s)；
C4：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () acts on
Controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21
The dynamic Feedforward control of (s) plus SPC, while realizing to random network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device are intersected
Channel transfer function G21The output signal y of (s)21S () is sampled, and calculate the system output signal of close loop control circuit 2
y2(s), and y2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions,
Feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase
After adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：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：By IMC signals u2(s) and the output signal u for coming from the actuator A1 nodes of close loop control circuit 11pS () passes through
Dynamic Feedforward controller D21The output signal u of (s)d21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-ud21(s)；
F3：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () acts on
Controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12
The dynamic Feedforward control of (s) plus IMC, while realizing to random network delay, τ3And τ4Compensation with control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NCS, the measurement of network delay, observation, estimate or recognize, while also
The synchronous requirement of node clock signal can be exempted, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid pair when
Prolong the waste of consuming node storage resources needed for identification, while can also avoid due to " the sky sampling " or " sampling more " that time delay is caused
The compensation error brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-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 control loop 1 in TITO-NCS：Using dynamic Feedforward control plus SPC, due to real from TITO-NCS structures
Now with specific controller C1S the selection of the control strategy of () is unrelated, thus can be not only used for using the TITO-NCS of conventional control, also
Can be used for using Based Intelligent Control or the TITO-NCS using complex control strategy；Using dynamic Feedforward controller D12S (), can drop
The low interference signal u from close loop control circuit 22pS () passes through cross jamming passage G12S () is to the dynamic of close loop control circuit 1
The influence of energy, while D12S () has uneoupled control effect concurrently.
4th, the control loop 2 in TITO-NCS：Using dynamic Feedforward control plus IMC, its internal mode controller C2IMC(s) can
Adjust parameter only one of which λ2Parameter, the regulation of its parameter is simple with selection, and explicit physical meaning；Can not only be carried using IMC
The stability of system high, tracking performance and anti-interference ability, but also the compensation to random network time delay and IMC can be realized；
Using dynamic Feedforward controller D21S (), can reduce the interference signal u from close loop control circuit 11pS () passes through cross jamming
Passage G21The influence of (s) to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently.
5th, 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 and control 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；Table
Show j-th detection signal y of sensor S nodesjS feedback network tunnel that () is experienced to controller C node-node transmissions
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, controller C1 and C2 section
Point, actuator 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 unitWithInstitute
Composition.
In Fig. 3：x1(s) and x2S () represents the input signal of system；y1(s) and y2S () represents the output signal of system；C1
(s) and C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；τ1And τ3Represent and believe control
Number u1(s) and u2S feedforward network tunnel that () is experienced from controller C1 and C2 from node to actuator A1 and A2 node-node transmission
Time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to controller C1 and C2 node-node transmission
The feedback network tunnel time delay for being experienced.
Fig. 4：A kind of TITO-NCS delay compensations comprising prediction model and control structure
In Fig. 4：C1mS () is the controller C of control loop 11The prediction model of (s)；C2mIMCS () is the internal model control of control loop 2
Device C processed2IMCThe prediction model of (s)；AndIt is network transfer delayAndEstimate Time Delay Model；With
AndIt is network transfer delayAndEstimate Time Delay Model；D12(s) and D21S () is dynamic Feedforward controller.
Fig. 5：Replace the delay compensation of prediction model and control structure with true model
Fig. 6：A kind of two input two exports SPC the and IMC methods of network control system random delay
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 6 below, make the ordinary skill people of this area
Member becomes apparent from features described above of the invention and advantage.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
After signal triggering, will be to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function G12(s)
Output signal y12S () is sampled, and calculate the system output signal y of close loop control circuit 11(s), and y1(s)=y11(s)
+y12(s)；
Second step：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1S () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1S () triggers after, with feedback
Signal y1S () phase adduction subtracts each other after, signal e is obtained1(s), i.e. e1(s)=x1(s)+y1(s)-y1(s)=x1(s)；
4th step：By signal e1S feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1
Point transmission, e1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
5th step：Actuator A1 nodes work in event driven manner, by signal e1After (s) triggering, by signal e1(s) with
Feedback signal y1S () subtracts each other and obtains signal e3(s), i.e. e3(s)=e1(s)-y1(s)；To e3S () implements control algolithm C1S (), obtains
To control signal u1(s)；By control signal u1(s) and the output signal u for coming from the actuator A2 nodes of close loop control circuit 22p
S () passes through dynamic Feedforward controller D12The output signal u of (s)d12S () subtracts each other, obtain signal u1p(s), i.e. u1p(s)=u1(s)-
ud12(s)；
6th step：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () is made
For controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and
G21The dynamic Feedforward control of (s) plus SPC, while realizing to random network delay, τ1And τ2Compensation with control；
7th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal y21S () is sampled, and calculate the system output signal y of close loop control circuit 22(s), and y2(s)=y22(s)
+y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Controller C2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
3rd step：Controller C2 nodes work in event driven manner, by feedback signal y2S () triggers after, by closed loop
The system Setting signal x of control loop 22(s), with feedback signal y2S () phase adduction obtains signal e after subtracting each other2(s), i.e. e2(s)=x2
(s)+y2(s)-y2(s)=x2(s)；To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
4th step：By IMC signals u2S feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2
Node-node transmission, u2S () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
5th step：Actuator A2 nodes work in event driven manner, by IMC signals u2S () triggers after, IMC is believed
Number u2(s) and the output signal u for coming from the actuator A1 nodes of close loop control circuit 11pS () passes through dynamic Feedforward controller D21
The output signal u of (s)d21S () subtracts each other, obtain signal u2p(s), i.e. u2p(s)=u2(s)-ud21(s)；
6th step：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () is made
For controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and
G12The dynamic Feedforward control of (s) plus IMC, 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.
The research of patent of the present invention and application work, obtain project of national nature science fund project (61263001)：" network is provided
Source is limited and the complex network control system research under long time delay ", and Ministry of Science and Technology's International Sci ＆ Tech Cooperation special project project
(2015DFR10510)：The subsidy of projects such as " marine multiple agent emergency rescue technical tie-up researchs "；Obtain " Nan Haihai simultaneously
Foreign utilization of resources National Key Laboratory (University Of Hainan) ", " Hainan Province's overocean communications with network engineeringtechnique research center " with
And the support energetically and subsidy of " the big information industry garden Co., Ltd in Hainan sea ", express thanks herein！
Claims (5)
1. a kind of two input two exports SPC the and IMC methods of network control system random delay, it is characterised in that the method includes
Following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C1 nodes are by feedback signal y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal e1When () 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 C2 nodes are by feedback signal y2When () 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)12S () is sampled, and calculate the system output signal y of close loop control circuit 11
(s), and y1(s)=y11(s)+y12(s)；
A3：By feedback signal y1(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions, feedback
Signal y1S () will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1S () is triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s), with feedback signal y1S () is added
And after subtracting each other, obtain signal, i.e. e1(s)=x1(s)+y1(s)-y1(s)=x1(s)；
B3：By signal e1S feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, e1
S () 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 signal e1S () is triggered；
C2：By signal e1(s) and feedback signal y1S () subtracts each other and obtains signal e3(s), i.e. e3(s)=e1(s)-y1(s)；To e3(s)
Implement control algolithm C1S (), obtains control signal u1(s)；
C3：By control signal u1(s) and the output signal u for coming from the actuator A2 nodes of close loop control circuit 22pS () is by dynamic
State feedforward controller D12The output signal u of (s)d12S () subtracts each other and obtains signal u1p(s), i.e. u1p(s)=u1(s)-ud12(s)；
C4：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () acts on controlled
Object cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21(s)
Dynamic Feedforward control plus SPC, while realizing to random network delay, τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle
Transmission function G21The output signal y of (s)21S () is sampled, and calculate the system output signal y of close loop control circuit 22
(s), and y2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions, feedback
Signal y2S () will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase adduction
After subtracting each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：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：By IMC signals u2(s) and the output signal u for coming from the actuator A1 nodes of close loop control circuit 11pS () is by dynamic
Feedforward controller D21The output signal u of (s)d21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-ud21(s)；
F3：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () acts on controlled
Object cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12(s)
Dynamic Feedforward control plus IMC, while realizing to random network delay, τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NCS structures, to random network time delay
The implementation of compensation method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：For the control loop 1 in TITO-NCS, before dynamic
Feedback control plus SPC, due to being realized from TITO-NCS structures and specific controller C1S the selection of () control strategy is unrelated, thus
Can be not only used for using the TITO-NCS of conventional control, also can be used for using Based Intelligent Control or the TITO- using complex control strategy
NCS；Its dynamic Feedforward controller D12S (), can reduce the interference signal u from close loop control circuit 22pS () is dry by intersecting
Disturb passage G12The influence of (s) to the dynamic property of close loop control circuit 1, while D12S () has uneoupled control effect concurrently.
5. method according to claim 1, it is characterised in that：For the control loop 2 in TITO-NCS, before dynamic
Feedback control plus IMC, can improve the stability of a system and tracing property and anti-interference ability, realize the benefit to random network time delay
Repay and control；Using dynamic Feedforward controller D21S (), can reduce the interference signal u from close loop control circuit 11pS () leads to
Cross cross jamming passage G21The influence of (s) to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently.
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