CN106814611A - A kind of TITO NCS uncertain network-induced delay compensation methodes of two degrees of freedom IMC and SPC - Google Patents
A kind of TITO NCS uncertain network-induced delay compensation methodes of two degrees of freedom IMC and SPC Download PDFInfo
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Abstract
The TITO NCS uncertain network-induced delay compensation methodes of two degrees of freedom IMC and SPC, 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 the stability of its own close loop control circuit, but also the stability of another close loop control circuit will be influenceed, even result in the problem of TITO NCS loss of stability, propose with network data transmission process between all real nodes in TITO NCS, instead of the compensation model of uncertain network-induced delay therebetween, and two loops are implemented with two degrees of freedom IMC and SPC respectively, the measurement to network delay between node can be exempted, estimate or recognize, exempt the requirement synchronous to node clock signal, reduce influence of the uncertain network-induced delay to TITO NCS stability, the control performance quality of improvement system.
Description
Technical field
A kind of two degrees of freedom IMC (Internal model control, IMC) and SPC (Smith predictor
Control, SPC) TITO (Two-input and two-output, TITO) network control system (Networked
Control systems, NCS) uncertain network-induced delay compensation method, it is related to automatically control, network service and computer technology
Crossing domain, 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 uncertain network-induced delay, it is possible to decrease the control quality of NCS, or even makes system loss of stability, may when serious
System is caused to break 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, to more than several or even the dozens of sampling period uncertain network-induced delay, to set up in MIMO-NCS each
The Mathematical Modeling that the uncertain network-induced delay of control loop 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
When not known the present invention relates to a kind of output network control system (TITO-NCS) of two input two in MIMO-NCS
The compensation prolonged and control, the typical structure of its TITO-NCS are as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is controller, G11S () is controlled device；τ1Represent control signal u1S () is from C1(s) controller
The C nodes at place, the uncertain network-induced delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Expression will be defeated
Go out signal y1(s) from sensor S1 nodes, through feedback network tunnel to C1S the C nodes where () controller are experienced not
Determine network 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 uncertain network
Delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even result in system mistake
Go stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is controller, G22S () is controlled device；τ3Represent control signal u2S () is from C2(s) controller
The C nodes at place, the uncertain network-induced delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Expression will be defeated
Go out signal y2(s) from sensor S2 nodes, through feedback network tunnel to C2S the C nodes where () controller are experienced not
Determine network 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 uncertain network
Delay, τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated
Stability.
Goal of the invention：
For the TITO-NCS of Fig. 3, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap
Uncertain network-induced delay τ is contained1And τ2Exponential termWithAnd close loop control circuit 2 transmission function equation (3) and
(4) in denominator, uncertain network-induced delay τ is contained3And τ4Exponential termWithThe presence of network delay can be reduced
The control performance quality of respective close loop control circuit simultaneously influences the stability of respective close loop control circuit, while will also decrease whole
The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
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
Reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with
The influence of the stability of a system, when prediction model is equal to its true model, is capable of achieving the characteristic equation of respective close loop control circuit
In the exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
Performance quality, realizes the segmentation to TITO-NCS uncertain network-induced delays, real-time, online and dynamic predictive compensation and controls.
(2) for the TITO-NCS of single-degree-of-freedom IMC, due to only one of which feedforward filter parameter lambda in its control loop
Can adjust, it is necessary to be traded off between the tracing property and robustness of system, TITO-NCS or presence for high performance requirements
Compared with large disturbances and the TITO-NCS of model mismatch, it is difficult to take into account the performance of each side and obtain satisfied control effect.
(3) present invention proposes a kind of two degrees of freedom IMC and SPC associated methods of TITO-NCS uncertain network-induced delays
For close loop control circuit in Fig. 31, a kind of delay compensation method based on two degrees of freedom IMC is proposed；For Fig. 3
Middle close loop control circuit 2, proposes a kind of delay compensation method based on SPC.
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 uncertain network-induced delay prediction modelAndTo be equal to its true modelAndCondition.Therefore,
From sensor S1 nodes to controller C nodes, and from controller C nodes to actuator A1 nodes, using true
Network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus nothing
Whether its true model is equal to by the prediction model of controlled device, when can be realized from system architecture not comprising network therebetween
The predict-compensate model for prolonging, so that in exempting to close loop control circuit 1, uncertain network-induced delay τ between node1And τ2Measurement,
Estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its uncertain network-induced delay τ1And τ2Compensation with control
System；The structure implemented after second step is as shown in Figure 5；At the same time, in the backfeed loop of controller C nodes close loop control circuit 1
In, increase feedback filter F1(s)；The network delay two degrees of freedom IMC method structures for implementing the inventive method are as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, in order to realize meeting during predictive compensation condition, the closed loop of close loop control circuit 2
The exponential term of network delay is no longer included in characteristic equation, to realize to network delay τ3And τ4Compensation with control, use with control
Signal u processed1(s) and u2S () is used as input signal, controlled device prediction model G22m(s) and G21mS () is used as controlled process, control
Prediction model is transmitted by network delay with process dataAndAround controller C2S (), constructs a positive feedback
Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and SPC 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 nondeterministic network Time-delay Prediction modelAndTo be equal to its true modelAndCondition.Therefore,
From sensor S2 nodes to controller C nodes, and from controller C nodes to actuator A2 nodes, using true
Network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus nothing
Whether its true model is equal to by the prediction model of controlled device, when can be realized from system architecture not comprising network therebetween
The predict-compensate model for prolonging, so that in exempting to close loop control circuit 2, uncertain network-induced delay τ between node3And τ4Measurement,
Estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its uncertain network-induced delay τ3And τ4Compensation with
SPC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures.
For the close loop control circuit 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 control signal u in the controller C nodes of close loop control circuit 2 is come from2S (), passes through in controller C nodes
Controlled device cross aisle transmission function prediction model G12mS () acts on close loop control circuit 1；From close loop control circuit 2
The output control signal u of actuator A2 nodes2(s), while passing through controlled device cross aisle transmission function G12S () is estimated with it
Model G12mS () acts on close loop control circuit 1；From input signal u2S () arrives output signal y1Closed loop transfer function, between (s)
For：
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, denominator of close loop control circuit 1 byIt is turned into 1.
Now, close loop control circuit 1 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device and
Internal mode controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
State control performance quality, realizes the dynamic compensation to uncertain network-induced 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, further 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)；C2S () is controller.
2) from IMC signals u in the controller C nodes of close loop control circuit 11(s), by controlled in controller C nodes
The prediction model G of object cross aisle transmission function21mS () acts on close loop control circuit 2；From holding for close loop control circuit 1
The output IMC signals u of row device A1 nodes1(s), while passing through controlled device cross aisle transmission function G21S () estimates mould with it
Type G21mS () acts on close loop control circuit 2；From input signal u1S () arrives output signal y2Closed loop transfer function, between (s)
For：
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 transform function of closed loop 2 will be byBecome 1+C2(s)G22
(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function3And τ4Exponential termWith
So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, realize to uncertain
The dynamic compensation of network delay and SPC.
In close loop control circuit 1, design and the selection of two degrees of freedom IMC：
(1) internal mode controller C1IMCThe 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)；Second step is that certain order is added in feedforward controller
Feedforward filter f1S (), constitutes a complete internal mode controller C1IMC(s)。
1) feedforward controller C11(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, controlled device prediction model is equal to its true model, i.e.,：G11m(s)=G11
(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), wherein：G11m+S () is controlled device prediction model G11mPure lag system and s RHPs are included in (s)
The irreversible part of zero pole point；G11m- (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 111S () can be chosen for：
2) feedforward filter f1(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),
Have ignored G11m+(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 11S (), is chosen for fairly simple n1Rank wave filterWherein：λ1It is feedforward filter time constant；n1It is the order of feedforward filter, and n1=n1a-n1b；n1a
It is controlled device G11The order of (s) denominator；n1bIt is controlled device G11The order of (s) molecule, usual n1＞ 0.
3) internal mode controller C1IMC(s)
The internal mode controller C of close loop control circuit 11IMCS () can be chosen for:
Be can be seen that from equation (9)：The internal mode controller C of one degree of freedom1IMCIn (s), the adjustable ginseng of only one of which
Number λ1；Due to λ1The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting
The customized parameter λ of ripple device1When, the tracing property generally required in system is traded off between the two with antijamming capability.
(2) feedback filter F1The design of (s) and selection
The feedback filter F of close loop control circuit 11S (), can choose fairly simple firstorder filter F1(s)=(λ1s+
1)/(λ1fS+1), wherein：λ1It is feedforward filter f1Time constant in (s)；λ1fIt is feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fIn the case of immobilizing, the tracking performance of system can be with
Feedforward filter regulation parameter λ1Reduction and improve；In feedforward filter regulation parameter λ1In the case of immobilizing, system
Tracing property it is almost unchanged, and antijamming capability then can be with λ1fReduction and become strong.
Therefore, the TITO-NCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f1(s) and feedback
Wave filter F1S the parameter of (), to improve the tracing property and antijamming capability of system, reduces shadow of the network delay to the stability of a system
Ring, improve the dynamic property quality of system.
In close loop control circuit 2, controller C2The selection of (s)：
Controller C2S () can be according to controlled device G22The 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 2 uses SPC methods, from TITO-
Realized in NCS structures and specific controller C2S the selection of the control strategy of () is unrelated.
The scope of application of the invention：
Suitable for controlled device prediction model be equal to its true model or controlled device prediction model and its true model it
Between when there may be certain deviation using the two degrees of freedom IMC methods of close loop control circuit 1, and controlled device prediction model etc.
Using the SPC methods of close loop control circuit 2 when its true model, a kind of TITO-NCS uncertain network-induced delays for being constituted
Compensate and mix two degrees of freedom IMC and SPC；Its Research Thinking and method, can equally be well applied to controlled device prediction model and are equal to
Returned using closed-loop control when certain deviation is there may be between its true model or controlled device prediction model and its true model
The two degrees of freedom IMC methods on road 1, and controlled device prediction model be equal to its true model when using close loop control circuit 2
SPC methods, the compensation of the MIMO Networked Control Systems for being constituted (MIMO-NCS) uncertain network-induced delay with mix
Two degrees of freedom IMC and SPC.
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) works as actuator A2 node controlled 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 () is added and obtains signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)；By y1cS () acts on instead
Feedback wave filter F1S () obtains its output valve yF1(s)；By system Setting signal x1S (), subtracts feedback filter F1The output letter of (s)
Number yF1S (), obtains system 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 controller C of close loop control circuit 2 will be come from2The output control signal u of (s)2S () acts on controlled device friendship
Fork channel transfer 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 control signal 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 uncertain network-induced 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 the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s)
With controlled device cross aisle transmission function prediction model G21mS () exports y21maS () and controlled device transmission function estimate mould
Type G22mS () exports y22maS (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma(s)-y22ma(s)；
E3：To e2S () implements control algolithm C2S (), obtains control signal u2(s)；By u2S () acts on controlled device biography
Delivery function prediction model G22mS () obtains its output valve y22ma(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 control signal 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, controlled signal u2S () is triggered；
F2：In actuator A2 nodes, by control signal 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 control signal u2S () acts on controlled device G22S () obtains its output valve y22(s)；By control signal 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 SPC of (s), while realizing to uncertain network-induced delay τ3And τ4Compensation with control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NCS, the measurement of uncertain network-induced delay, observation, estimate or recognize,
The synchronous requirement of node clock signal can also be exempted simultaneously, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, kept away
Exempt to expending the waste of node storage resources needed for time-delay identification, at the same can also avoid " sky sampling " that is caused due to time delay or
The compensation error that " sampling " 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, in TITO-NCS, using the close loop control circuit 1 of two degrees of freedom IMC, the adjustable parameter of its control loop is 2
Individual, compared with the adjustable parameter of close loop control circuit of single-degree-of-freedom IMC is used for 1, the inventive method can further improve
The stability of system, tracking performance and antijamming capability, reduce influence of the network delay to the stability of a system, improve the dynamic of system
State performance quality.
4th, in TITO-NCS, using the close loop control circuit 2 of SPC, due to being realized from TITO-NCS structures and specifically controlled
Device C processed2S 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 to use intelligence
Can control or the TITO-NCS using complex control strategy.
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；
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 unpredictable time-delays compensation comprising prediction model and control structure
In Fig. 4：C1IMCS () is the internal mode controller of control loop 1；C2The controller of (s) control loop 2；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAnd
Estimate Time Delay Model；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22The prediction model of (s)；G12m(s)
And G21mS () is controlled device cross aisle transmission function G12(s) and G21The prediction model of (s).
Fig. 5：A kind of TITO-NCS uncertain network-induced delay compensation methodes of two degrees of freedom IMC and SPC
In Fig. 5：F1S () 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 G12mThe output y of (s)12maS () is added
Obtain signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)；By y1cS () acts on feedback filter F1S () obtains its output
Value yF1(s)；By system Setting signal x1S (), subtracts feedback filter F1The output signal y of (s)F1S (), obtains system deviation letter
Number e1(s), i.e. e1(s)=x1(s)-yF1(s)；To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；Will
Come from the controller C of close loop control circuit 22The output control signal u of (s)2S () acts on controlled device cross aisle transmission letter
Number 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 1Unit
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 uncertain network-induced 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 the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2bS () passes with controlled device cross aisle
Delivery function prediction model G21mS () exports y21ma(s) and controlled device transmission function prediction model G22mS () exports y22ma(s),
Obtain deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma(s)-y22ma(s)；To e2S () implements control algolithm C2
S (), obtains control signal u2(s)；By u2S () acts on controlled device transmission function prediction model G22mS () obtains its output valve
y22ma(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：By control signal u2S feedforward network path that () passes through close loop control circuit 2Unit is 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, as actuator A2 node controlled signals u2S () touches
After hair, by control signal 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 control signal u2S () acts on controlled device G22S () obtains its output valve y22(s)；By control signal
u2S () 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 SPC of (s), while realizing to uncertain network-induced 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 (5)
1. a kind of TITO-NCS uncertain network-induced delay compensation methodes of two degrees of freedom IMC and SPC, 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) works as actuator A2 node controlled 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 () is added and obtains signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)；By y1cS () acts on feedback filter
Ripple device F1S () obtains its output valve yF1(s)；By system Setting signal x1S (), subtracts feedback filter F1The output signal of (s)
yF1S (), obtains system 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 controller C of close loop control circuit 2 will be come from2The output control signal u of (s)2S () acts on controlled device intersection logical
Road 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 control signal 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 uncertain network-induced 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 the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s) and quilt
Control object cross aisle transmission function prediction model G21mS () exports y21ma(s) and controlled device transmission function prediction model
G22mS () exports y22maS (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y21ma(s)-y22ma(s)；
E3：To e2S () implements control algolithm C2S (), obtains control signal u2(s)；By u2S () acts on controlled device transmission function
Prediction model G22mS () obtains its output valve y22ma(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 control signal u2S feedforward network path that () passes through close loop control circuit 2Unit is passed to actuator A2 nodes
It is defeated, 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, controlled signal u2S () is triggered；
F2：In actuator A2 nodes, by control signal u2S () acts on controlled device prediction model G22mS () obtains its output
Value 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 intersection logical
Road transmission function prediction model G21mS () obtains its output valve y21mb(s)；
F3：By control signal u2S () acts on controlled device G22S () obtains its output valve y22(s)；By control signal u2S () 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 SPC of (s), while realizing to uncertain network-induced 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, during to uncertain network
Prolong 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：Using the close loop control circuit 1 of two degrees of freedom IMC, its control
The adjustable parameter in loop processed is 2, with using the adjustable parameter of close loop control circuit of single-degree-of-freedom IMC compared with 1, this hair
Bright method can further improve stability, tracking performance and the antijamming capability of system, reduce network delay to the stability of a system
Influence, improve system dynamic property quality.
5. method according to claim 1, it is characterised in that：Using the close loop control circuit 2 of SPC, due to from TITO-
Realized in NCS structures and specific controller C2S the selection of () control strategy is unrelated, thus can be not only used for using conventional control
TITO-NCS, also can be used for using Based Intelligent Control or the TITO-NCS using complex control strategy.
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