CN106814612A - Two inputs two export Delays In Networked Control System compensation and add IMC methods with dynamic Feedforward - Google Patents
Two inputs two export Delays In Networked Control System compensation and add IMC methods with dynamic Feedforward Download PDFInfo
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Abstract
Two inputs two export Delays In Networked Control System compensation and add IMC methods with dynamic Feedforward, 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 of TITO NCS, instead of network delay compensation model therebetween, two close loop control circuits are implemented with dynamic Feedforward plus two degrees of freedom IMC and one degree of freedom IMC respectively, the measurement to network delay between node can be exempted, estimate or recognize, exempt the requirement synchronous to node clock signal, network delay is reduced to TITO NCS stability influences, improve system control performance quality.
Description
Technical field
A kind of two input two exports Delays In Networked Control System compensation and adds IMC (Internal Model with dynamic Feedforward
Control, IMC) method, it is related to the crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to
The MIMO Networked Control Systems technical field of limited bandwidth resources.
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) network 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 delay τ1
And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is controller, G22S () is controlled device；τ3Represent control signal u2S () is from C2(s) controller
The 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 delay τ3
And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
Goal of the invention：
For the TITO-NCS of Fig. 3, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap
Network delay τ is contained1And τ2Exponential termWithAnd the transmission function equation (3) of close loop control circuit 2 and dividing for (4)
In mother, network delay τ is contained3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11S () is not only subject to its input signal x1The influence of (s), while also receiving
To the input signal x of close loop control circuit 22The influence of (s)；At the same time, the output signal y of close loop control circuit 22S () not only
By its input signal x2The influence of (s), while also by the input signal x of close loop control circuit 11The influence of (s).During network
The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together
When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious
Go stability.
1) in order to exempt to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then drop
Low network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality be
The influence of stability of uniting, when prediction model is equal to its true model, is capable of achieving in the characteristic equation of respective close loop control circuit
Exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
Energy quality, realizes the segmentation to TITO-NCS network delays, real-time, online and dynamic predictive compensation and controls.
2) for the close loop control circuit 1 in Fig. 3：Present invention proposition is a kind of to add two degrees of freedom IMC's based on dynamic Feedforward
Delay compensation method, for overcoming one degree of freedom IMC, due to only one of which feedforward filter parameter lambda in its control loop1Can
Regulation between the tracing property and robustness of system, it is necessary to trade off；Control system for high performance requirements or exist compared with
The system of large disturbances and model mismatch, it is difficult to take into account the performance of each side and obtain the problem of Satisfactory Control effect.
3) for the close loop control circuit 2 in Fig. 3：The present invention proposes that one kind adds one degree of freedom IMC based on dynamic Feedforward
Delay compensation method, for known to controlled device Mathematical Modeling or the close loop control circuit 2 that is uncertain of network delay compensation
With control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；In order to
When realization meets predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1,
To realize to network delay τ1And τ2Compensation with control, use with control signal u1S (), used as input signal, controlled device is pre-
Estimate model G11mS () passes through network transfer delay prediction model as controlled process, control with process dataAndEnclose
Around internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop；In controlled device G11S () holds, build a dynamic
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 IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from sensor
S1 nodes between controller C1 nodes, and from controller C1 nodes to actuator A1 nodes, using real network
Data transmission procedureAndInstead of network delay predict-compensate model therebetweenAndIt is thus no matter controlled right
Whether the prediction model of elephant is equal to its true model, and estimating not comprising network delay therebetween can be realized from system architecture
Compensation model, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or recognize；When
When prediction model is equal to its true model, it is capable of achieving to its network delay τ1And τ2Compensation with control；Implement the knot after second step
Structure is as shown in Figure 5；
3rd step：In the backfeed loop of controller C1 nodes, increase feedback filter F1(s)；Implement the inventive method
Network delay compensation it is as shown in Figure 6 with two degrees of freedom IMC method 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 delay τ3And τ4Compensation with control, in controlled device G22S (), y is exported with close loop control circuit 22S () is used as defeated
Enter signal, by y2S () passes through network transfer delay prediction modelWith estimate internal mode controller C2mIMC(s) and network transmission
Time-delay Prediction modelOne positive feedback Prediction Control loop of construction；At the same time, in controlled device G22S () holds, build one
Individual dynamic Feedforward controller D21(s), for reducing the interference signal u from close loop control circuit 11pS () is logical by cross jamming
Road G21The influence of (s) to the dynamic property of close loop control circuit 2, while D21S () has uneoupled control effect concurrently；Implement this step
Structure 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 delay compensation shown in Fig. 5
With 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 collocation structure of the implementation the inventive method shown in Fig. 6；Realize system not comprising network delay therebetween from structure
Predict-compensate model so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or distinguish
Know, be capable of achieving to network delay τ3And τ4Compensation with control；Implement the network delay compensation and one degree of freedom of the inventive method
IMC structures are as shown in Figure 6.
Herein it should be strongly noted that in the controller C2 nodes of Fig. 6, occurring in that the given of close loop control circuit 2
Signal x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2S () believes
Number simultaneously be connected in controller C2 nodes by positive feedback and negative-feedback：
(1) this is due to by the internal mode controller C in Fig. 52IMC(s), according to transmission function equivalence transformation rule further
Abbreviation 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 that2S () does not just exist, or do not obtain y2S () signal, or signal is not stored for；Or because of " phase
Mutually offset " cause " zero " signal value to reform into not exist, or it is nonsensical；
(4) triggering of controller C2 nodes just comes from signal y2The driving of (s), if controller C2 nodes are not received
The signal y that arrival self feed back network path is transmitted2S (), then the controller C2 nodes in event-driven working method will
Will not be triggered.
For the close loop control circuit 1 in Fig. 6：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller；F1S () is feedback filtering
Device.
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, 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
Ring control loop 1 is no longer steady comprising influence system in the denominator of closed loop transfer function, equivalent to an open-loop control system
Qualitatively network delay τ1And τ2Exponential termWithThe stability of system only with controlled device, dynamic Feedforward controller 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 network delay and the dynamic Feedforward control of system plus two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F1The presence of (s) can improve system with
Track and antijamming capability, reduce influence of the network delay to the stability of a system, improve the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 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, in the denominator of its closed loop transfer function, not
Again comprising the network delay τ of the influence stability of a system3And τ4Exponential termWithSo as to network delay can be reduced to system
The influence of stability, improves system dynamic control performance quality, before realizing dynamic dynamic of the compensation with system to network delay
Feedback control plus one degree of freedom IMC.
The design of IMC：
(1) internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller C11(s) and C22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1(s) and f2S (), constitutes a complete internal mode controller C1IMC(s) and C2IMC(s)。
1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m- (s) and G22m(s)=G22m+(s)G22m- (s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m- (s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2It is feedforward
Filter time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22The order of (s) molecule,
Usual n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (9) and (10)：The internal mode controller C of one degree of freedom1IMC(s) and C2IMCIn (s), all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore in the customized parameter λ of wave filter of adjusting1And λ2When, generally require dry with anti-in the tracing property of system
Ability is disturbed to trade off between the two.
(2) feedback filter 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), and it is consistent with the selection of its parameter；λ1fFor feedback is filtered
Ripple device 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 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：
It is equal to suitable for controlled device prediction model and has one between its true model or prediction model and its true model
Use the method for close loop control circuit 1 during fixed deviation, and controlled device Mathematical Modeling it is known or when being uncertain of using closed loop control
The method of loop processed 2, a kind of two input two for being constituted export the compensation of network control system (TITO-NCS) network delays with
IMC；Its Research Thinking and method, can equally be well applied to controlled device prediction model equal to its true model or prediction model and its
Using the method for close loop control circuit 1 when there is certain deviation between true model, and controlled device Mathematical Modeling it is known or
The method of close loop control circuit 2, the MIMO Networked Control Systems for being constituted (MIMO-NCS) network are used when being uncertain of
The compensation of time delay and IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C1 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 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)12(s), and actuator A1 nodes output signal y11mbS () is sampled, and
Calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and
y1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b (s), passed to controller C1 nodes by the feedback network path of close loop control circuit 1
It is defeated, feedback signal y1bS () 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 y1bS () is triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter
F1The output signal y of (s)F1S (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：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 signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2pS () acts on dynamic Feedforward control
Device D12S () obtains its output valve ud12(s)；By IMC signals u1(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes u1p
(s), i.e. u1p(s)=u1(s)-ud12(s)；
C3：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) and two degrees of freedom IMC, while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, controlled device G22The output signal y of (s)22S () and controlled device are intersected logical
Road 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
After adduction subtracts each other, signal e is obtained2(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)；
E3：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) and one degree of freedom IMC, while realizing to network delay τ3And τ4Compensation.
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 two degrees of freedom IMC, the adjustable parameter of its close loop control circuit is 2
Individual, compared with the adjustable parameter of the TITO-NCS of one degree of freedom IMC its close loop control circuit is for 1, the inventive method can be entered
One step improves stability, tracking performance and the antijamming capability of system, reduces influence of the network delay to the stability of a system, improves
The dynamic property quality of system；Using dynamic Feedforward controller D12S (), can reduce the interference letter from close loop control circuit 2
Number u2pS () passes through cross jamming passage G12The influence of (s) to the dynamic property of close loop control circuit 1, while D12S () has decoupling concurrently
Control action.
4th, the control loop 2 in TITO-NCS：Using one degree of freedom IMC, the adjustable parameter of its close loop control circuit is 1
Individual, the regulation of its parameter is simple with selection, and explicit physical meaning；Using dynamic Feedforward controller D21S (), can reduce and come from
The interference signal u of close loop control circuit 11pS () passes through cross jamming passage G21The shadow of (s) to the dynamic property of close loop control circuit 2
Ring, 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：C1IMCS () is the internal mode controller of control loop 1；C2mIMCS () is the internal mode controller of control loop 2
C2IMCThe prediction model of (s)；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate Time Delay Model；G11mS () is controlled device transmission function G11(s) it is pre-
Estimate 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 Delays In Networked Control System compensation and adds two degrees of freedom IMC methods with dynamic Feedforward
In Fig. 6：F1S () is feedback filter.
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 y12(s), and actuator A1 nodes output signal y11mbS () is sampled, and calculate close loop control circuit 1
System output signal y1(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)=y1(s)-y11mb
(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1bS () 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 y1bS () triggers after, by closed loop
The system Setting signal x of control loop 11S (), subtracts feedback filter F1The output signal y of (s)F1S (), obtains deviation signal e1
(s), i.e. e1(s)=x1(s)-yF1(s)；To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
4th step：By IMC signals u1S feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1
Node-node transmission, u1S () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
5th step：Actuator A1 nodes work in event driven manner, by IMC signals u1S () triggers after, IMC is believed
Number u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Close loop control circuit 2 will be come to hold
The signal u of row device A2 nodes2pS () acts on dynamic Feedforward controller D12S () obtains its output valve ud12(s)；By IMC signals u1
(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes 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 two degrees of freedom IMC, while realizing to network delay τ1And τ2Compensation with control；
7th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal 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 and obtains 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 one degree of freedom 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.
Claims (5)
1. two inputs two export Delays In Networked Control System compensation and dynamic Feedforward adds IMC methods, it is characterised in that the method bag
Include following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C1 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 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)12(s), and actuator A1 nodes output signal y11mbS () is sampled, and calculate
Go out 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)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions, feedback
Signal y1bS () 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 y1bS () is triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter F1(s)
Output signal yF1S (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：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 signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2pS () acts on dynamic Feedforward controller D12(s)
Obtain its output valve ud12(s)；By IMC signals u1(s) and ud12S () subtracts each other to obtain actuator A1 output signal nodes u1p(s), i.e. u1p
(s)=u1(s)-ud12(s)；
C3：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 is controlled and two degrees of freedom IMC, while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, controlled device G22The output signal y of (s)22S () and controlled device cross aisle are passed
Delivery 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)；To e2S () implements Internal Model Control Algorithm
C2IMCS (), obtains IMC signals u2(s)；
E3：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 is controlled and one degree of freedom IMC, while realizing to network delay τ3And τ4Compensation.
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, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：It is free using two for the control loop 1 in TITO-NCS
Degree IMC, the adjustable parameter of its control loop is 2, and compared with the adjustable parameter of single-degree-of-freedom IMC is for 1, the inventive method can
Stability, tracking performance and the antijamming capability of system are further improved, influence of the network delay to the stability of a system is reduced, changed
The dynamic property quality of kind system；Using dynamic Feedforward controller D12S (), can reduce the interference from close loop control circuit 2
Signal u2pS () passes through cross jamming passage G12The influence of (s) to the dynamic property of close loop control circuit 1, while D12S () has solution concurrently
Coupling control action.
5. method according to claim 1, it is characterised in that：For the control loop 2 in TITO-NCS, using one from
By spending IMC, the adjustable parameter of its control loop only has 1 parameter, and the regulation of its parameter is simple with selection, and physical significance is bright
Really；Using dynamic Feedforward controller D21S (), can reduce 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.
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Application publication date: 20170609 |