CN106814615A - A kind of compensation method of the TITO NDCS network delays of two degrees of freedom IMC - Google Patents
A kind of compensation method of the TITO NDCS network delays of two degrees of freedom IMC Download PDFInfo
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Abstract
The compensation method of the TITO NDCS network delays of two degrees of freedom IMC, belongs to the MIMO NDCS technical fields of limited bandwidth resources.It is input between two output signals for a kind of two and affects one another and couple, need the TITO NDCS by decoupling treatment, transmit produced network delay among the nodes due to network data, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with the network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, two degrees of freedom IMC is implemented to two loops simultaneously, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, reduce influence of the network delay to TITO NDCS stability, improve quality of system control.
Description
Technical field
A kind of TITO (Two-input and two- of two degrees of freedom IMC (Internal Model Control, IMC)
Output, TITO)-NDCS (Networked decoupling control systems, NDCS) network delay compensation side
Method, is related to the crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to limited bandwidth resources
MIMO Networked Control Systems technical field.
Background technology
In dcs, sensor and controller, between controller and actuator, by Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
NCS is capable of achieving resource-sharing, remote operation and control, tool compared with the control system of traditional point-to-point structure
There is a high diagnosis capability, I＆M is easy, many advantages, such as increased flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to the category of NCS, additionally, NCS is in aerospace field, and complicated, dangerous industry
Control field also has wide application, and it is studied has turned into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.Sensor as NCS, when passing through network exchange data between controller and actuator, when inevitably resulting in network
Prolong, so as to the performance of system can be reduced or even cause system unstable.Because the information source in network is a lot, transmitting data stream warp
Numerous computers and communication equipment and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, network
The reason such as congestion or disconnecting, causes the sequential entanglement of network packet and the loss of packet.Although time-delay system point
Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS various time delays of different nature (constant, bounded, with
Machine, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory is being analyzed and is setting to system
Timing, has often done many Utopian it is assumed that transmitting and adjusting such as the sampling of single rate, Synchronization Control, without time delay.But in NCS
In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will be reappraised
Can be applied in NCS.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one
The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered
Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
(Networked decoupling control systems, NDCS) delay compensation with control achievement in research then it is relative more
It is few.
The typical structure of MIMO-NDCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Selection pairing, also exists and influences each other unavoidably between each control loop, thus it is respective output signal is independently tracked
Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit failure
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method,
The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO-
In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point of control：
(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size
It is relevant etc. factor, control back more than several or even the dozens of sampling period network delay, to set up in MIMO-NDCS each
The Mathematical Modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance
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-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, to MIMO-NDCS implement
Delay compensation is more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
Network decoupling and controlling system (TITO-NDCS) net is exported the present invention relates to a kind of two input two in MIMO-NDCS
The compensation of network time delay and control, the typical structure of its TITO-NDCS 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 the output signal u of controller C nodes1(s),
Through preceding the network delay that decoupling actuator DA1 nodes are experienced is transferred to network path；τ2Represent sensor S1 nodes
Output signal y1(s), through the network delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s), by cross decoupling
Path transmission function P12(s) and controlled device line passing transmission function G12S () acts on close loop control circuit 1, believe from input
Number up2S () arrives output signal y1S the closed loop transfer function, between () is：
The denominator of above-mentioned closed loop transfer function, equation (1) to (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 the controlled output signal u of controller C nodes2
S (), the network delay that decoupling actuator DA2 nodes are experienced is transferred to through preceding to network path；τ4Represent sensor S2 sections
The output signal y of point2(s), through the network delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s), by cross decoupling
Path transmission function P21(s) and controlled device line passing transmission function G21S () acts on close loop control circuit 2, believe from input
Number up1S () arrives output signal y2S the closed loop transfer function, between () is：
The denominator of above-mentioned closed loop transfer function, equation (3) to (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-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (2) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2
Into the denominator of (4), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop
The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system
Performance quality processed simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
(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-NDCS network delays, real-time, online and dynamic predictive compensation and controls.
(2) for the TITO-NDCS of single-degree-of-freedom IMC, due to its internal mode controller C1IMC(s) and C2IMCIn (s), only
One feedforward filter parameter lambda1And λ2It is adjustable, it is necessary to traded off between the tracing property and robustness of system, for property high
Can require control system or exist compared with large disturbances and model mismatch system, it is difficult to take into account the performance of each side and obtain satisfaction
Control effect.
Therefore, the present invention proposes a kind of compensation method of the TITO-NDCS network delays of two degrees of freedom IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；For reality
When now meeting 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, with
Realize to network delay τ1And τ2Compensation with control, use with control signal u1S () is estimated as input signal, controlled device
Model G11mS () passes through network transfer delay prediction model as controlled process, control with process dataAndAround
Internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop；The structure for implementing this step is as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S1 nodes between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using real
Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter by
Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or distinguish
Know；When prediction model is equal to its true model, it is capable of achieving to its network delay τ1And τ2Compensation with control；At the same time, exist
In the backfeed loop of the close loop control circuit 1 of controller C nodes, increase feedback filter F1(s)；Implement the net of the inventive method
Network delay compensation is as shown in Figure 5 with two degrees of freedom IMC method structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；For reality
When now meeting predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 2, with
Realize to network delay τ3And τ4Compensation with control, use with control signal u2S () is estimated as input signal, controlled device
Model G22mS () passes through network transfer delay prediction model as controlled process, control with process dataAndAround
Internal mode controller C2IMCS (), constructs a positive feedback Prediction Control loop；The structure for implementing this step is as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S2 nodes between controller C nodes, and from controller C nodes to decoupling actuator DA2 nodes, using real
Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter by
Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or distinguish
Know；When the prediction model of controlled device is equal to its true model, it is capable of achieving to its network delay τ3And τ4Compensation with control；
At the same time, in the backfeed loop of the close loop control circuit 2 of controller C nodes, feedback filter F is increased2(s)；Implement this
The network delay compensation of inventive method is as shown in Figure 5 with two degrees of freedom IMC method 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 signal u of decoupling actuator DA2 nodes in close loop control circuit 2 is come from2p(s), by cross decoupling path
Transmission function P12S () acts on close loop control circuit 1；At the same time, signal u2pS () is transmitted by controlled device line passing
Function G12S () acts on close loop control circuit 1；From input signal u2pS () 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 network delay and two degrees of freedom IMC；When system is present compared with large disturbances and model
During mismatch, feedback filter F1S the presence of () can improve the tracing property and antijamming capability of system, reduce network delay to being
The influence of stability of uniting, further improves the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：G22mS () is controlled device G22The prediction model of (s)；C2IMCS () is internal mode controller；F2S () is feedback
Wave filter.
2) the signal u of decoupling actuator DA1 nodes in close loop control circuit 1 is come from1p(s), by cross decoupling path
Transmission function P21S () acts on close loop control circuit 2；At the same time, signal u1pS () is transmitted by controlled device line passing
Function G21S () acts on close loop control circuit 2；From input signal u1pS () 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 transfer function, denominator of close loop control circuit 2 byIt is turned into 1.
Now, close loop control circuit 2 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer
Network delay τ comprising the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled device and
Internal mode controller stability in itself is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system
State control performance quality, realizes the dynamic compensation to random network time delay and two degrees of freedom IMC；Exist compared with large disturbances when system and
During model mismatch, feedback filter F2S the presence of () can improve the tracing property and antijamming capability of system, reduce network delay
Influence to the stability of a system, further improves the dynamic property quality of system.
The design of two degrees of freedom IMC：
(1) internal mode controller C1IMC(s) and C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller C11(s) and C22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1(s) and f2S (), constitutes a complete internal mode controller C1IMC(s) and C2IMC(s)。
1) feedforward controller C11(s) and C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m- (s) and G22m(s)=G22m+(s)G22m-(s), wherein：G11m+(s) and G22m+S () is respectively controlled device and estimates
Model G11m(s) and G22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G11m-(s) and G22m-
The s reversible part of minimum phase that () is respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211(s) and C22S () can be chosen for respectively：With
2) feedforward filter f1(s) and f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s)
And G22m-S (), have ignored G11m+(s) and G22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of system high.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), point
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2For feedforward is filtered
Ripple device time constant；n1And n2It is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively quilt
Control object G11(s) and G22The order of (s) denominator；n1bAnd n2bRespectively controlled device G11(s) and G22S the order of () molecule, leads to
Normal n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMC(s) and C2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMC(s) and C2IMCS () can be chosen for respectively:
With
Be can be seen that from equation (9) and (10)：The internal mode controller C of one degree of freedom1IMC(s) and C2IMCIn (s), all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore in the customized parameter λ of wave filter of adjusting1And λ2When, generally require dry with anti-in the tracing property of system
Ability is disturbed to trade off between the two.
(2) feedback filter F1(s) and F2The design of (s) and selection：
Close loop control circuit 1 and the feedback filter F in loop 21(s) and F2S (), can respectively choose fairly simple single order
Wave filter F1(s)=(λ1s+1)/(λ1f) and F s+12(s)=(λ2s+1)/(λ2fS+1), wherein：λ1And λ2It is feedforward filter f1
(s) and f2Time constant in (s), and it is consistent with the selection of its parameter；λ1fAnd λ2fIt is feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fAnd λ2fIn the case of immobilizing, the tracking performance of system
Can be with feedforward filter regulation parameter λ1And λ2Reduction and improve；In feedforward filter regulation parameter λ1And λ2Immobilize
In the case of, the tracing property of system is almost unchanged, and antijamming capability then can be with λ1fAnd λ2fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f1(s) and f2(s)
With feedback filter F1(s) and F2S the parameter of (), improves system tracing property and antijamming capability, reduce network delay steady to system
Qualitative effect, improves dynamic performance quality.The scope of application of the invention：
Its true model is equal to suitable for controlled device prediction model, and model there may be one kind of certain deviation
The two degrees of freedom IMC methods of TITO-NDCS network delays；Its Research Thinking and method, can equally be well applied to controlled device and estimate
Model is equal to its true model, and model there may be the two or more input of certain deviation and export constituted multi input
The compensation of multi output network decoupling and controlling system (MIMO-NDCS) network delay and two degrees of freedom IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by signal u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device are intersected
Channel transfer function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mbS () 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)；
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 y1bS () acts on feedback filter F1S () obtains its output valve yF1
(s), i.e. yF1(s)=y1b(s)F1(s)；By the system Setting signal x of close loop control circuit 11S (), subtracts feedback filter F1
The output signal y of (s)F1S (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements algorithm C1IMCS (), obtains signal u1(s)；
B4：By signal u1S feedforward network path that () passes through close loop control circuit 1Unit is saved to decoupling actuator DA1
Point transmission, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by signal u1S () is triggered；
C2：In actuator DA1 nodes are decoupled, by signal u1S () acts on controlled device prediction model G11mS () obtains
Its output valve y11mb(s)；The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from2pS () acts on intersection solution
Coupling path transmission function P12S () obtains its output valve yp12(s)；By signal u1(s) and yp12S () subtracts each other must decouple actuator DA1
Output signal node u1p(s), i.e. u1p(s)=u1(s)-yp12(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 uneoupled control of (s), while realizing to network delay τ1And τ2Compensation and two degrees of freedom IMC；
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 decouple the output signal y of actuator DA2 nodes22mbS () 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)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions,
Feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by feedback signal y2bS () acts on feedback filter F2S () obtains its output valve yF2
(s), i.e. yF2(s)=y2b(s)F2(s)；By the system Setting signal x of close loop control circuit 22S (), subtracts feedback filter F2
The output signal y of (s)F2S () obtains deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2S () implements algorithm C2IMCS (), obtains signal u2(s)；
E4：By signal u2S feedforward network path that () passes through close loop control circuit 2Unit is saved to decoupling actuator DA2
Point transmission, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by signal u2S () is triggered；
F2：In actuator DA2 nodes are decoupled, by signal u2S () acts on controlled device prediction model G22mS () obtains
Its output valve y22mb(s)；The signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from1pS () acts on intersection solution
Coupling path transmission function P21S () obtains its output valve yp21(s)；By signal u2(s) and yp21S () subtracts each other must decouple actuator DA2
Output signal node u2p(s), i.e. u2p(s)=u2(s)-yp21(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 uneoupled control of (s), while realizing to network delay τ3And τ4Compensation and two degrees of freedom IMC.
The present invention has following features：
1st, due to from structure, exempt in TITO-NDCS, the measurement of network delay, observation, estimate or identification, while
The synchronous requirement of node clock signal can also be exempted, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid right
The waste of node storage resources is expended needed for time-delay identification, while can also avoid " the sky sampling " that causes due to time delay or " adopt more
The compensation error that sample " brings.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, using the TITO-NDCS of two degrees of freedom IMC, the adjustable parameter of its each close loop control circuit is 2, present invention side
Method can further improve stability, tracking performance and the antijamming capability of system；Especially when system is present compared with large disturbances and mould
During type mismatch, feedback filter F1(s) and F2S the presence of () can further improve the dynamic property quality of system, when reducing network
Prolong the influence to the stability of a system.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation and control function are realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
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-NDCS
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction
Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit
Constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal；Representing will control
Signal ui(s) from controller C nodes to i-th decoupling actuator DA node-node transmissions experienced feedforward network tunnel when
Prolong；Represent j-th detection signal y of sensor S nodesjS () leads to the feedback network that controller C node-node transmissions are experienced
Road propagation delay time；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, controller C nodes, solution
Coupling actuator DA1 and DA2 node, controlled device transmission function G11(s) and G22S () and controlled device line passing transmit letter
Number G21(s) and G12(s), cross decoupling path transmission function P21(s) and P12(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 path that () is experienced from from controller C nodes to decoupling actuator DA1 and DA2 node-node transmission is passed
Defeated time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is passed through to controller C node-node transmissions
The feedback network tunnel time delay gone through.
Fig. 4：A kind of TITO-NDCS delay compensations comprising prediction model and control structure
In Fig. 4：C1IMCS () is the internal mode controller of control loop 1；C2IMCS () is the internal mode controller of control loop 2；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate Time Delay Model；G11mS () is controlled device transmission function G11The prediction model of (s)；G22mS () is controlled
Target transfer function G22The prediction model of (s).
Fig. 5：A kind of compensation method of the TITO-NDCS network delays of two degrees of freedom IMC
In Fig. 5：F1(s) and F2S () is the feedback filter in close loop control circuit 1 and loop 2.
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 decouple the output signal y of actuator DA1 nodes11mbS () is sampled, and calculate closed-loop control
The system output signal y in loop 11(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 C node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y1bS () triggers after, by feedback letter
Number y1bS () acts on feedback filter F1S () obtains its output valve yF1(s), i.e. yF1(s)=y1b(s)F1(s)；By closed-loop control
The system Setting signal x in loop 11S (), subtracts feedback filter F1The output signal y of (s)F1S () obtains deviation signal e1(s),
That is e1(s)=x1(s)-yF1(s)；To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains signal u1(s)；
4th step：By signal u1S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator
DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, by signal u1S () triggers after, by signal
u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Close loop control circuit 2 will be come to decouple
The signal u of actuator DA2 nodes2pS () acts on cross decoupling path transmission function P12S () obtains its output valve yp12(s)；Will
Signal u1(s) and yp12S () subtracts each other must decouple actuator DA1 output signal nodes u1p(s), i.e. u1p(s)=u1(s)-yp12(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 uneoupled control of (s), while realizing to network delay τ1And τ2Compensation and two degrees of freedom IMC；
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 decouple the output signal y of actuator DA2 nodes22mbS () is sampled, and calculate closed-loop control
The system output signal y in loop 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s) and y2b(s)=y2(s)-
y22mb(s)；
Second step：By feedback signal y2bS (), is passed by the feedback network path of close loop control circuit 2 to controller C nodes
It is defeated, feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y2bS () triggers after, by feedback letter
Number y2bS () acts on feedback filter F2S () obtains its output valve yF2(s), i.e. yF2(s)=y2b(s)F2(s)；By closed-loop control
The system Setting signal x in loop 22S (), subtracts feedback filter F2The output signal y of (s)F2S () obtains deviation signal e2(s),
That is e2(s)=x2(s)-yF2(s)；To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains signal u2(s)；
4th step：By signal u2S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator
DA2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, by signal u2S () triggers after, by signal
u2S () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；Close loop control circuit 1 will be come to decouple
The signal u of actuator DA1 nodes1pS () acts on cross decoupling path transmission function P21S () obtains its output valve yp21(s)；Will
Signal u2(s) and yp21S () subtracts each other must decouple actuator DA2 output signal nodes u2p(s), i.e. u2p(s)=u2(s)-yp21(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 uneoupled control of (s), while realizing to network delay τ3And τ4Compensation and two degrees of freedom IMC；
7th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of compensation method of the TITO-NDCS network delays of two degrees of freedom IMC, it is characterised in that the method includes following step
Suddenly：
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 decoupling actuator DA1 nodes are by signal u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle
Transmission function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mbS () 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), 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 y1bS () acts on feedback filter F1S () obtains its output valve yF1(s),
That is yF1(s)=y1b(s)F1(s)；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 algorithm C1IMCS (), obtains signal u1(s)；
B4：By signal u1S feedforward network path that () passes through close loop control circuit 1Unit is passed to decoupling actuator DA1 nodes
It is defeated, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by signal u1S () is triggered；
C2：In actuator DA1 nodes are decoupled, by signal u1S () acts on controlled device prediction model G11mS () obtains its output
Value y11mb(s)；The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from2pS () acts on cross decoupling path
Transmission function P12S () obtains its output valve yp12(s)；By signal u1(s) and yp12S () subtracts each other that must to decouple actuator DA1 nodes defeated
Go out signal u1p(s), i.e. u1p(s)=u1(s)-yp12(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)
Uneoupled control, while realizing to network delay τ1And τ2Compensation and two degrees of freedom IMC；
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 decouple the output signal y of actuator DA2 nodes22mbS () is sampled,
And calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s)
And y2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback
Signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by feedback signal y2bS () acts on feedback filter F2S () obtains its output valve yF2(s),
That is yF2(s)=y2b(s)F2(s)；By the system Setting signal x of close loop control circuit 22S (), subtracts feedback filter F2(s)
Output signal yF2S () obtains deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2S () implements algorithm C2IMCS (), obtains signal u2(s)；
E4：By signal u2S feedforward network path that () passes through close loop control circuit 2Unit is passed to decoupling actuator DA2 nodes
It is defeated, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by signal u2S () is triggered；
F2：In actuator DA2 nodes are decoupled, by signal u2S () acts on controlled device prediction model G22mS () obtains its output
Value y22mb(s)；The signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from1pS () acts on cross decoupling path
Transmission function P21S () obtains its output valve yp21(s)；By signal u2(s) and yp21S () subtracts each other that must to decouple actuator DA2 nodes defeated
Go out signal u2p(s), i.e. u2p(s)=u2(s)-yp21(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)
Uneoupled control, while realizing to network delay τ3And τ4Compensation and two degrees of freedom IMC.
2. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize system not comprising control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the TITO-NDCS of two degrees of freedom IMC, its closed loop control
The adjustable parameter in loop processed is 2, can further improve stability, tracking performance and the antijamming capability of system；Especially when
System is present during compared with large disturbances and model mismatch, feedback filter F1(s) and F2S the presence of () can further improve the dynamic of system
State performance quality, reduces influence of the network delay to the stability of a system.
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