CN106814621A - A kind of two input two exports network decoupling and controlling system random network time delay IMC methods - Google Patents
A kind of two input two exports network decoupling and controlling system random network time delay IMC methods Download PDFInfo
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Abstract
Two inputs two export network decoupling and controlling system random network time delay IMC methods, belong 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, IMC is implemented to two loops, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, random network time delay is reduced to TITO NDCS stability influences, improve quality of system control.
Description
Technical field
A kind of two input two exports network decoupling and controlling system random network time delay IMC (Internal Model
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 multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.
Background technology
The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked
Control systems, NCS), the typical structure of NCS is as shown in Figure 1.
In NCS, due to the introducing of network, control system complexity and cost are reduced, will be numerous long-range by network
Node (or equipment) organically combines, and collaboration completes the work that individual node (or equipment) cannot be completed.Additionally, passing through net
The comprehensive information from different nodes of network, the state to network system is estimated, analyzed and is monitored in real time, by different
Equipment carries out networking, can further lifting system allomeric function and riding quality.On the other hand, also one is brought to NCS
A little new problems, such as communication network makes data inevitably be subject to noise, communication delay, quantization error sum in the transmission
According to the presence of the influence of the factors such as packet loss, especially uncertain network-induced delay, it is possible to decrease the control quality of NCS, in addition make be
System loss of stability, may cause system to break down when serious.
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 uncertain, network delay is less than
One sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, to it
Carry out 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 constituted with the control system of two outputs (Two-input and two-output, TITO)
The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially
Needed by decoupling the multiple-input and multiple-output network uneoupled control for processing between input and output signal, there is coupling
The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
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
(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, to more than several or even dozens of sampling period network delay, to set up each control loop in MIMO-NDCS
The network delay Mathematical Modeling accurately predicting, estimate or recognize, be nearly impossible at present.
(2) occur when previous node in MIMO-NDCS 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
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(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, it is implemented time delay benefit
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of two input two in MIMO-NDCS export network decoupling and controlling system (TITO-NDCS) with
The compensation of machine network 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 control unit, G11S () is controlled device；τ1Representing will control decoupler CD1 node output letter
Number u1S (), the network delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent output signal y1(s)
From sensor S1 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD1 nodes.
2) from C in close loop control circuit 22The output signal u of (s) control unit2S (), is transmitted by cross decoupling passage
Function P12(s) and network pathUnit acts on close loop control circuit 1, from input signal u2S () arrives output signal y1(s)
Between closed loop transfer function, be：
3) from the output signal u of the actuator A2 nodes of close loop control circuit 22aS (), is passed by controlled device cross aisle
Delivery function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2aS () arrives output signal y1(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, when containing random network
Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated surely
It is qualitative.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is control unit, G22S () is controlled device；τ3Representing will control decoupler CD2 node output letter
Number u2aS (), the network delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent output signal y2
(s) from sensor S2 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD2 nodes.
2) from C in close loop control circuit 11The output signal u of (s) control unit1S (), is transmitted by cross decoupling passage
Function P21(s) and network pathUnit acts on close loop control circuit 2, from input signal u1S () arrives output signal y2(s)
Between closed loop transfer function, be：
3) from the output signal u of the actuator A1 nodes of close loop control circuit 11aS (), is passed by controlled device cross aisle
Delivery function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1aS () arrives output signal y2(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, when containing random network
Prolong τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated surely
It is qualitative.
Goal of the invention：
For the TITO-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2
Into the denominator of (6), 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.
Therefore, being directed to close loop control circuit 1 and control loop 2, propose a kind of based on IMC (Internal Model
Control, IMC) delay compensation method, constitute two close loop control circuit network delays compensation with control, it is right for exempting
In each close loop control circuit, the measurement of network delay, estimation or identification between node, and then reduce network delay τ1And τ2, and
τ3And τ4Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system；Can be real
Do not include the exponential term of network delay in the characteristic equation of respective close loop control circuit now, and then network delay can be reduced to whole
The influence of the stability of a system, improves the dynamic property quality of system, realizes segmentation, reality to TITO-NDCS random network time delays
When, online and dynamic compensation and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In decoupler CD1 nodes are controlled, an internal mode controller C is built1IMC(s) substitution controller C1(s)；
In order to realize meeting during predictive compensation condition, the closed loop transform function of close loop control circuit 1 no longer includes network delay exponential term,
To realize to network delay τ1And τ2Compensation with control, around controlled device G11S (), y is exported with close loop control circuit 11(s)
As input signal, by y1S () passes through network transfer delay prediction modelWith estimate internal mode controller C1mIMC(s) and net
Network propagation delay time prediction modelOne positive feedback Prediction Control loop of construction；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, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and satisfaction estimate internal mode controller C1mIMCS () is equal to its internal mode controller C1IMCS the condition of () is (due to internal model
Controller C1IMCS () is artificial design and selection, C is met naturally1mIMC(s)=C1IMC(s)).Therefore, from sensor S1 nodes to
Between control decoupler CD1 nodes, and from control decoupler CD1 nodes to actuator A1 nodes, using real net
Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5
Network delay compensation and control structure；
3rd step：By Fig. 5 by the further abbreviation of transmission function equivalence transformation rule, the implementation present invention shown in Fig. 6 is obtained
The network delay compensation of method and control structure；Predictive compensation mould of the system not comprising network delay therebetween is realized from structure
Type, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or recognize；It is right to be capable of achieving
Random network delay, τ1And τ2Compensation and IMC；
For the close loop control circuit 2 in Fig. 3：
The first step：In decoupler CD2 nodes are controlled, an internal mode controller C is built2IMC(s) substitution controller C2(s)；
In order to realize meeting during predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term,
To realize to network delay τ3And τ4Compensation with control, around controlled device G22S (), y is exported with close loop control circuit 22(s)
As input signal, by y2S () passes through network transfer delay prediction modelWith estimate internal mode controller C2mIMC(s) and net
Network propagation delay time prediction modelOne positive feedback Prediction Control loop of construction；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, 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 control decoupler CD2 nodes, and from control decoupler CD2 nodes to actuator A2 nodes, using real net
Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5
Network delay compensation and control structure；
3rd step：By Fig. 5 by the further abbreviation of transmission function equivalence transformation rule, the implementation present invention shown in Fig. 6 is obtained
The network delay compensation of method and control structure；Predictive compensation mould of the system not comprising network delay therebetween is realized from structure
Type, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or recognize；It is right to be capable of achieving
Random network delay, τ3And τ4Compensation and IMC；
Herein it should be strongly noted that in the control decoupler CD1 nodes and CD2 nodes of Fig. 6, occurring in that closed loop control
The Setting signal x in loop processed 1 and 21(s) and x2(s), respectively with the feedback signal y of each self-loop1(s) and y2S () implements first
" subtracting " afterwards " plus ", or first " plus " " subtract " operation rule, i.e. y afterwards1(s) and y2S () signal is connected by positive feedback and negative-feedback simultaneously
To in CD1 nodes and CD2 nodes：
(1) this is due to by the internal mode controller C in Fig. 5 close loop control circuits 1 and 21IMC(s) and C2IMCS () unit, presses
The result shown in Fig. 6, and non-artificial setting are obtained according to the further abbreviation of transmission function equivalence transformation rule；
(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage and control function, same signal is carried out in node elder generation " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in algorithm
On do not have what be not inconsistent normally part；
Same signal is carried out in node (3) " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that1(s) and y2S () does not just exist, or do not obtain y1(s) and y2S () signal, or signal does not have
It is stored for；Or do not exist because " cancelling out each other " causes " zero " signal value to reform into, or it is nonsensical；
(4) triggering of control decoupler CD1 nodes or CD2 nodes just comes from signal y1(s) or y2The driving of (s),
If control decoupler CD1 nodes or CD2 nodes are not received by the signal y come from feedback network tunnel1(s)
Or y2S (), then control decoupler CD1 nodes or CD2 nodes in event-driven working method 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：C1IMCS () is internal mode controller.
2) from the control decoupler CD2 node deviation signals of close loop control circuit 2 e2(s), by internal mode controller C2IMC
(s) and cross decoupling channel transfer function P12(s) and network pathThe output signal y of unitp12S () acts on closed loop
Control loop 1, from input signal e2S () arrives output signal y1S the closed loop transfer function, between () is：
3) from the actuator A2 output signal nodes u of close loop control circuit 22cS (), is transmitted by controlled device cross aisle
Function G12S () acts on close loop control circuit 1, from input signal u2cS () arrives output signal y1Closed loop transfer function, between (s)
For：
Be can be seen that from above-mentioned closed loop transfer function, equation (7) to (9)：Closed loop transfer function, denominator is 1, now closed loop
Control loop 1 is no longer stable comprising influence system in the denominator of closed loop transfer function, equivalent to an open-loop control system
The network delay τ of property1And τ2Exponential termWithThe stability of system only transmits letter with controlled device, cross decoupling path
Stability of the number with internal mode controller in itself is relevant；Shadow of the network delay to the stability of a system can be reduced using the inventive method
Ring, improve the dynamic control performance quality of system, realize to the dynamic compensation of random network time delay and IMC.
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) from the control decoupler CD1 node deviation signals of close loop control circuit 1 e1(s), by internal mode controller C1IMC
(s) and cross decoupling channel transfer function P21(s) and network pathThe output signal y of unitp21S () acts on closed loop control
Loop processed 2, from input signal e1S () arrives output signal y2S the closed loop transfer function, between () is：
3) from the actuator A1 output signal nodes u of close loop control circuit 11cS (), is transmitted by controlled device cross aisle
Function G21S () acts on close loop control circuit 2, from input signal u1cS () arrives output signal y2Closed loop transfer function, between (s)
For：
Be can be seen that from above-mentioned closed loop transfer function, equation (10) to (12)：Closed loop transfer function, denominator is 1, is now closed
Ring control loop 2 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 τ3And τ4Exponential termWithThe stability of system is only transmitted with controlled device, cross decoupling path
Stability of the function with internal mode controller in itself is relevant；Shadow of the network delay to the stability of a system can be reduced using the inventive method
Ring, improve the dynamic control performance quality of system, realize to the dynamic compensation of random network time delay and IMC.
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 to design one take is the inversion model of plant model as feedforward controller C11(s) and C22
(s)；
Second step is the feedforward filter f that certain order is added in feedforward controller1(s) and f2S (), composition one is complete
Whole 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 (13) and (14)：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.
The scope of application of the invention：
Suitable for known to controlled device Mathematical Modeling or being uncertain of a kind of constituted two input two and exporting networks decoupling control
The compensation of system (TITO-NDCS) random network time delay processed and IMC；Its Research Thinking and research method, can equally be well applied to by
Control mathematical model of controlled plant is known or is uncertain of constituted multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) at random
The compensation of network 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 control decoupler CD1 nodes are by feedback signal y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal u1a(s) or by cross decoupling network pathElement output signal yp12
When () 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 control decoupler CD2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by signal u2a(s) or by cross decoupling network pathElement output signal
yp21When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device are intersected
Channel transfer function G12The output signal y of (s)12S () is sampled, and calculate the system output signal of close loop control circuit 1
y1(s), and y1(s)=y11(s)+y12(s)；
A3：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD1 node-node transmissions, feedback signal y1S () will experience network transfer delay τ2Afterwards, control decoupler CD1 sections are got to
Point；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1S () is triggered；
B2：In control decoupler CD1, by the system Setting signal x of close loop control circuit 11S () subtracts feedback signal y1
S () obtains error signal e1(s), i.e. e1(s)=x1(s)-y1(s)；To e1S () implements Internal Model Control Algorithm C1IMC(s), and by its
Output signal acts on cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；By signal yp21S () passes through
Cross decoupling network pathUnit is to actuator A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards,
Actuator A2 nodes can be reached；
B3：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)+y1
(s)；
B4：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is passed to actuator A1 nodes
It is defeated, signal u1aS () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by signal u1a(s) or by cross decoupling network pathElement output signal yp12S () is triggered；
C2：After actuator A1 nodes are triggered, to u1aS () implements Internal Model Control Algorithm C1IMCS (), obtains its output IMC
Signal u1b(s)；
C3：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bS () is added and obtains
Signal u1c(s), i.e. u1c(s)=yp12(s)+u1b(s)；
C4：By signal u1cS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1cS () 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 decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation and 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)21S () is sampled, and calculate the system output signal of close loop control circuit 2
y2(s), and y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control
Decoupler CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to
Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2
S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2S () implements Internal Model Control Algorithm C2IMC(s), and will
Its output signal acts on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；By signal yp12S () leads to
Cross cross decoupling network pathUnit is to actuator A1 node-node transmissions, signal yp12S () will experience network transfer delay τ12
Afterwards, actuator A1 nodes are got to；
E 3：By error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)+y2
(s)；
E4：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is passed to actuator A2 nodes
It is defeated, u2aS () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) or by cross decoupling network pathElement output signal yp21S () is triggered；
F2：After actuator A2 nodes are triggered, to u2aS () implements Internal Model Control Algorithm C2IMCS (), obtains its output IMC
Signal u2b(s)；
F3：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s) and signal u2bS () is added, obtain
Signal u2c(s), i.e. u2c(s)=yp21(s)+u2b(s)；
F4：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () 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 decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation and IMC.
The present invention has following features：
1st, due to realizing exempting in TITO-NDCS from structure, the measurement of all-network passage way network time delay, observation,
Estimate or recognize, while can also exempt the requirement synchronous to node clock signal, it is to avoid time delay is estimated that model is inaccurate and caused
Evaluated error, it is to avoid the waste to expending node storage resources needed for time-delay identification, and " sky sampling " caused due to time delay
Or the compensation error that " sampling " brings more.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS of wireless network protocol；It is not only suitable for certainty
Procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while also fitting
For the TITO-NDCS that heterogeneous network is constituted.
3rd, using the TITO-NDCS of IMC, its internal mode controller C1IMC(s) and C2IMCS the adjustable parameter of () only has λ1And λ2,
The regulation of its parameter is simple with selection, and explicit physical meaning；Stability, the tracing property of system can be not only improved using IMC
Energy and interference free performance, but also compensation and control to network delay can be realized.
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 function is 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
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path
Transmission 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
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G,
M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal of system；Represent
Will control decoupling signal uiS feedforward network that () is experienced from from control decoupler CD nodes to i-th actuator A node-node transmission leads to
Road propagation delay time；Represent j-th detection signal y of sensor S nodes of systemjS () passes to control decoupler CD nodes
Defeated experienced feedback network tunnel time delay；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, system include sensor S1 and S2 node, control decoupler CD1 and
CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11(s) and G22S () and controlled device cross aisle are passed
Delivery function G21(s) and G12(s), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unit
WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute
Composition.
In Fig. 3：x1(s) and x2S () represents system input signal；y1(s) and y2S () represents system output signal；C1(s) and
C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；yp21(s) and yp12S () represents and intersects
Decoupling path output signal；u1a(s) and u2aS () represents control decoupling signal；τ1And τ3Represent control signal u1(s) and u2(s)
From the feedforward network tunnel time delay that control decoupler CD1 and CD2 node is experienced to actuator A1 and A2 node-node transmission；τ2
And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to control decoupler CD1 and CD2 node-node transmission institute
The feedback network tunnel time delay of experience；τ21And τ12Represent cross decoupling channel transfer function P21(s) and P12(s) it is defeated
Go out signal yp21(s) and yp12S network path propagation delay time that () is experienced to control decoupler CD2 and CD1 node-node transmission.
Fig. 4：A kind of TITO-NDCS delay compensations comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is network
Propagation delay timeAndPrediction model；C1mIMC(s) and C2mIMCS () is respectively internal mode controller C1IMC(s) and C2IMC(s)
Predictor controller.
Fig. 5：Replace the TITO-NDCS delay compensations of prediction model and control structure with true model
Fig. 6：A kind of two input two exports network decoupling and controlling system random network time delay IMC methods
Fig. 6 can realize the compensation and control to random network time delay in close loop control circuit 1 and 2.
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 6 below, make the ordinary skill of this area
Personnel become 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, and its trigger signal is cycle h1Sampled signal；When
After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device cross aisle transmit letter
Number G12The output signal y of (s)12S () is sampled, and calculate the system output signal y of close loop control circuit 11(s), and y1
(s)=y11(s)+y12(s)；
Second step：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD1 node-node transmissions, feedback signal y1S () will experience network transfer delay τ2Afterwards, get to control decoupler
CD1 nodes；
3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1After (s) triggering, will close
The system Setting signal x of ring control loop 11S () subtracts feedback signal y1S () obtains error signal e1(s), i.e. e1(s)=x1
(s)-y1(s)；To e1S () implements Internal Model Control Algorithm C1IMC(s), and signal function is output it in the transmission of cross decoupling passage
Function P21S () obtains its output signal yp21(s)；By signal yp21S () passes through cross decoupling network pathUnit is to execution
Device A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards, actuator A2 nodes are got to；
4th step：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)
+y1(s)；
5th step：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1
Point transmission, u1aS () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
6th step：Actuator A1 nodes work in event driven manner, by signal u1a(s) or led to by cross decoupling network
RoadElement output signal yp12After (s) triggering, to u1aS () implements Internal Model Control Algorithm C1IMCS (), obtains its IMC signal u1b
(s)；
7th step：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bS () is added
Obtain signal u1c(s), i.e. u1c(s)=yp12(s)+u1b(s)；
8th step：By signal u1cS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1cS () 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 decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation and IMC；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；When
After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device cross aisle transmit letter
Number 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)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Control decoupler CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, get to control decoupler
CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2After (s) triggering, will close
The system Setting signal x of ring control loop 22S (), subtracts feedback signal y2S (), obtains deviation signal e2(s), i.e. e2(s)=x2
(s)-y2(s)；To e2S () implements Internal Model Control Algorithm C2IMC(s), and signal function is output it in the transmission of cross decoupling passage
Function P12S () obtains its output signal yp12(s)；By signal yp12S () passes through cross decoupling network pathUnit is to execution
Device A1 node-node transmissions, signal yp12S () will experience network transfer delay τ12Afterwards, actuator A1 nodes are got to；
4th step：By error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)
+y2(s)；
5th step：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2
Point transmission, u2aS () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
6th step：Actuator A2 nodes work in event driven manner, by signal u2a(s) or led to by cross decoupling network
RoadElement output signal yp21After (s) triggering, to u2aS () implements Internal Model Control Algorithm C2IMCS (), obtains its output IMC letters
Number u2b(s)；
7th step：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s) and signal u2bS () is added,
Obtain signal u2c(s), i.e. u2c(s)=yp21(s)+u2b(s)；
8th step：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () 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 decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation and IMC；
9th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of two input two exports network decoupling and controlling system random network time delay 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 control decoupler CD1 nodes are by feedback signal y1When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by signal u1a(s) or by cross decoupling network pathElement output signal yp12(s)
During triggering, 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 control decoupler CD2 nodes are by feedback signal y2When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by signal u2a(s) or by cross decoupling network pathElement output signal yp21(s)
During triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle
Transmission function G12The output signal y of (s)12S () is sampled, and calculate the system output signal y of close loop control circuit 11
(s), and y1(s)=y11(s)+y12(s)；
A3：Sensor S1 nodes are by feedback signal y1(s), by the feedback network path of close loop control circuit 1 to control decoupler
CD1 node-node transmissions, feedback signal y1S () will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1S () is triggered；
B2：In control decoupler CD1, by the system Setting signal x of close loop control circuit 11S () subtracts feedback signal y1(s)
To error signal e1(s), i.e. e1(s)=x1(s)-y1(s)；To e1S () implements Internal Model Control Algorithm C1IMC(s), and output it
Signal function is in cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；By signal yp21S () is by intersecting
Decoupling network pathUnit is to actuator A2 node-node transmissions, signal yp21S () will experience network transfer delay τ21Afterwards, ability
Reach actuator A2 nodes；
B3：By error signal e1(s) and feedback signal y1S () is added and obtains signal u1a(s), i.e. u1a(s)=e1(s)+y1(s)；
B4：By signal u1aS feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, letter
Number u1aS () will experience network transfer delay τ1Afterwards, actuator A1 nodes could be arrived；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by signal u1a(s) or by cross decoupling network pathIt is single
First output signal yp12S () is triggered；
C2：After actuator A1 nodes are triggered, to u1aS () implements Internal Model Control Algorithm C1IMCS (), obtains its output IMC signal
u1b(s)；
C3：Future Self-crossover Decoupling network pathThe output signal y of unitp12(s), with signal u1bS () is added and obtains signal
u1c(s), i.e. u1c(s)=yp12(s)+u1b(s)；
C4：By signal u1cS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1cS () 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)
Decoupling and control, while realizing to random network delay, τ1And τ2Compensation and 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)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：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler
CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2S () is triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2(s),
Obtain deviation signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2S () implements Internal Model Control Algorithm C2IMC(s), and its is defeated
Go out signal function in cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；By signal yp12S () is by handing over
Fork Decoupling network pathUnit is to actuator A1 node-node transmissions, signal yp12S () will experience network transfer delay τ12Afterwards,
Actuator A1 nodes can be reached；
E3：By error signal e2(s) and feedback signal y2S () is added and obtains signal u2a(s), i.e. u2a(s)=e2(s)+y2(s)；
E4：By signal u2aS feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, u2a
S () will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) or by cross decoupling network pathIt is single
First output signal yp21S () is triggered；
F2：After actuator A2 nodes are triggered, to u2aS () implements Internal Model Control Algorithm C2IMCS (), obtains its output IMC signal
u2b(s)；
F3：Future Self-crossover Decoupling network pathThe output signal y of unitp21(s) and signal u2bS () is added, obtain signal
u2c(s), i.e. u2c(s)=yp21(s)+u2b(s)；
F4：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () 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)
Decoupling and control, while realizing to random network delay, τ3And τ4Compensation and 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 internal mode controller C1IMC(s) and C2IMC(s) it is adjustable
The equal only one of which parameter of parameter, the regulation of parameter is simple with selection, and explicit physical meaning；Can not only be improved using IMC and be
The stability of system, tracking performance and interference free performance, but also compensation and control to network delay can be realized.
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