CN106814622A - A kind of dual input exports the compensation method of network decoupling and controlling system variable time delay - Google Patents

Abstract

Dual input exports the compensation method of network decoupling and controlling system variable time delay, belongs to the MIMO NDCS technical fields of limited bandwidth resources.Affect one another and couple between a kind of dual input output signal, 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 and SPC are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, variable time delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of dual input exports the compensation method of network decoupling and controlling system variable time delay

Technical field

The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band The multiple-input and multiple-output network decoupling and controlling system technical field of resource-constrained wide.

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

A kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) in the present invention relates to MIMO-NDCS can Become the compensation and control of network delay, the typical structure of its TITO-NDCS is as shown in Figure 3.

For the close loop control circuit 1 in Fig. 3：

1) from input signal x₁S () arrives output signal y₁S the closed loop transfer function, between () is：

In formula：C₁S () is 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 2_2aS (), 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 u_2aS () 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 variable 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 u_2aS (), 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 1_1aS (), 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 u_1aS () 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 variable 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, propose that one kind is based on IMC's (Internal Model Control, IMC) Delay compensation method；For the close loop control circuit 2 in Fig. 3, propose a kind of based on SPC (Smith Predictor Control, SPC) delay compensation method；The compensation and control of two close loop control circuit network delays are constituted, 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.When pre- When estimating model equal to its true model, the index not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving , and then influence of the network delay to whole system stability can be reduced, and improve the dynamic property quality of system, it is right to realize The segmentation of TITO-NDCS variable network time delays, real-time, online and dynamic predictive compensation and IMC and SPC.

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 built_1IMC(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 C_1mIMC(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 C_1mIMCS () is equal to its internal mode controller C_1IMCS the condition of () is (due to internal model Controller C_1IMCS () is artificial design and selection, C is met naturally_1mIMC(s)=C_1IMC(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 Variable network delay, τ₁And τ₂Compensation and IMC；

For the close loop control circuit 2 in Fig. 3：

The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 2 Exponential term containing network delay, to realize to network delay τ₃And τ₄Compensation with control, control decoupler CD2 nodes in, adopt To controller C₂The output signal u of (s)₂S () is used as input signal, controlled device prediction model G_22m(s) as controlled process, Control transmits prediction model with process data by network delayAndAround controller C₂S () constructs one and bears instead Feedback Prediction Control loop and a positive feedback Prediction Control loop, 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 to control decoupler CD2 nodes between, and from control decoupler CD2 nodes to actuator A2 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndCause Regardless of whether whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising net therebetween The predict-compensate model of network time delay, so that in exempting to close loop control circuit 2, network delay τ between node₃And τ₄Measurement, estimate Meter is recognized；When prediction model is equal to its true model, it is capable of achieving to variable network delay, τ₃And τ₄Compensation with control；It is real The network delay collocation structure for applying the inventive method is as shown in Figure 5.

Herein it should be strongly noted that in the control decoupler CD1 nodes of Fig. 6, occurring in that close loop control circuit 1 Setting signal x₁(s), with feedback signal y₁(s) implement first " subtracting " afterwards " plus ", or first " plus " " subtract " operation rule, i.e. y afterwards₁S () believes Number simultaneously be connected in CD1 nodes by positive feedback and negative-feedback：

(1) this is due to by the controller C in Fig. 5 close loop control circuits 1₁(s) unit, according to transmission function equivalence transformation Regular further abbreviation obtains the result shown in Fig. 6, and non-artificial setting；

(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing Storage 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 that₁S () does not just exist, or do not obtain y₁S () signal, or signal is not stored for；Or because of " phase Mutually offset " cause " zero " signal value to reform into not exist, or it is nonsensical；

(4) triggering of control decoupler CD1 nodes just comes from signal y₁The driving of (s), if control decoupler CD1 sections Point is not received by the signal y come from feedback network tunnel₁(s), then in the control of event-driven working method Decoupler CD1 nodes 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：C_1IMCS () is internal mode controller.

2) from the control decoupler CD2 nodes of close loop control circuit 2 C₂The output u of (s) control unit_2aS () signal, passes through Cross decoupling channel transfer function P₁₂(s) and network pathThe output signal y of unit_p12S () acts on closed-loop control and returns Road 1, from input signal u_2aS () 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 2_2bS (), is transmitted by controlled device cross aisle Function G₁₂S () acts on close loop control circuit 1, from input signal u_2bS () 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 with controlled device internal mode controller steady in itself It is qualitative relevant；Influence of the network delay to the stability of a system can be reduced using the inventive method, improve the dynamic control of system Energy quality, realizes to the dynamic compensation of variable 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：

2) from the control decoupler CD1 nodes of close loop control circuit 1 e₁(s) as input signal, by internal mode controller C_1IMC(s) unit and cross decoupling channel transfer function P₂₁(s) and network pathThe signal yp21 that unit is transmitted S () acts on close loop control circuit 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 1_1cS (), is transmitted by controlled device cross aisle Function G₂₁S () acts on close loop control circuit 2, from input signal u_1cS () 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)：When the prediction model of controlled device is equal to it During true model, that is, work as G_22m(s)=G₂₂When (s), the closed loop transform function of close loop control circuit 2 byBecome 1+C₂(s)G₂₂In (s)=0, in its closed loop transform function not The exponential term of network delay τ 3 and τ 4 again comprising the influence stability of a systemWithSo as to network delay can be reduced to system The influence of stability, improves the dynamic control performance quality of system, realizes to the dynamic compensation of variable network time delay and SPC.

In close loop control circuit 1, internal mode controller C_1IMCThe 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；Second step is the feedforward that certain order is added in feedforward controller Wave filter f₁S (), constitutes a complete internal mode controller C_1IMC(s)。

(1) feedforward controller C₁₁(s)

Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about The factors such as beam condition, in selection close loop control circuit 1, controlled device prediction model is equal to its true model, i.e.,：G_11m(s)=G₁₁ (s)。

Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G_11m(s)= G_11m+(s)G_11m-(s), wherein：G_11m+S () is controlled device prediction model G_11mPure lag system and s RHPs are included in (s) The irreversible part of zero pole point；G_11m-S () is the reversible part of minimum phase in controlled device prediction model.

Under normal circumstances, the feedforward controller C of close loop control circuit 1₁₁S () can be chosen for respectively：

(2) feedforward filter f₁(s)

The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller_11m- (s), Have ignored G_11m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.

Generally the feedforward filter f of close loop control circuit 1₁S (), is chosen for fairly simple n₁And n₂Rank wave filterWherein：λ₁It is feedforward filter time constant；n₁It is the order of feedforward filter, and n₁=n_1a-n_1b；n_1a It is controlled device G₁₁The order of (s) denominator；n_1bIt is controlled device G₁₁The order of (s) molecule, usual n₁＞ 0.

(3) internal mode controller C_1IMC(s)

The internal mode controller C of close loop control circuit 1_1IMCS () can be chosen for:

Be can be seen that from equation (13)：The internal mode controller C of one degree of freedom_1IMCIn (s), the adjustable ginseng of only one of which Number λ₁, due to λ₁The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting The customized parameter λ of ripple device₁When, the tracing property generally required in system is traded off between the two with antijamming capability.

In close loop control circuit 2, controller C₂The selection of (s)：

Controller C₂S () can be according to controlled device G₂₂The Mathematical Modeling of (s), and model parameter change, both may be selected Conventional control strategy, also may be selected Based Intelligent Control or complex control strategy；Close loop control circuit 2 uses SPC methods, from TITO- Realized in NDCS structures and specific controller C₂S the selection of the control strategy of () is unrelated.

The scope of application of the invention：

Suitable for known to controlled device Mathematical Modeling or when being uncertain of using the IMC methods of close loop control circuit 1, and quilt Using the SPC methods of close loop control circuit 2, a kind of lose-lose for being constituted when control object estimates Mathematical Modeling equal to its true model Enter the compensation and control of dual output network decoupling and controlling system (TITO-NDCS) variable network time delay；Its Research Thinking and method, It is using the IMC methods of close loop control circuit 1 when can equally be well applied to known to controlled device Mathematical Modeling or being uncertain of and controlled Using the SPC methods of close loop control circuit 2 when object estimates Mathematical Modeling equal to its true model, how defeated the multi input for being constituted is Go out the compensation and control of network decoupling and controlling system (MIMO-NDCS) variable network time delay.

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 u_1a(s) or by cross decoupling network pathElement output signal y_p12 When () triggers s, employing mode C is operated；

For close loop control circuit 2：

(5) is h when the sensor S2 nodes cycle₂Sampled signal trigger when, employing mode D is operated；

(6) is when control decoupler CD2 nodes are by feedback signal y_2bWhen () triggers s, employing mode E is operated；

(7) is when actuator A2 nodes are by signal u_2a(s) or by cross decoupling network pathElement output signal y_p21 When () 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 C_1IMC(s), and by its Output signal acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；By signal y_p21S () passes through Cross decoupling network pathUnit is to actuator A2 node-node transmissions, signal y_p21S () will experience network transfer delay τ₂₁Afterwards, Get to actuator A2 nodes；

B3：By error signal e₁(s) and feedback signal y₁S () is added and obtains signal u_1a(s), i.e. u_1a(s)=e₁(s)+y₁ (s)；

B4：By signal u_1aS feedforward network path that () passes through close loop control circuit 1Unit is passed to actuator A1 nodes It is defeated, u_1aS () 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 u_1a(s) or by cross decoupling network pathElement output signal y_p12S () is triggered；

C2：After actuator A1 nodes are triggered, to u_1aS () implements Internal Model Control Algorithm C_1IMCS (), obtains its output IMC Signal u_1b(s)；

C3：Future Self-crossover Decoupling network pathThe output signal y of unit_p12(s), with signal u_1bS () is added and obtains Signal u_1c(s), i.e. u_1c(s)=y_p12(s)+u_1b(s)；

C4：By signal u_1cS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1cS () 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 variable 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)₂₁(s), and actuator A2 nodes output signal y_22mbS () is sampled, and Calculate the system output signal y of close loop control circuit 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s)+y₂₁(s) and y_2b(s)=y₂(s)-y_22mb(s)；

D3：Sensor S2 nodes are by feedback signal y_2b(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y_2bS () 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 y_2bS () is triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂S (), subtracts feedback signal y_2b(s) and controlled device prediction model G_22mThe output valve y of (s)_22maS (), obtains deviation signal e₂(s), i.e. e₂(s)=x₂(s)- y_2b(s)-y_22ma(s)；To e₂S () implements control algolithm C₂S (), obtains control signal u_2a(s)；By signal u_2aS () effect is controlled Object prediction model G_22mS (), obtains its output valve y_22ma(s)；

E3：By signal u_2aS () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；Will Signal y_p12S () passes through cross decoupling network pathUnit is to actuator A1 node-node transmissions, signal y_p12S () will experience network Propagation delay time τ₁₂Afterwards, actuator A1 nodes are got to；

E4：By signal u_2aS feedforward network path that () passes through close loop control circuit 2Unit is passed to actuator A2 nodes It is defeated, u_2aS () 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 u_2a(s) or by cross decoupling network pathElement output signal y_p21S () is triggered；

F2：Future Self-crossover Decoupling network pathThe output signal y of unit_p21(s) and signal u_2aS () is added, obtain Signal u_2b(s), i.e. u_2b(s)=y_p21(s)+u_2a(s)；

F3：By signal u_2bS () acts on controlled device prediction model G_22mS (), obtains its output valve y_22mb(s)；

F4：By signal u_2bS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2bS () 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 variable network delay, τ₃And τ₄Compensation and SPC.

The present invention has following features：

1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimate or recognize, while also The synchronous requirement of node clock signal can be exempted, and then time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid Waste to expending node storage resources needed for time-delay identification, can also avoid due to " the sky sampling " or " sampling more " that time delay is caused The compensation error brought.

2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-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, in TITO-NDCS, using the control loop 1 of IMC, its internal mode controller C_1IMCS the adjustable parameter of () only has one Individual λ₁Parameter, the regulation of its parameter is simple with selection, and explicit physical meaning；The stabilization of system can be not only improved using IMC Property, tracking performance and interference free performance, but also the compensation to network delay and IMC can be realized.

4th, in TITO-NDCS, using the control loop 2 of SPC, due to being realized from TITO-NDCS structures and specifically controlled Device C₂S the selection of () control strategy is unrelated, thus can be not only used for, using the TITO-NDCS of conventional control, also can be used to use intelligence Can control or the TITO-NDCS using complex control strategy.

5th, 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；τ_caThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions Tunnel time delay；τ_scThe 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：y_jS () represents j-th output signal of system；u_iS () represents i-th control signal of system；Represent Will control decoupling signal u_iS 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 system_jS () is to control decoupler CD node-node transmissions The feedback network tunnel time delay for being experienced；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；y_p21(s) and y_p12S () represents and intersects Decoupling path output signal；u_1a(s) and u_2aS () 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 y_p21(s) and y_p12S 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；G_22mS () is that controlled device estimates G₂₂The prediction model of (s) model；C_1mIMC(s) It is internal mode controller C_1IMCThe predictor controller of (s).

Fig. 5：Replace the TITO-NDCS delay compensations of prediction model and control structure with true model

Fig. 6：A kind of dual input exports the compensation method of network decoupling and controlling system variable time delay

Fig. 6 can realize the compensation and control to variable 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 y₁S () is triggered；Control After decoupler CD1 nodes are triggered, by the system Setting signal x of close loop control circuit 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 C_1IMC(s), and output it letter Number act on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；By signal y_p21S () is solved by intersecting Coupling network pathUnit is to actuator A2 node-node transmissions, signal y_p21S () will experience network transfer delay τ₂₁Afterwards, get to Actuator A2 nodes；

4th step：By error signal e₁(s) and feedback signal y₁S () is added and obtains signal u_1a(s), i.e. u_1a(s)=e₁(s) +y₁(s)；

5th step：By signal u_1aS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1 Point transmission, u_1aS () will experience network transfer delay τ₁Afterwards, actuator A1 nodes could be arrived；

6th step：Actuator A1 nodes work in event driven manner, by signal u_1a(s) or led to by cross decoupling network RoadElement output signal y_p12S () is triggered；After actuator A1 nodes are triggered, to u_1aS () implements Internal Model Control Algorithm C_1IMCS (), obtains its IMC signal u_1b(s)；

7th step：Future Self-crossover Decoupling network pathThe output signal y of unit_p12(s), with signal u_1bS () is added Obtain signal u_1c(s), i.e. u_1c(s)=y_p12(s)+u_1b(s)；

8th step：By signal u_1cS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1cS () 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 variable 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)₂₁(s), and actuator A2 nodes output signal y_22mbS () is sampled, and calculate closed loop The system output signal y of control loop 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s)+y₂₁(s) and y_2b(s)=y₂ (s)-y_22mb(s)；

Second step：Sensor S2 nodes are by feedback signal y_2b(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y_2bS () 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 y_2bAfter (s) triggering, will close The system Setting signal x of ring control loop 2₂S (), subtracts feedback signal y_2b(s) and controlled device prediction model G_22m(s) it is defeated Go out value y_22maS (), obtains deviation signal e₂(s), i.e. e₂(s)=x₂(s)-y_2b(s)-y_22ma(s)；To e₂S () implements control algolithm C₂S (), obtains control signal u_2a(s)；By signal u_2a(s) effect controlled device prediction model G_22mS (), obtains its output valve y_22ma(s)；

4th step：By signal u_2aS () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12 (s)；By signal y_p12S () passes through cross decoupling network pathUnit is to actuator A1 node-node transmissions, signal y_p12S () will be through Go through network transfer delay τ₁₂Afterwards, actuator A1 nodes are got to；

5th step：By signal u_2aS () is by the feedforward network path e- τ 3s units of close loop control circuit 2 to actuator A2 Node-node transmission, u_2aS () will experience network transfer delay τ₃Afterwards, actuator A2 nodes could be arrived；

6th step：Actuator A2 nodes work in event driven manner, by signal u_2a(s) or led to by cross decoupling network RoadElement output signal y_p21(s) triggering after, future Self-crossover Decoupling network pathThe output signal y of unit_p21(s) With signal u_2aS () is added, obtain signal u_2b(s), i.e. u_2b(s)=y_p21(s)+u_2a(s)；

7th step：By signal u_2bS () acts on controlled device prediction model G_22mS (), obtains its output valve y_22mb(s)；

8th step：By signal u_2bS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2bS () 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 variable network delay, τ₃And τ₄Compensation and SPC；

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 (5)

1. a kind of dual input exports the compensation method of network decoupling and controlling system variable time delay, it is characterised in that the method include with Lower step：

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 u_1a(s) or by cross decoupling network pathElement output signal y_p12(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 y_2bWhen () triggers s, employing mode E is operated；

(6) is when actuator A2 nodes are by signal u_2a(s) or by cross decoupling network pathElement output signal y_p21(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 C_1IMC(s), and output it Signal function is in cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；By signal y_p21S () is by intersecting Decoupling network pathUnit is to actuator A2 node-node transmissions, signal y_p21S () 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 u_1a(s), i.e. u_1a(s)=e₁(s)+y₁(s)；

B4：By signal u_1aS feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, u_1a S () 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 u_1a(s) or by cross decoupling network pathIt is single First output signal y_p12S () is triggered；

C2：After actuator A1 nodes are triggered, to u_1aS () implements Internal Model Control Algorithm C_1IMCS (), obtains its output IMC signal u_1b(s)；

C3：Future Self-crossover Decoupling network pathThe output signal y of unit_p12(s), with signal u_1bS () is added and obtains signal u_1c(s), i.e. u_1c(s)=y_p12(s)+u_1b(s)；

C4：By signal u_1cS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1cS () 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 variable 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)₂₁(s), and actuator A2 nodes output signal y_22mbS () is sampled, and calculate Go out the system output signal y of close loop control circuit 2₂(s) and feedback signal y_2b(s), and y₂(s)=y₂₂(s)+y₂₁(s) and y_2b (s)=y₂(s)-y_22mb(s)；

D3：Sensor S2 nodes are by feedback signal y_2bS (), is decoupled by the feedback network path of close loop control circuit 2 to control Device CD2 node-node transmissions, feedback signal y_2bS () 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 y_2bS () is triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂S (), subtracts feedback signal y_2b(s) With controlled device prediction model G_22mThe output valve y of (s)_22maS (), obtains deviation signal e₂(s), i.e. e₂(s)=x₂(s)-y_2b (s)-y_22ma(s)；To e₂S () implements control algolithm C₂S (), obtains control signal u_2a(s)；By signal u_2aS () effect is controlled right As prediction model G_22mS (), obtains its output valve y_22ma(s)；

E3：By signal u_2aS () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；By signal y_p12S () passes through cross decoupling network pathUnit is to actuator A1 node-node transmissions, signal y_p12S () will experience network transmission Delay, τ₁₂Afterwards, actuator A1 nodes are got to；

E4：By signal u_2aS feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, u_2a 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 u_2a(s) or by cross decoupling network pathIt is single First output signal y_p21S () is triggered；

F2：Future Self-crossover Decoupling network pathThe output signal y of unit_p21(s) and signal u_2aS () is added, obtain signal u_2b(s), i.e. u_2b(s)=y_p21(s)+u_2a(s)；

F3：By signal u_2bS () acts on controlled device prediction model G_22mS (), obtains its output valve y_22mb(s)；

F4：By signal u_2bS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2bS () 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 variable network delay, τ₃And τ₄Compensation and SPC.

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 control loop 1 of IMC, its internal mode controller C_1IMC S the adjustable parameter only one of which parameter of (), the regulation of its parameter is simple with selection, and explicit physical meaning；Not only may be used using IMC To improve stability, tracking performance and the interference free performance of system, but also can realize to the compensation that is uncertain of network delay with IMC。

5. method according to claim 1, it is characterised in that：Using the control loop 2 of SPC, due to being tied from TITO-NDCS Realized on structure and specific controller C₂S the selection of () control strategy is unrelated, thus can be not only used for using the TITO- of conventional control NDCS, also can be used for using Based Intelligent Control or the TITO-NDCS using complex control strategy.