CN106842933A - A kind of TITO NDCS time-varying network delay compensation methods of SPC and two degrees of freedom IMC - Google Patents

Abstract

The TITO NDCS time-varying network delay compensation methods of SPC and two degrees of freedom IMC, 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 network delay compensation model therebetween,And two loops are implemented with SPC and two degrees of freedom IMC respectively,Measurement to network delay between node can be exempted using the inventive method,Estimate or recognize,Exempt and node clock signal is synchronously required,Time-varying network time delay is reduced to TITO NDCS stability influences,Improve system control performance quality.

Description

A kind of TITO-NDCS time-varying network delay compensation methods of SPC and two degrees of freedom IMC

Technical field

A kind of SPC (Smith predictor control, SPC) and two degrees of freedom IMC (Internal model Control, IMC) TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling Control systems, NDCS) time-varying network delay compensation method, it is related to automatic control technology, the network communications technology and calculating The crossing domain of machine technology, more particularly to limited bandwidth resources multiple-input and multiple-output network decoupling and controlling system technical field.

Background technology

In dcs, between sensor and controller, controller and actuator, by Real Time Communication Network The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's Typical structure is as shown in Figure 1.

NCS is capable of achieving resource-sharing, remote operation and control, tool compared with the control system of traditional point-to-point structure Many advantages, such as having high diagnosis capability, I＆M simplicity, increased flexibility and the reliability of system.Long-range distant behaviour Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether Control system based on net belongs to the category of NCS, additionally, NCS is in aerospace field and complexity, dangerous industry control Also there is wide application in field processed, studies it just hot subject as international academic community.

In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many New challenge.Sensor as NCS, when passing through network exchange data between controller and actuator, when inevitably resulting in network Prolong, so as to the performance of system can be reduced or even cause the unstable of system.Because the information source in network is a lot, transmitting data stream Through numerous computers and communication apparatus and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, net The reason such as network congestion or disconnecting, will cause the sequential entanglement of network packet and the loss of packet.Although time-delay system Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS various time delays of different nature (constant, bounded, At random, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory being analyzed to system and During design, often do many Utopian it is assumed that transmitting and adjusting such as the sampling of single rate, Synchronization Control, without time delay.And in NCS In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will be reappraised Can be applied in NCS.

At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with Between output signal, there is coupling needs the multiple-input and multiple-output network decoupling and controlling system time delay by decoupling treatment to mend Repay then relative less with the achievement in research of control.

The typical structure of MIMO-NDCS is as shown in Figure 2.

Compared with SISO-NCS, MIMO-NDCS has the characteristics that：

(1) affected one another between input signal and output signal and there is coupling

In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Selection pairing, also exists and influences each other unavoidably between each control loop, thus it is respective output signal is independently tracked Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal Cooperation is used.

(2) internal structure is more more complex than SISO-NCS and MIMO-NCS

(3) controlled device there may be uncertain factor

In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control The influence of effect processed can become very complicated.

(4) control unit failure

In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious Control system can be made unstable, or even caused a serious accident.

Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method, The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO- In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.

For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point of control：

(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size It is relevant etc. factor, to more than several or even the dozens of sampling period time variation network delay, to set up in MIMO-NDCS each The Mathematical Modeling that the time variation network delay of control loop is accurately predicted, estimates or recognized, is nearly impossible at present.

(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance 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, to MIMO-NDCS implement Delay compensation is more much more difficult than MIMO-NCS and SISO-NCS with control.

The content of the invention

When exporting network decoupling and controlling system (TITO-NDCS) the present invention relates to a kind of two input two in MIMO-NDCS The compensation of time-varying delay and control, the typical structure of its TITO-NDCS are as shown in Figure 3.

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

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

In formula：C₁S () is controller, G₁₁S () is controlled device；τ₁Represent the output signal u of controller C nodes₁(s), Through preceding the time-varying network time delay that decoupling actuator DA1 nodes are experienced is transferred to network path；τ₂Represent sensor S1 sections The output signal y of point₁(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.

2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2_p2(s), by cross decoupling Path transmission function P₁₂(s) and controlled device line passing transmission function G₁₂S () acts on close loop control circuit 1, believe from input Number u_p2S () arrives output signal y₁S the closed loop transfer function, between () is：

Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, when containing time-varying network Prolong τ₁And τ₂Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated Stability.

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

1) from input signal x₂S () arrives output signal y₂S the closed loop transfer function, between () is：

In formula：C₂S () is controller, G₂₂S () is controlled device；τ₃Represent the controlled output signal u of controller C nodes₂ S (), the time-varying network time delay that decoupling actuator DA2 nodes are experienced is transferred to through preceding to network path；τ₄Represent sensor The output signal y of S2 nodes₂(s), through the time-varying network time delay that feedback network tunnel is experienced to controller C nodes.

2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1_p1(s), by cross decoupling Path transmission function P₂₁(s) and controlled device line passing transmission function G₂₁S () acts on close loop control circuit 2, believe from input Number u_p1S () arrives output signal y₂S the closed loop transfer function, between () is：

Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, when containing time-varying network Prolong τ₃And τ₄Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated Stability.

Goal of the invention：

For the TITO-NDCS of Fig. 3, in the closed loop transfer function, equation (1) of its close loop control circuit 1 and the denominator of (2), Contain time-varying network delay, τ₁And τ₂Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2 (3) and in the denominator of (4), time-varying network delay, τ is contained₃And τ₄Exponential termWithThe presence of time delay can be reduced respectively From the control performance quality of close loop control circuit and the stability of respective close loop control circuit is influenceed, while will also decrease whole system The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.

It is an object of the invention to：

(1) in order to exempt to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then Reduce network delay τ₁And τ₂, and τ₃And τ₄To respective close loop control circuit and whole control system control performance quality with The influence of the stability of a system, when prediction model is equal to its true model, is capable of achieving the characteristic equation of respective close loop control circuit In the exponential term not comprising network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic of system Performance quality, realizes the segmentation to TITO-NDCS time-varying network time delays, real-time, online and dynamic predictive compensation and controls.

(2) for the TITO-NDCS of single-degree-of-freedom IMC, due to its internal mode controller C_IMCIn (s), only one of which feedforward filter Ripple device parameter lambda is adjustable, it is necessary to traded off between the tracing property and robustness of system, for the TITO- of high performance requirements NDCS or exist compared with large disturbances and model mismatch TITO-NDCS, it is difficult to take into account the performance of each side and obtain satisfied control Effect.

(3) present invention proposes the SPC and two degrees of freedom IMC methods of a kind of TITO-NDCS time-varying networks time delay

For close loop control circuit in Fig. 31, a kind of delay compensation method based on SPC is proposed；For closed loop control in Fig. 3 Loop processed 2, proposes a kind of delay compensation method based on two degrees of freedom IMC.

Using method：

For the close loop control circuit 1 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 1 Exponential term containing network delay, to realize to network delay τ₁And τ₂Compensation with control, in controller C nodes, use with control Signal u processed₁(s) and u_p2mS () is used as input signal, controlled device prediction model G_11m(s) and G_12mS () and intersection estimate decoupling Model P_12mS () passes through network transfer delay prediction model as controlled and Uncoupled procedure, control with process dataAndAround internal controller C₁S (), constructs a positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, such as scheme Shown in 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 Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman Foot estimates Decoupled Model P_12mS () is equal to its true Decoupled Model P₁₂S the condition of () is (due to decoupling channel transfer function P₁₂(s) It is artificial design and selection, P is met naturally_12m(s)=P₁₂(s))；Therefore, from sensor S1 nodes to controller C nodes, And from controller C nodes to decoupling actuator DA1 nodes, using real network data transmission processAnd Instead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to Its true model, can realize the predict-compensate model not comprising network delay therebetween, so as to exempt right from system architecture In close loop control circuit 1, time-varying network delay, τ between node₁And τ₂Measurement, estimate or recognize；When prediction model is true equal to its During real mould, it is capable of achieving to its time-varying network delay τ₁And τ₂Compensation and SPC；Implement the network delay compensation of the inventive method With SPC structures such as Fig. 5；

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

The first step：In controller C nodes, an internal mode controller C is built first_2IMCS () is used to replace controller C₂ (s)；In order to realize meeting during predictive compensation condition, network delay is no longer included in the closed loop transform function of close loop control circuit 2 Exponential term, to realize to network delay τ₃And τ₄Compensation with control, use with control signal u₂(s) and u_p1mS () is used as defeated Enter signal, controlled device prediction model G_22m(s) and G_21mS () and intersection estimate Decoupled Model P_21mS () conduct is controlled and decoupled Journey, control passes through network transfer delay prediction model with process dataAndAround internal mode controller C_2IMC(s), structure A positive feedback Prediction Control loop and a negative-feedback Prediction Control loop are made, 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 Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman Foot estimates Decoupled Model P_21mS () is equal to its true Decoupled Model P₂₁S the condition of () is (due to decoupling channel transfer function P₂₁(s) It is artificial design and selection, P is met naturally_21m(s)=P₂₁(s))；Therefore, from sensor S2 nodes to controller C nodes, And from controller C nodes to decoupling actuator DA2 nodes, using real network data transmission processAnd Instead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to Its true model, can realize the predict-compensate model not comprising network delay therebetween, so as to exempt right from system architecture In close loop control circuit 2, time-varying network delay, τ between node₃And τ₄Measurement, estimate or recognize；When prediction model is true equal to its During real mould, it is capable of achieving to its time-varying network delay τ₃And τ₄Compensation with control；At the same time, in the anti-of close loop control circuit 2 In feedthrough road, increase feedback filter F₂(s)；Implement network delay two degrees of freedom IMC methods structure such as Fig. 5 of the inventive method It is shown；

For the close loop control circuit 1 in Fig. 5：

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

In formula：G_11mS () is controlled device G₁₁The prediction model of (s).

2) from controlling pre- decoupler CPD nodes, the internal mode controller C of close loop control circuit 2_2IMCThe output IMC of (s) Signal u₂(s) and cross decoupling channel transfer function prediction model P_21m(s) output signal y_p21mS () obtains signal u after subtracting each other_p2m (s), i.e. u_p2m(s)=u₂(s)-y_p21m(s)；By u_p2mS () acts on close loop control circuit 1, from input signal u_p2mS () arrives output Signal y₁S the closed loop transfer function, between () is：

3) from the uneoupled control signal u in the decoupling actuator DA2 nodes of close loop control circuit 2_p2S (), is solved by intersecting Coupling path transmission function P₁₂(s), and by controlled device cross aisle transmission function G₁₂(s) and its prediction model G_12m(s) Close loop control circuit 1 is acted on, from input signal u_p2S () arrives output signal y₁S the closed loop transfer function, between () is：

Using the inventive method, work as G_11m(s)=G₁₁When (s), the feature side of the closed loop transfer function, of close loop control circuit 1 Journey will be byBecome 1+C₁(s)G₁₁(s)=0, its closed loop transfer function, Denominator in no longer comprising influence the stability of a system network delay τ₁And τ₂Exponential termWithSo as to reduce Influence of the network delay to the stability of a system, improves the dynamic control performance quality of system, and realization is moved to time-varying network time delay State is compensated and SPC.

For the close loop control circuit 2 in Fig. 5：

1) from input signal x₂S () arrives output signal y₂S the closed loop transfer function, between () is：

In formula：G_22mS () is controlled device G₂₂The prediction model of (s)；C_2IMCS () is internal mode controller；F₂S () is feedback Wave filter.

2) from controlling pre- decoupler CPD nodes, the controller C of close loop control circuit 1₁The output signal u of (s)₁(s) with Cross decoupling channel transfer function prediction model P_12mThe output signal y of (s)_p12mS () obtains signal u after subtracting each other_p1m(s), i.e. u_p1m (s)=u₁(s)-y_p12m(s)；By u_p1mS () acts on close loop control circuit 2, from input signal u_p1mS () arrives output signal y₂(s) Between closed loop transfer function, be：

3) the uneoupled control signal u in the decoupling actuator DA1 nodes from close loop control circuit 1_p1(s), by intersecting Decoupling path transmission function P₂₁(s), and by controlled device cross aisle transmission function G₂₁(s) and its prediction model G_21m S () acts on close loop control circuit 2, from input signal u_p1S () arrives output signal y₂S the closed loop transfer function, between () is：

Using the inventive method, work as G_22m(s)=G₂₂S when (), the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1.

Now, close loop control circuit 2 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer Network delay τ comprising the influence stability of a system₃And τ₄Exponential termWithThe stability of system only with controlled device and Internal mode controller stability in itself is relevant.So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system State control performance quality, realizes the dynamic compensation to time-varying network time delay and two degrees of freedom IMC.

When system is present compared with large disturbances and model mismatch, feedback filter F₂The presence of (s) can improve system with Track and antijamming capability, reduce influence of the network delay to the stability of a system, further improve the dynamic property quality of system.

In close loop control circuit 1, controller C₁The selection of (s)：

Close loop control circuit 1 uses SPC methods, is realized from TITO-NDCS structures and specific controller C₁The control of (s) The selection of strategy is unrelated.Controller C₁S () can be according to controlled device G₁₁The Mathematical Modeling of (s) and the change feelings of model parameter Condition, both may be selected conventional control strategy, and Based Intelligent Control or complex control strategy also may be selected.

In close loop control circuit 2, design and the selection of two degrees of freedom IMC：

(1) internal mode controller C_2IMCThe 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 C₂₂(s)；Second step is that certain order is added in feedforward controller Feedforward filter f₂S (), constitutes a complete internal mode controller C_2IMC(s)。

1) feedforward controller 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 2, controlled device prediction model is equal to its true model, i.e.,：G_22m(s)=G₂₂ (s)。

Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G_22m(s)= G_22m+(s)G_22m-(s), wherein：G_22m+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_22m- (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 2₂₂S () can be chosen for：

2) feedforward filter 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 controller_22m- (s), Have ignored G_22m+(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 2₂S (), is chosen for fairly simple n2 rank wave filtersWherein：λ₂It is feedforward filter time constant；n₂It is the order of feedforward filter, and n₂=n_2a-n_2b；n_2a It is controlled device G₂₂The order of (s) denominator；n_2bIt is controlled device G₂₂The order of (s) molecule, usual n₂＞ 0.

3) internal mode controller C_2IMC(s)

The internal mode controller C of close loop control circuit 2_2IMCS () can be chosen for:

Be can be seen that from equation (11)：The internal mode controller C of one degree of freedom_2IMCIn (s), the adjustable ginseng of only one of which Number λ₂, due to λ₂The 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 device₂When, the tracing property generally required in system is traded off between the two with antijamming capability.

(2) feedback filter F₂The design of (s) and selection：

The feedback filter F of close loop control circuit 2₂S (), can choose fairly simple firstorder filter F₂(s)=(λ₂s+ 1)/(λ_2fS+1), wherein：λ₂It is feedforward filter f₂Time constant in (s)；λ_2fIt is feedback filter regulation parameter.

Under normal circumstances, in feedback filter regulation parameter λ_2fIn the case of immobilizing, the tracking performance of system can be with Feedforward filter regulation parameter λ₂Reduction and improve；In feedforward filter regulation parameter λ₂In the case of immobilizing, system Tracing property it is almost unchanged, and antijamming capability then can be with λ_2fReduction and become strong.

Therefore, the TITO-NDCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f₂(s) and feedback Wave filter F₂S the parameter of (), to improve the tracing property and antijamming capability of system, reduces shadow of the network delay to the stability of a system Ring, improve the dynamic property quality of system.

The scope of application of the invention：

SPC, and model is used to there may be necessarily partially when being equal to its true model suitable for controlled device prediction model Difference when using two degrees of freedom IMC a kind of TITO-NDCS time-varying networks time delay compensation with control；Its Research Thinking and method, Using SPC when can equally be well applied to controlled device prediction model equal to its true model, and model there may be certain deviation The compensation of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) time-varying network time delay of Shi Caiyong two degrees of freedom IMC With control.

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 the pre- decoupler CPD nodes of control are by feedback signal y_1bWhen () triggers s, employing mode B is operated；

(3) is as decoupling actuator DA1 node controlled signals u₁When () triggers s, employing mode C is operated；

For close loop control circuit 2：

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

(5) is when the pre- decoupler CPD nodes of control are by feedback signal y_2bWhen () triggers s, employing mode E is operated；

(6) is when decoupling actuator DA2 nodes are by IMC signals u₂When () triggers s, employing mode F is operated；

The step of mode A, includes：

A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h₁Sampled signal；

A2：After sensor S1 nodes are triggered, to controlled device G₁₁The output signal y of (s)₁₁S () and controlled device are intersected Channel transfer function G₁₂The output signal y of (s)₁₂(s), and decouple the output signal y of actuator DA1 nodes_11mb(s) and y_12mb S () is sampled, and calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)= y₁₁(s)+y₁₂(s) and y_1b(s)=y₁(s)-y_11mb(s)-y_12mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to control Pre- decoupler CPD node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, get to control pre- decoupler CPD nodes；

The step of mode B, includes：

B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_1bS () is triggered；

B2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 1₁(s) and feedback letter Number y_1b(s) and controlled device cross aisle transmission function prediction model G_12mThe output valve y of (s)_12maS () and controlled device are pre- Estimate model G_11mThe output valve y of (s)_11maS () subtracts each other, obtain system deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)- y_12ma(s)-y_11ma(s)；

B3：To e₁S () implements control algolithm C₁S (), obtains control signal u₁(s)；

B4：By control signal u₁(s) and pre- decoupling cross aisle transmission function P_12mThe output signal y of (s)_p12mS () subtracts each other, Obtain pre- decoupling signal u_p1m(s), i.e. u_p1m(s)=u₁(s)-y_p12m(s)；By u_p1mS () acts on controlled device prediction model G_11m S () obtains its output valve y_11ma(s)；

B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2_p2mS () acts on and closes The controlled device cross aisle transmission function prediction model G of ring control loop 1_12mS () obtains its output signal y_12ma(s)；Will be pre- Decoupling signal u_p2mS () acts on cross decoupling channel transfer function prediction model P_12mS () obtains its output signal y_p12m(s)；

B6：By control signal u₁S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator DA1 node-node transmissions, u₁S () will experience network transfer delay τ₁Afterwards, get to decouple actuator DA1 nodes；

The step of mode C, includes：

C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u₁S () is triggered；

C2：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_p2S (), acts on and closes The decoupling cross aisle transmission function P of ring control loop 1₁₂S () obtains its output valve y_p12(s)；By control signal u₁(s) and y_p12 S () subtracts each other, obtain the decoupling output signal u of control loop 1_p1(s), i.e. u_p1(s)=u₁(s)-y_p12(s)；

C3：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_p2S (), acts on solution Prediction model G in coupling actuator DA1 nodes_12mS () obtains its output valve y_12mb(s)；

C4：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device transmission function prediction model G_11mS () obtains its output valve y_11mb(s)；

C5：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device G₁₁S () obtains its output Value y₁₁(s)；By signal u_p1S () acts on controlled device cross aisle transmission function G₂₁S () obtains its output valve y₂₁(s)；So as to Realize to controlled device G₁₁(s) and G₂₁The decoupling of (s) and SPC, and realize to time-varying network delay, τ₁And τ₂Compensation with control；

The step of mode D, includes：

D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h₂Sampled signal；

D2：After sensor S2 nodes are triggered, to controlled device G₂₂(s) output signal y₂₂S () and controlled device are intersected logical Road transmission function G₂₁(s) output signal y₂₁(s), and decouple the output signal y of actuator DA2 nodes_22mb(s) and y_21mb(s) Sampled, and calculated 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)-y_21mb(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 Pre- decoupler CPD node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, get to control pre- decoupler CPD nodes；

The step of mode E, includes：

E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_2bS () is triggered；

E2：In pre- decoupler CPD nodes are controlled, by feedback signal y_2bS () first transmits letter with controlled device cross aisle Number prediction model G_21mThe output y of (s)_21ma(s) be added after again with controlled device prediction model G_22mThe output valve y of (s)_22ma(s) phase Subtract and obtain its signal y_2c(s), i.e. y_2c(s)=y_2b(s)+y_21ma(s)-y_22ma(s)；By y_2cS () acts on feedback filter F₂(s) Obtain its output valve y_F2(s)；By system Setting signal x₂S (), subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains System deviation signal e₂(s), i.e. e₂(s)=x₂(s)-y_F2(s)；

E3：To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E4：By IMC signals u₂(s) and pre- decoupling cross aisle transmission function P_21mThe output signal y of (s)_p21mS () subtracts each other, Obtain pre- decoupling signal u_p2m(s), i.e. u_p2m(s)=u₂(s)-y_p21m(s)；

E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1_p1mS () acts on and closes The controlled device cross aisle transmission function prediction model G of ring control loop 2_21mS () obtains its output signal y_21ma(s)；Will be pre- Decoupling signal u_p1mS () acts on cross decoupling channel transfer function prediction model P_21mS () obtains its output signal y_p21m(s)； By y_p21mS () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma(s)；

E6：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2 node-node transmissions, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

The step of mode F, includes：

F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u₂S () is triggered；

F2：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from_p1S (), acts on and closes The decoupling cross aisle transmission function P of ring control loop 2₂₁S () obtains its output valve y_p21(s)；By IMC signals u₂(s) and y_p21 S () subtracts each other, obtain the decoupling output signal u of control loop 2_p2(s), i.e. u_p2(s)=u₂(s)-y_p21(s)；

F3：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from_p1S (), acts on solution Prediction model G in coupling actuator DA2 nodes_21mS () obtains its output valve y_21mb(s)；

F4：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device transmission function prediction model G_22mS () obtains its output valve y_22mb(s)；

F5：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device G₂₂S () obtains its output Value y₂₂(s)；By signal u_p2S () acts on controlled device cross aisle transmission function G₁₂S () obtains its output valve y₁₂(s)；So as to Realize to controlled device G₂₂(s) and G₁₂The decoupling of (s) and two degrees of freedom IMC, and realize to time-varying network delay, τ₃And τ₄Benefit Repay and control.

The present invention has following features：

1st, due to from exempting in structure in TITO-NDCS, the measurement of time-varying network time delay, observation, estimate or recognize, together When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused The compensation error that sampling " brings.

2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with；It is not only suitable for really Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while Also it is applied to the TITO-NDCS that heterogeneous network is constituted.

3rd, using the control loop 1 of SPC, due to being realized from TITO-NDCS structures and specific controller C₁S () controls plan Selection slightly is unrelated, thus can be not only used for using the TITO-NDCS of conventional control, also can be used for using Based Intelligent Control or using multiple The TITO-NDCS of miscellaneous control strategy.

4th, with each close loop control circuits of TITO-NDCS for using single-degree-of-freedom IMC adjustable parameter compared with 1, use The control loop 2 of two degrees of freedom IMC, the adjustable parameter of its close loop control circuit is 2, can further improve the stabilization of system Property, tracking performance and antijamming capability；Especially when system is present compared with large disturbances and model mismatch, feedback filter F₂(s) Presence can further improve the dynamic property quality of system, reduce influence of the network delay to the stability of a system.

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 and control function are realized, hardware investment can be saved and be easy to be extended and applied.

Brief description of the drawings

Fig. 1：The typical structure of NCS

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 by r sensor S node, controller C nodes, m decoupling actuator DA 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；Representing will control Signal u_i(s) from controller C nodes to i-th decoupling actuator DA node-node transmissions experienced feedforward network tunnel when Prolong；Represent j-th detection signal y of sensor S nodes_jS () leads to the feedback network that controller C node-node transmissions are experienced Road propagation delay time；G represents controlled device transmission function.

Fig. 3：The typical structure of TITO-NDCS

In Fig. 3, system is made up of close loop control circuit 1 and 2, and system includes sensor S1 and S2 node, controller C sections Point, decouples actuator DA1 and DA2 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 unitWithConstituted.

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；u_p1(s) and u_p2S () represents control solution Coupling signal；τ₁And τ₃Represent control signal u₁(s) and u₂S () passes from controller C nodes to decoupling actuator DA1 and DA2 node Defeated experienced feedforward network tunnel time delay；τ₂And τ₄Represent the detection signal y of sensor S1 and S2 node₁(s) and y₂ S () experiences feedback network tunnel time delay to controller C node-node transmissions.

Fig. 4：A kind of TITO-NDCS time-vary delay systems compensation comprising prediction model and control structure

In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G_11m(s) and G_22mS () is controlled device transmission function G₁₁(s) and G₂₂The prediction model of (s)；G_12m(s) and G_21mS () is controlled device cross aisle transmission function G₁₂(s) and G₂₁S () estimates mould Type；P_12m(s) and P_21mS () is cross decoupling channel transfer function P₂₁(s) and P₁₂The prediction model of (s)；C_2IMCS () is internal model control Device processed.

Fig. 5：A kind of TITO-NDCS time-varying network delay compensation methods of SPC and two degrees of freedom IMC

In Fig. 5, F₂S () is feedback filter

Specific embodiment

Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill 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, are sampled the cycle for h₁Signal triggered；Work as biography After sensor S1 nodes are triggered, to controlled device G₁₁The output signal y of (s)₁₁(s) and controlled device cross aisle transmission function G₁₂The output signal y of (s)₁₂(s), and decouple the output signal y of actuator DA1 nodes_11mb(s) and y_12mbS () is sampled, And calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂(s) And y_1b(s)=y₁(s)-y_11mb(s)-y_12mb(s)；

Second step：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to Control pre- decoupler CPD node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, get to control pre- solution Coupling device CPD nodes；

3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_1bAfter (s) triggering, will The system Setting signal x of close loop control circuit 1₁(s) and feedback signal y_1bS () and controlled device cross aisle transmission function are estimated Model G_12m(s) output valve y_12ma(s) and controlled device prediction model G_11m(s) output valve y_11maS () subtracts each other, obtain deviation letter Number e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)-y_12ma(s)-y_11ma(s)；To e₁S () implements control algolithm C₁S (), is controlled Signal u₁(s)；

4th step：By control signal u₁(s) and pre- decoupling cross aisle transmission function P_12mThe output signal y of (s)_p12m(s) Subtract each other, obtain pre- decoupling signal u_p1m(s), i.e. u_p1m(s)=u₁(s)-y_p12m(s)；By u_p1mS () acts on controlled device and estimates mould Type G_11mS () obtains its output valve y_11ma(s)；

5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2_p2mS () acts on In the controlled device cross aisle transmission function prediction model G of close loop control circuit 1_12mS () obtains its output signal y_12ma(s)； By pre- decoupling signal u_p2mS () acts on cross decoupling channel transfer function prediction model P_12mS () obtains its output signal y_p12m (s)；

6th step：By control signal u₁S feedforward network path that () passes through close loop control circuit 1Unit is performed to decoupling Device DA1 node-node transmissions, u₁S () will experience network transfer delay τ₁Afterwards, get to decouple actuator DA1 nodes；

7th step：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u₁S () triggers after, will Come from the decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes_p2S (), acts on close loop control circuit 1 Decoupling cross aisle transmission function P₁₂S () obtains its output valve y_p12(s)；By IMC signals u₁(s) and y_p12S () subtracts each other, controlled The decoupling output signal u in loop processed 1_p1(s), i.e. u_p1(s)=u₁(s)-y_p12(s)；

8th step：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_p2(s), effect Prediction model G in actuator DA1 nodes are decoupled_12mS () obtains its output valve y_12mb(s)；

9th step：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device transmission function and estimates Model G_11mS () obtains its output valve y_11mb(s)；

Tenth step：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device G₁₁S () obtains it Output valve y₁₁(s)；By signal u_p1S () acts on controlled device cross aisle transmission function G₂₁S () obtains its output valve y₂₁(s)； So as to realize to controlled device G₁₁(s) and G₂₁The decoupling of (s) and SPC, and realize to time-varying network delay, τ₁And τ₂Compensation with Control；

11st step：Return to the first step；

For close loop control circuit 2：

The first step：Sensor S2 nodes work in time type of drive, are sampled the cycle for h₂Signal triggered；Work as biography After sensor S2 nodes are triggered, to controlled device G₂₂The output signal y of (s)₂₂(s) and controlled device cross aisle transmission function G₂₁The output signal y of (s)₂₁(s), and decouple the output signal y of actuator DA2 nodes_22mb(s) and y_21mbS () 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)-y_21mb(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 pre- decoupler CPD node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, get to control pre- solution Coupling device CPD nodes；

3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_2bAfter (s) triggering, will Feedback signal y_2b(s) elder generation and controlled device cross aisle transmission function prediction model G_21mThe output y of (s)_21maAfter (s) addition again With controlled device prediction model G_22mThe output valve y of (s)_22maS () subtracts each other and obtains its signal y_2c(s), i.e. y_2c(s)=y_2b(s)+ y_21ma(s)-y_22ma(s)；By y_2cS () acts on feedback filter F₂S () obtains its output valve y_F2(s)；By system Setting signal x₂ S (), subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains system deviation signal e₂(s), i.e. e₂(s)=x₂(s)-y_F2 (s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

4th step：By IMC signals u₂(s) and pre- decoupling cross aisle transmission function P_21mThe output signal y of (s)_p21m(s) phase Subtract, obtain pre- decoupling signal u_p2m(s), i.e. u_p2m(s)=u₂(s)-y_p21m(s)；

5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1_p1mS () acts on In the controlled device cross aisle transmission function prediction model G of close loop control circuit 2_21mS () obtains its output signal y_21ma(s)； By pre- decoupling signal u_p1mS () acts on cross decoupling channel transfer function prediction model P_21mS () obtains its output signal y_p21m (s)；By y_p21mS () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma(s)；

6th step：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is performed to decoupling Device DA2 node-node transmissions, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

7th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u₂S () triggers after, will Come from the decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes_p1S (), acts on close loop control circuit 2 Decoupling cross aisle transmission function P₂₁S () obtains its output valve y_p21(s)；By IMC signals u₂(s) and y_p21S () subtracts each other, controlled The decoupling output signal u in loop processed 2_p2(s), i.e. u_p2(s)=u₂(s)-y_p21(s)；

8th step：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from_p1(s), effect Prediction model G in actuator DA2 nodes are decoupled_21mS () obtains its output valve y_21mb(s)；

9th step：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device transmission function and estimates Model G_22mS () obtains its output valve y_22mb(s)；

Tenth step：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device G₂₂S () obtains it Output valve y₂₂(s)；By signal u_p2S () acts on controlled device cross aisle transmission function G₁₂S () obtains its output valve y₁₂(s)； So as to realize to controlled device G₂₂(s) and G₁₂The decoupling of (s) and two degrees of freedom IMC, and realize to time-varying network delay, τ₃And τ₄ Compensation with control；

11st step：Return to the first step；

The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.

The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (5)

1. a kind of TITO-NDCS time-varying network delay compensation methods of SPC and two degrees of freedom IMC, 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 the pre- decoupler CPD nodes of control are by feedback signal y_1bWhen () triggers s, employing mode B is operated；

(3) is as decoupling actuator DA1 node controlled signals u₁When () triggers s, employing mode C is operated；

For close loop control circuit 2：

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

(5) is when the pre- decoupler CPD nodes of control are by feedback signal y_2bWhen () triggers s, employing mode E is operated；

(6) is when decoupling actuator DA2 nodes are by IMC signals u₂When () triggers s, employing mode F is operated；

The step of mode A, includes：

A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h₁Sampled signal；

A2：After sensor S1 nodes are triggered, to controlled device G₁₁The output signal y of (s)₁₁(s) and controlled device cross aisle Transmission function G₁₂The output signal y of (s)₁₂(s), and decouple the output signal y of actuator DA1 nodes_11mb(s) and y_12mb(s) Sampled, and calculated the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁ (s)+y₁₂(s) and y_1b(s)=y₁(s)-y_11mb(s)-y_12mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to the pre- solution of control Coupling device CPD node-node transmissions, feedback signal y_1bS () will experience network transfer delay τ₂Afterwards, get to control pre- decoupler CPD to save Point；

The step of mode B, includes：

B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_1bS () is triggered；

B2：In pre- decoupler CPD nodes are controlled, by the system Setting signal x of close loop control circuit 1₁(s) and feedback signal y_1b (s) and controlled device cross aisle transmission function prediction model G_12mThe output valve y of (s)_12maS () and controlled device estimate mould Type G_11mThe output valve y of (s)_11maS () subtracts each other, obtain system deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)-y_12ma (s)-y_11ma(s)；

B3：To e₁S () implements control algolithm C₁S (), obtains control signal u₁(s)；

B4：By control signal u₁(s) and pre- decoupling cross aisle transmission function P_12mThe output signal y of (s)_p12mS () subtracts each other, obtain Pre- decoupling signal u_p1m(s), i.e. u_p1m(s)=u₁(s)-y_p12m(s)；By u_p1mS () acts on controlled device prediction model G_11m(s) Obtain its output valve y_11ma(s)；

B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2_p2mS () acts on closed loop control The controlled device cross aisle transmission function prediction model G in loop processed 1_12mS () obtains its output signal y_12ma(s)；To decouple in advance Signal u_p2mS () acts on cross decoupling channel transfer function prediction model P_12mS () obtains its output signal y_p12m(s)；

B6：By control signal u₁S feedforward network path that () passes through close loop control circuit 1Unit is saved to decoupling actuator DA1 Point transmission, u₁S () will experience network transfer delay τ₁Afterwards, get to decouple actuator DA1 nodes；

The step of mode C, includes：

C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u₁S () is triggered；

C2：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_p2S (), acts on closed loop control The decoupling cross aisle transmission function P in loop processed 1₁₂S () obtains its output valve y_p12(s)；By control signal u₁(s) and y_p12(s) Subtract each other, obtain the decoupling output signal u of control loop 1_p1(s), i.e. u_p1(s)=u₁(s)-y_p12(s)；

C3：The decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_p2S (), acts on decoupling and holds Prediction model G in row device DA1 nodes_12mS () obtains its output valve y_12mb(s)；

C4：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device transmission function prediction model G_11m S () obtains its output valve y_11mb(s)；

C5：The output signal u of actuator DA1 nodes will be decoupled_p1S (), acts on controlled device G₁₁S () obtains its output valve y₁₁ (s)；By signal u_p1S () acts on controlled device cross aisle transmission function G₂₁S () obtains its output valve y₂₁(s)；So as to realize To controlled device G₁₁(s) and G₂₁The decoupling of (s) and SPC, and realize to time-varying network delay, τ₁And τ₂Compensation with control；

The step of mode D, includes：

D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h₂Sampled signal；

D2：After sensor S2 nodes are triggered, to controlled device G₂₂(s) output signal y₂₂S () and controlled device cross aisle are passed Delivery function G₂₁(s) output signal y₂₁(s), and decouple the output signal y of actuator DA2 nodes_22mb(s) and y_21mb(s) carry out Sampling, 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)-y_21mb(s)；

D3：Sensor S2 nodes are by feedback signal y_2b(s), by the feedback network path of close loop control circuit 2 to the pre- solution of control Coupling device CPD node-node transmissions, feedback signal y_2bS () will experience network transfer delay τ₄Afterwards, get to control pre- decoupler CPD to save Point；

The step of mode E, includes：

E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y_2bS () is triggered；

E2：In pre- decoupler CPD nodes are controlled, by feedback signal y_2bS () is first pre- with controlled device cross aisle transmission function Estimate model G_21mThe output y of (s)_21ma(s) be added after again with controlled device prediction model G_22mThe output valve y of (s)_22maS () subtracts each other To its signal y_2c(s), i.e. y_2c(s)=y_2b(s)+y_21ma(s)-y_22ma(s)；By y_2cS () acts on feedback filter F₂S () obtains Its output valve y_F2(s)；By system Setting signal x₂S (), subtracts feedback filter F₂The output signal y of (s)_F2S (), obtains system Deviation signal e₂(s), i.e. e₂(s)=x₂(s)-y_F2(s)；

E3：To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E4：By IMC signals u₂(s) and pre- decoupling cross aisle transmission function P_21mThe output signal y of (s)_p21mS () subtracts each other, obtain Pre- decoupling signal u_p2m(s), i.e. u_p2m(s)=u₂(s)-y_p21m(s)；

E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1_p1mS () acts on closed loop control The controlled device cross aisle transmission function prediction model G in loop processed 2_21mS () obtains its output signal y_21ma(s)；To decouple in advance Signal u_p1mS () acts on cross decoupling channel transfer function prediction model P_21mS () obtains its output signal y_p21m(s)；By y_p21m S () acts on controlled device prediction model G_22mS () obtains its output valve y_22ma(s)；

E6：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2 nodes Transmission, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

The step of mode F, includes：

F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u₂S () is triggered；

F2：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from_p1S (), acts on closed loop control The decoupling cross aisle transmission function P in loop processed 2₂₁S () obtains its output valve y_p21(s)；By IMC signals u₂(s) and y_p21(s) phase Subtract, obtain the decoupling output signal u of control loop 2_p2(s), i.e. u_p2(s)=u₂(s)-y_p21(s)；

F3：The decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodes will be come from_p1S (), acts on decoupling and holds Prediction model G in row device DA2 nodes_21mS () obtains its output valve y_21mb(s)；

F4：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device transmission function prediction model G_22m S () obtains its output valve y_22mb(s)；

F5：The output signal u of actuator DA2 nodes will be decoupled_p2S (), acts on controlled device G₂₂S () obtains its output valve y₂₂ (s)；By signal u_p2S () acts on controlled device cross aisle transmission function G₁₂S () obtains its output valve y₁₂(s)；So as to realize To controlled device G₂₂(s) and G₁₂The decoupling of (s) and two degrees of freedom IMC, and realize to time-varying network delay, τ₃And τ₄Compensation with Control.

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 between node and node τ₁And 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：SPC is used for control loop 1, can be from TITO-NDCS Realized in structure and specific controller C₁S 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.

5. method according to claim 1, it is characterised in that：Two degrees of freedom IMC, its closed loop are used for control loop 2 The adjustable parameter of control loop is 2, can further improve stability, tracking performance and the antijamming capability of system；Especially When system is present compared with large disturbances and model mismatch, feedback filter F₂S the presence of () can further improve the dynamic of system Can quality, influence of the reduction network delay to the stability of a system.