CN106842936A - A kind of two input two exports the big method for compensating network delay of network decoupling and controlling system - Google Patents

Abstract

Two inputs two export the big method for compensating network delay of network decoupling and controlling system, belong to the MIMO NDCS technical fields of limited bandwidth resources.It is input between two output signals for a kind of two and affects one another and couple, need the TITO NDCS by decoupling treatment, transmit produced network delay among the nodes due to network data, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with the network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, IMC is implemented to two loops, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, big network delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of two input two exports the big method for compensating network delay of network decoupling and controlling system

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).NCS is the dcs for integrating communication network and control system, is provided simultaneously with The function of signal transacting, Optimal Decision-making and control operation, the typical structure of NCS is as shown in Figure 1.

Compared with traditional point-to-point direct control system, the maximum feature of NCS be sensor in system, controller and Actuator is not direct point-to-point connection, but by public network exchange data and control information, has broken traditional control Limitation of the system processed on locus, is capable of achieving system control and remote monitoring under complex environment, reduces the wiring of system Complexity and Operations Management cost, improve the information integration of control system, the flexibility and reliability of strengthening system.

NCS is by its interactivity is strong, wiring less, extension and easy to maintenance and the advantages of resource-sharing can be realized, extensively It is general to be applied to the fields such as national defence, Aero-Space, device fabrication, intelligent transportation, process control and economic management.

But, while adding communication network in feedback control loop, control system analysis is also increased with design Complexity.Due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many new challenges. The especially presence of big network delay, it is possible to decrease the control quality of NCS, or even make system loss of stability, may be led when serious Cause system breaks down.

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, control back more than several or even the dozens of sampling period network delay, to set up in MIMO-NDCS each The Mathematical Modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.

(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance 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

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

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

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

In formula：C₁S () is control unit, G₁₁S () is controlled device；τ₁Representing will control decoupler CD1 node output letter Number u_1aS (), 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) the signal u of decoupler CD2 nodes is controlled from close loop control circuit 2_2aS (), is transmitted by cross decoupling passage Function P₁₂(s) and network pathUnit acts on close loop control circuit 1；And from the actuator A2 of close loop control circuit 2 sections The output signal u of point_2a(s), by controlled device cross aisle transmission function G₁₂The output letter of (s) influence close loop control circuit 1 Number y₁(s), from input signal u_2aS () arrives output signal y₁S closed loop transfer function, is between ()：

Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, contain big network delay τ₁And τ₂Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization Property.

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

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

In formula：C₂S () is 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) the signal u of decoupler CD1 nodes is controlled from close loop control circuit 1_1aS (), is transmitted by cross decoupling passage Function P₂₁(s) and network pathUnit acts on close loop control circuit 2；And from the actuator A1 of close loop control circuit 1 The output signal u of node_1a(s), by controlled device cross aisle transmission function G₂₁S () influences the output of close loop control circuit 2 Signal y₂(s), from input signal u_1aS () arrives output signal y₂S closed loop transfer function, is between ()：

Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, contain big network delay τ₃And τ₄Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization Property.

Goal of the invention：

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

Therefore, being directed to close loop control circuit 1 and control loop 2, propose a kind of based on IMC (Internal Model Control, IMC) delay compensation method, constitute two close loop control circuit network delays compensation with control, it is right for exempting In each close loop control circuit, the measurement of network delay, estimation or identification between node, and then reduce network delay τ₁And τ₂, and τ₃And τ₄Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system.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 the big network delays of TITO-NDCS, real-time, online and dynamic predictive compensation and IMC.

Using method：

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

The first step：In decoupler CD1 nodes are controlled, an internal mode controller C is 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；System is realized from structure not comprising network delay predict-compensate model therebetween, so as to exempt In to close loop control circuit 1, network delay τ between node₁And τ₂Measurement, estimate or recognize；It is capable of achieving to big network delay, τ₁ And τ₂Compensation and IMC.

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

The first step：In decoupler CD2 nodes are controlled, an internal mode controller C is built_2IMC(s) substitution controller C₂(s)； In order to realize meeting during predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, To realize to network delay τ₃And τ₄Compensation with control, around controlled device G₂₂S (), y is exported with close loop control circuit 2₂(s) As input signal, by y₂S () passes through network transfer delay prediction modelWith estimate internal mode controller C_2mIMC(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_2mIMCS () is equal to its internal mode controller C_2IMCS the condition of () is (due to internal model Controller C_2IMCS () is artificial design and selection, C is met naturally_2mIMC(s)=C_2IMC(s)).Therefore, from sensor S2 nodes to Between control decoupler CD2 nodes, and from control decoupler CD2 nodes to actuator A2 nodes, using real net Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5 Network delay compensation and control structure；System is realized from structure not comprising network delay predict-compensate model therebetween, so as to exempt In to close loop control circuit 2, network delay τ between node₃And τ₄Measurement, estimate or recognize；It is capable of achieving to big network delay, τ₃ And τ₄Compensation and IMC.

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：

2) from the control decoupler CD2 node signals of close loop control circuit 2 u_2aS () is logical by cross decoupling as input Road transmission function P₁₂(s) and network pathThe signal y of unit transmission_p12S () acts on close loop control circuit 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_2aS (), is transmitted by controlled device cross aisle Function G₁₂S () acts on close loop control circuit 1, from input signal u_2aS () arrives output signal y₁Closed loop transfer function, between (s) For：

Be can be seen that from above-mentioned closed loop transfer function, equation (5) to (7)：The denominator of closed loop transfer function, is 1, is now closed Ring control loop 1 is no longer steady comprising influence system in the denominator of closed loop transfer function, equivalent to an open-loop control system Qualitatively network delay τ₁And τ₂Exponential termWithThe stability of system is only transmitted with controlled device, cross decoupling path Stability of the function with internal mode controller in itself is relevant；Shadow of the network delay to the stability of a system can be reduced using the inventive method Ring, improve the dynamic control performance quality of system, realize to the dynamic compensation of big network delay and IMC.

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：

2) from the control decoupler CD1 node signals of close loop control circuit 1 u_1aS () is logical by cross decoupling as input Road transmission function P₂₁(s) and network pathThe signal y of unit transmission_p21S () acts on close loop control circuit 2, from input Signal u_1aS () 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_1aS (), is transmitted by controlled device cross aisle Function G₂₁S () acts on close loop control circuit 2, from input signal u_1aS () arrives output signal y₂Closed loop transfer function, between (s) For：

Be can be seen that from above-mentioned closed loop transfer function, equation (8) to (10)：The denominator of closed loop transfer function, is 1, now Close loop control circuit 2 no longer includes influence system equivalent to an open-loop control system in the denominator of closed loop transfer function, The network delay τ of stability₃And τ₄Exponential termWithThe stability of system is only passed with controlled device, cross decoupling path Stability of the delivery function with internal mode controller in itself is relevant；Network delay can be reduced to the stability of a system using the inventive method Influence, improves the dynamic control performance quality of system, realizes to the dynamic compensation of big network delay and IMC.

Internal mode controller C_1IMC(s) and 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 to design one take is the inversion model of plant model as feedforward controller C₁₁(s) and C₂₂ (s)；

Second step is the feedforward filter f that certain order is added in feedforward controller₁(s) and f₂S (), composition one is complete Whole internal mode controller C_1IMC(s) and C_2IMC(s)。

(1) feedforward controller C₁₁(s) and C₂₂(s)

Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G_11m (s)=G₁₁(s), 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_11m(s)= G_11m+(s)G_11m-(s) and G_22m(s)=G_22m+(s)G_22m-(s), wherein：G_11m+(s) and G_22m+S () is respectively controlled device and estimates Model G_11m(s) and G_22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G_11m-(s) and G_22m- The s reversible part of minimum phase that () is respectively in controlled device prediction model.

Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 2₁₁(s) and C₂₂S () can be chosen for respectively：With

(2) feedforward filter f₁(s) and f₂(s)

The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller_11m-(s) And G_22m-S (), have ignored G_11m+(s) and G_22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore, The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried The robustness of system high.

Generally the feedforward filter f of close loop control circuit 1₁(s), and control loop 2 feedforward filter f₂(s), point Fairly simple n is not chosen for₁And n₂Rank wave filterWithWherein：λ₁And λ₂It is feedforward Filter time constant；n₁And n₂It is the order of feedforward filter, and n₁=n_1a-n_1bAnd n₂=n_2a-n_2b；n_1aAnd n_2aRespectively Controlled device G₁₁(s) and G₂₂The order of (s) denominator；n_1bAnd n_2bRespectively controlled device G₁₁(s) and G₂₂The order of (s) molecule, Usual n₁＞ 0 and n₂＞ 0.

(3) internal mode controller C_1IMC(s) and C_2IMC(s)

Close loop control circuit 1 and the internal mode controller C in loop 2_1IMC(s) and C_2IMCS () can be chosen for respectively:

With

Be can be seen that from equation (11) and (12)：The internal mode controller C of one degree of freedom_1IMC(s) and C_2IMCIn (s), all Only one of which customized parameter λ₁And λ₂, due to λ₁And λ₂The change of parameter and the tracking performance of system and antijamming capability have Direct relation, therefore in the customized parameter λ of wave filter of adjusting₁And λ₂When, generally require dry with anti-in the tracing property of system Ability is disturbed to trade off between the two.

The scope of application of the invention：

A kind of two input two suitable for known to controlled device Mathematical Modeling or not exclusively knowing exports network uneoupled controls The compensation of the big network delay of system (TITO-NDCS) and IMC；Its Research Thinking and method, can equally be well applied to controlled device number Learn that model is known or benefit of the big network delay of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) that not exclusively know Repay and IMC.

It is a feature of the present invention that the method is comprised the following steps：

For close loop control circuit 1：

(1) is h when the sensor S1 nodes cycle₁Sampled signal trigger when, employing mode A is operated；

(2) is when control decoupler CD1 nodes are by feedback signal y₁(s) or by cross decoupling network pathUnit Output signal y_p12When () triggers s, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1aWhen () triggers s, employing mode C is operated；

For close loop control circuit 2：

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

(5) is when control decoupler CD2 nodes are by feedback signal y₂(s) or by cross decoupling network pathUnit Output signal y_p21When () triggers s, employing mode E is operated；

(6) is when actuator A2 nodes are by signal u_2aWhen () 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 y of close loop control circuit 1₁ (s), i.e. 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 y₁(s) or by cross decoupling Network pathThe output signal y of unit_p12S () 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_1IMCS (), obtains it Output IMC signals u₁(s)；

B3：To feedback signal y₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains its IMC signal u_1b(s)；

B4：By IMC signals u₁(s) and IMC signals u_1b(s) be added after, then with from cross decoupling network pathUnit Output signal y_p12S () subtracts each other, obtain control decoupling output signal u_1a(s), i.e. u_1a(s)=u₁(s)+u_1b(s)-y_p12(s)； By u_1aS () acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；By y_p21S () is by intersecting Decoupling network path is to control decoupler CD2 node-node transmissions, signal y_p21S () will experience network transfer delay τ₂₁Afterwards, get to Control decoupler CD2 nodes；

B5：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_1aS () is triggered；

C2：After actuator A1 nodes are triggered, by signal u_1aS () acts on controlled device G₁₁S () obtains its output valve y₁₁ (s)；By signal u_1aS () 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 control, while realizing to big network delay, τ₁And τ₂Compensation and IMC；

The step of mode D, includes：

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

D2：After sensor S2 nodes are triggered, to controlled device G₂₂The output signal y of (s)₂₂S () and controlled device are intersected Channel transfer function G₂₁The output signal y of (s)₂₁S () is sampled, and calculate the system output signal y of close loop control circuit 2₂ (s), i.e. y₂(s)=y₂₂(s)+y₂₁(s)；

D3：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y₂S () will experience network transfer delay τ₄Afterwards, control decoupler CD2 sections are got to Point；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or by cross decoupling Network pathThe output signal y of unit_p21S () is triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂S () subtracts feedback signal y₂ S () obtains error signal e₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains it Output IMC signals u₂(s)；

E3：To feedback signal y₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains its IMC signal u_2b(s)；

E4：By IMC signals u₂(s) and IMC signals u_2b(s) be added after, then with from cross decoupling network pathUnit Output signal y_p21S () subtracts each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b(s)-y_p21(s)； By u_2aS () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；By y_p12S () is by intersecting Decoupling network path is to control decoupler CD1 node-node transmissions, signal y_p12S () will experience network transfer delay τ₁₂Afterwards, get to Control decoupler CD1 nodes；

E5：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_2aS () is triggered；

F2：After actuator A2 nodes are triggered, by signal u_2aS () acts on controlled device G₂₂S () obtains its output valve y₂₂ (s)；By signal u_2aS () 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 control, while realizing to big network delay, τ₃And τ₄Compensation and IMC.

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 Node clock signal can be exempted synchronously to require, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid to time delay The waste of node storage resources is expended needed for identification, while can also avoid " sky sampling " or " sampling more " band caused due to time delay The compensation error come.

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, in TITO-NDCS, control loop 1 and loop 2 using IMC, its internal mode controller C_1IMC(s) and C_2IMCS () is equal Only one of which adjustable parameter, the regulation of its parameter is simple with selection, and explicit physical meaning；Can not only be improved using IMC and be The stability of system, tracking performance and interference free performance, but also the compensation to network delay and IMC can be realized.

4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.

Brief description of the drawings

Fig. 1：The typical structure of NCS

In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path Transmission unitAnd feedback network tunnel unitConstituted.

In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables Show control signal；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 () passes to control decoupler CD nodes Defeated experienced feedback network tunnel time delay；G represents controlled device transmission function.

Fig. 3：The typical structure of TITO-NDCS

Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and CD2 nodes, actuator A1 and A2 node, controlled device transmission function G₁₁(s) and G₂₂S () and controlled device cross aisle are passed Delivery function G₂₁(s) and G₁₂(s), cross decoupling channel transfer function P₂₁(s) and P₁₂(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute Composition.

In Fig. 3；x₁(s) and x₂S () represents system input signal；y₁(s) and y₂S () represents system output signal；C₁(s) and C₂S () represents the controller of control loop 1 and 2；u₁(s) and u₂S () represents control signal；y_p21(s) and y_p12S () represents and intersects Decoupling path output signal；u_1a(s) and u_2aS () represents control decoupling signal；τ₁And τ₃Representing will control decoupling signal u_1a(s) and u_2aDuring s feedforward network tunnel that () is experienced from from control decoupler CD1 and CD2 node to actuator A1 and A2 node-node transmission Prolong；τ₂And τ₄Represent the detection signal y of sensor S1 and S2 node₁(s) and y₂S () is to control decoupler CD1 and CD2 node The experienced feedback network tunnel time delay of transmission；τ₂₁And τ₁₂Represent cross decoupling channel transfer function P₂₁(s) and P₁₂ The output signal y of (s)_p21(s) and y_p12When () transmits to the network path that control decoupler CD2 and CD1 node-node transmission is experienced s Prolong.

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；C_1mIMC(s) and C_2mIMCS () is internal mode controller C_1IMC(s) and C_2IMC(s) it is pre- Estimate controller.

Fig. 5：A kind of two input two exports the big method for compensating network delay of network decoupling and controlling system

Fig. 5 can be realized to the compensation of big network delay and IMC 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 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, and the cycle is h₁Sampled signal triggering after, to quilt Control object G₁₁The output signal y of (s)₁₁(s) and controlled device cross aisle transmission function G₁₂The output signal y of (s)₁₂(s) carry out Sampling, and calculate the system output signal y of close loop control circuit 1₁(s), i.e. 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 y₁(s) or intersected Decoupling network pathThe output signal y of unit_p12After (s) triggering, by the system Setting signal x of close loop control circuit 1₁(s) Subtract feedback signal y₁S () obtains error signal e₁(s), i.e. e₁(s)=x₁(s)-y₁(s)；To e₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains its output IMC signal u₁(s)；To feedback signal y₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains it IMC signals u_1b(s)；By IMC signals u₁(s) and IMC signals u_1b(s) be added after, then with from cross decoupling network pathIt is single The output signal y of unit_p12S () subtracts each other, obtain control decoupling output signal u_1a(s), i.e. u_1a(s)=u₁(s)+u_1b(s)-y_p12 (s)；

4th step：By u_1aS () acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；Will y_p21S () is by cross decoupling network path to control decoupler CD2 node-node transmissions, signal y_p21When () will experience network transmission s Prolong τ₂₁Afterwards, get to control decoupler CD2 nodes；

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_1aS () triggers after, by signal u_1a S () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1aS () acts on controlled device cross aisle biography Delivery 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 Realize to big network delay, τ₁And τ₂Compensation and IMC；

7th step：Return to the first step；

For close loop control circuit 2：

The first step：Sensor S2 nodes work in time type of drive, and the cycle is h₂Sampled signal triggering after, to quilt Control object G₂₂The output signal y of (s)₂₂(s) and controlled device cross aisle transmission function G₂₁The output signal y of (s)₂₁(s) carry out Sampling, and calculate the system output signal y of close loop control circuit 2₂(s), i.e. y₂(s)=y₂₂(s)+y₂₁(s)；

Second step：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y₂S () will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or intersected Decoupling network pathThe output signal y of unit_p21S () triggers after, by the system Setting signal x of close loop control circuit 2₂ S () subtracts feedback signal y₂S () obtains error signal e₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂S () implements internal model control Algorithm C_2IMCS (), obtains its output IMC signal u₂(s)；To feedback signal y₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains Its output IMC signal u_2b(s)；By IMC signals u₂(s) and IMC signals u_2bIt is s () is added after then logical with from cross decoupling network RoadThe output signal y of unit_p21S () subtracts each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b (s)-y_p21(s)；

4th step：By u_2aS () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；Will y_p12S () is by cross decoupling network path to control decoupler CD1 node-node transmissions, signal y_p12When () will experience network transmission s Prolong τ₁₂Afterwards, get to control decoupler CD1 nodes；

5th step：By signal u_2aS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2 Point transmission, u_2aS () will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

6th step：Actuator A2 nodes work in event driven manner, by signal u_2aS () triggers after, by signal u_2a S () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2aS () acts on controlled device cross aisle biography Delivery 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 Realize to big network delay, τ₃And τ₄Compensation and IMC；

7th step：Return to the first step；

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

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

Claims (4)

1. a kind of two input two exports the big method for compensating network delay of network decoupling and controlling system, it is characterised in that the method includes 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 y₁(s) or by cross decoupling network pathThe output of unit Signal y_p12When () triggers s, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1aWhen () triggers s, employing mode C is operated；

For close loop control circuit 2：

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

(5) is when control decoupler CD2 nodes are by feedback signal y₂(s) or by cross decoupling network pathThe output of unit Signal y_p21When () triggers s, employing mode E is operated；

(6) is when actuator A2 nodes are by signal u_2aWhen () 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)₁₂S () is sampled, and calculate the system output signal y of close loop control circuit 1₁(s), That is 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 y₁(s) or led to by cross decoupling network RoadThe output signal y of unit_p12S () 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_1IMCS (), obtains its output IMC signals u₁(s)；

B3：To feedback signal y₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains its IMC signal u_1b(s)；

B4：By IMC signals u₁(s) and IMC signals u_1b(s) be added after, then with from cross decoupling network pathUnit it is defeated Go out signal y_p12S () subtracts each other, obtain control decoupling output signal u_1a(s), i.e. u_1a(s)=u₁(s)+u_1b(s)-y_p12(s)；By u_1a S () acts on cross decoupling channel transfer function P₂₁S () obtains its output signal y_p21(s)；By y_p21S () passes through cross decoupling net Network path is to control decoupler CD2 node-node transmissions, signal y_p21S () will experience network transfer delay τ₂₁Afterwards, control solution is got to Coupling device CD2 nodes；

B5：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_1aS () is triggered；

C2：After actuator A1 nodes are triggered, by signal u_1aS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)； By signal u_1aS () acts on controlled device cross aisle transmission function G₂₁S () obtains its output valve y₂₁(s)；So as to realize to quilt Control object G₁₁(s) and G₂₁The decoupling of (s) and control, while realizing to big network delay, τ₁And τ₂Compensation and IMC；

The step of mode D, includes：

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

D2：After sensor S2 nodes are triggered, to controlled device G₂₂The output signal y of (s)₂₂(s) and controlled device cross aisle Transmission function G₂₁The output signal y of (s)₂₁S () is sampled, and calculate the system output signal y of close loop control circuit 2₂(s), That is y₂(s)=y₂₂(s)+y₂₁(s)；

D3：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to control decoupler CD2 node-node transmissions, feedback signal y₂S () will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or led to by cross decoupling network RoadThe output signal y of unit_p21S () is triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂S () subtracts feedback signal y₂(s) To error signal e₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains its output IMC signals u₂(s)；

E3：To feedback signal y₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains its IMC signal u_2b(s)；

E4：By IMC signals u₂(s) and IMC signals u_2b(s) be added after, then with from cross decoupling network pathUnit it is defeated Go out signal y_p21S () subtracts each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b(s)-y_p21(s)；By u_2a S () acts on cross decoupling channel transfer function P₁₂S () obtains its output signal y_p12(s)；By y_p12S () passes through cross decoupling net Network path is to control decoupler CD1 node-node transmissions, signal y_p12S () will experience network transfer delay τ₁₂Afterwards, control solution is got to Coupling device CD1 nodes；

E5：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_2aS () is triggered；

F2：After actuator A2 nodes are triggered, by signal u_2aS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)； By signal u_2aS () acts on controlled device cross aisle transmission function G₁₂S () obtains its output valve y₁₂(s)；So as to realize to quilt Control object G₂₂(s) and G₁₂The decoupling of (s) and control, while realizing to big network delay, τ₃And τ₄Compensation and IMC.

2. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize system not comprising control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node₁And τ₂, And τ₃And τ₄Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.

3. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.

4. method according to claim 1, it is characterised in that：Using internal mode controller C_1IMC(s) and C_2IMC(s) it is adjustable The equal only one of which parameter of parameter, the regulation of its parameter is simple with selection, and explicit physical meaning；Can not only be improved using IMC The stability of system, tracking performance and interference free performance, but also compensation and control to network delay can be realized.