CN106842940A - A kind of compensation method of TITO NDCS network delays long - Google Patents
A kind of compensation method of TITO NDCS network delays long Download PDFInfo
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Abstract
A kind of compensation method of TITO NDCS network delays long, belongs to the MIMO NDCS technical fields of limited bandwidth resources.Affect one another and couple between a kind of TITO signals, need the TITO NDCS by decoupling treatment, transmit produced network delay among the nodes due to network data, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem that TITO NDCS lose stabilization, propose with the network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, two loops are implemented with two degrees of freedom IMC and SPC respectively, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, network delay long is reduced to TITO NDCS stability influences, improve quality of system control.
Description
Technical field
A kind of TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling
Control systems, NDCS) network delay long compensation method, be 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 a network environment, sensor, controller and actuator form closed loop, network consisting control system by network media
System (Networked control systems, NCS), the typical structure of NCS is as shown in Figure 1.
NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new
Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along
According to packet loss and other complicated phenomenons, the especially presence of variable network time delay, it is possible to decrease the control performance quality of NCS, or even
Make system loss of stability, system may be caused to break down when serious.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or variable, 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 two
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
The achievement in research of (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 to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(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 long 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 u1pS (), the network delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent output signal y1
(s) from sensor S1 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD1 nodes.
2) from C in close loop control circuit 22The output signal u of (s) control unit2S (), is transmitted by cross decoupling passage
Function P12(s) and its network path unitAfter act on close loop control circuit 1, from input signal u2S () arrives output signal y1
S the closed loop transfer function, between () is：
3) from the output signal u of the actuator A2 nodes of close loop control circuit 22pS (), is passed by controlled device cross aisle
Delivery function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2pS () arrives output signal y1(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, contain network delay τ1
And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is control unit, G22S () is controlled device；τ3Representing will control decoupler CD2 node output letter
Number u2pS (), the network delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent output signal y2
(s) from sensor S2 nodes, through the network delay that feedback network tunnel is experienced to control decoupler CD2 nodes.
2) from C in close loop control circuit 11The output signal u of (s) control unit1S (), is transmitted by cross decoupling passage
Function P21(s) and its network path unitAfter act on close loop control circuit 2, from input signal u1S () arrives output signal y2
S the closed loop transfer function, between () is：
3) from the output signal u of the actuator A1 nodes of close loop control circuit 11pS (), is passed by controlled device cross aisle
Delivery function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1pS () arrives output signal y2(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain network delay
τ3And τ4Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated surely
It is qualitative.
Goal of the invention：
For the TITO-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2
Into the denominator of (6), network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop control
The control performance quality in loop processed simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system
Performance quality simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, for the close loop control circuit 1 in Fig. 3, proposing a kind of based on two degrees of freedom IMC (Internal Model
Control, IMC) delay compensation method；For close loop control circuit 2, propose a kind of based on SPC (Smith Predictor
Control, SPC) delay compensation method；The compensation and control of two close loop control circuit network delays are constituted, it is right for exempting
In each close loop control circuit, the measurement of network delay, estimation or identification between node, and then reduce network delay τ1And τ2, and
τ3And τ4Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system；When pre-
When estimating model equal to its true model, the index not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving
, and then influence of the network delay to whole system stability can be reduced, and improve the dynamic property quality of system, it is right to realize
The segmentation of TITO-NDCS network delays long, real-time, online and dynamic predictive compensation and two degrees of freedom IMC and SPC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In decoupler CD1 nodes are controlled, an internal mode controller C is built1IMC(s) substitution controller C1(s)；
In order to realize meeting during predictive compensation condition, the finger of network delay is no longer included in the closed loop transform function of close loop control circuit 1
It is several, to realize to network delay τ1And τ2Compensation and control, use to control decoupling output signal u1p(s) and yp12S () is made
It is input signal, controlled device prediction model G11mS () passes through network transfer delay as controlled process, control with process data
Prediction modelAndAround internal mode controller C1IMCS (), constructs a positive feedback Prediction Control loop and one negative anti-
Feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes, adopt
With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAnd
Thus no matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising therebetween
The predict-compensate model of network delay, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement,
Estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its network delay τ1And τ2Compensation with control；With
This in the backfeed loop of control decoupler CD1 nodes, increases feedback filter F simultaneously1(s)；Implement the net of the inventive method
Network time delay two degrees of freedom IMC method structures are as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In decoupler CD2 nodes are controlled, in order to realize meeting during predictive compensation condition, close loop control circuit 2
Closed loop transform function no longer include network delay exponential term, to realize to network delay τ3And τ4Compensation with control, around quilt
Control object G22S (), y is exported with close loop control circuit 22(s) as input signal, by y2S () is estimated by network transfer delay
ModelWith predictor controller C2m(s) and network transfer delay prediction modelOne positive feedback Prediction Control of construction is returned
Road；By y2S () passes through predictor controller C2mS () constructs a negative-feedback Prediction Control loop, implement structure such as Fig. 4 of this step
It is shown；
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 meet predictor controller C2mS () is equal to its real controllers C2S the condition of () is (due to controller C2(s)
It is artificial design and selection, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to control decoupler CD2 nodes
Between, and from control decoupler CD2 nodes to actuator A2 nodes, using real network data transmission process
WithInstead of the predict-compensate model of network delay therebetweenWithObtain the network delay compensation and control shown in Fig. 5
Structure；Predict-compensate model of the system not comprising network delay therebetween is realized from structure, so as to exempt to close loop control circuit 2
In, long delay τ between node3And τ4Measurement, estimate or recognize, be capable of achieving to network delay τ3And τ4Compensation and SPC；
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：G11mS () is controlled device G11The prediction model of (s)；C1IMCS () is internal mode controller；F1S () is feedback
Wave filter.
2) from the controller C of close loop control circuit 22The output signal u of (s)2(s), by cross decoupling channel transfer function
P12(s) and network transmission channelsOutput signal yp12S () acts on the through path of close loop control circuit 1, from input signal
u2S () arrives output signal y1S the closed loop transfer function, between () is：
3) from the controller C of close loop control circuit 22The output signal u of (s)2(s), by cross decoupling channel transfer function
P12(s) and network transmission channelsOutput signal yp12S () acts on the controlled device transmission function of close loop control circuit 1 pre-
Estimate model G11m(s), from input signal yp12S () arrives output signal y1S the closed loop transfer function, between () is：
4) from the control signal u of the actuator A2 nodes of close loop control circuit 22pS (), is passed by controlled device cross aisle
Delivery function G12S () acts on close loop control circuit 1, from input signal u2pS () arrives output signal y1Closed loop transmission letter between (s)
Number is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s)
When, the closed loop transform function of close loop control circuit 1 will be byBecome 1；Now,
Close loop control circuit 1 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 stability1And τ2Exponential termWithThe stability of system only with controlled device and internal mode controller sheet
The stability of body is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance matter of system
Amount, realizes the dynamic compensation to network delay and two degrees of freedom IMC；When system is present compared with large disturbances and model mismatch, feedback
Wave filter F1S the presence of () can improve the tracing property and antijamming capability of system, reduce network delay to the stability of a system
Influence, further improves the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is controller.
2) from controller C in close loop control circuit 11(s) output control signal u1S (), is transmitted by cross decoupling passage
Function P21(s) and its network transmission channelsOutput signal yp21S () acts on the through path of close loop control circuit 2, from defeated
Enter control signal u1S () arrives output signal y2S closed loop transfer function, is between ()：
3) from the control signal u of the actuator A1 nodes of close loop control circuit 11pS (), is passed by controlled device cross aisle
Delivery function G21S () acts on close loop control circuit 2, from input signal u1pS () arrives output signal y2Closed loop transmission letter between (s)
Number is：
Using the inventive method, the closed loop transform function of close loop control circuit 2 is 1+C2(s)G22S ()=0, its closed loop is passed
No longer comprising the network delay τ of the influence stability of a system in the denominator of delivery function3And τ4Exponential termWithSo as to
Influence of the network delay to the stability of a system can be reduced, improves the dynamic control performance quality of system, realized to network delay
Dynamic compensation and SPC.
In close loop control circuit 1, the design of two degrees of freedom IMC
(1) internal mode controller C1IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it
It is the inversion model of plant model as feedforward controller；Second step is the feedforward that certain order is added in feedforward controller
Wave filter f1S (), constitutes a complete internal mode controller C1IMC(s)。
1) feedforward controller C11(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about
The factors such as beam condition, in selection close loop control circuit 1, controlled device prediction model is equal to its true model, i.e.,：G11m(s)=G11
(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-(s), wherein：G11m+S () is controlled device prediction model G11mPure lag system and s RHPs are included in (s)
The irreversible part of zero pole point；G11m-S () is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 111S () can be chosen for respectively：
2) feedforward filter f1(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller11m-(s),
Have ignored G11m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system
In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller
Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.
Generally the feedforward filter f of close loop control circuit 11S (), is chosen for fairly simple n1And n2Rank wave filterWherein：λ1It is feedforward filter time constant；n1It is the order of feedforward filter, and n1=n1a-n1b；n1a
It is controlled device G11The order of (s) denominator；n1bIt is controlled device G11The order of (s) molecule, usual n1＞ 0.
3) internal mode controller C1IMC(s)
The internal mode controller C of close loop control circuit 11IMCS () can be chosen for:
Be can be seen that from equation (14)：The internal mode controller C of one degree of freedom1IMCIn (s), the adjustable ginseng of only one of which
Number λ1, due to λ1The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting
The customized parameter λ of ripple device1When, the tracing property generally required in system is traded off between the two with antijamming capability.
(2) feedback filter F1The design of (s) and selection：
The feedback filter F of close loop control circuit 11S (), can choose fairly simple firstorder filter F1(s)=(λ1s+
1)/(λ1fS+1), wherein：λ1It is feedforward filter f1Time constant in (s), and it is consistent with the selection of its parameter；λ1fFor feedback is filtered
Ripple device regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fIn the case of immobilizing, the tracking performance of system can be with
Feedforward filter regulation parameter λ1Reduction and improve；In feedforward filter regulation parameter λ1In the case of immobilizing, system
Tracing property it is almost unchanged, and antijamming capability then can be with λ1fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can be by reasonable selection feedforward filter f1(s) and feedback
Wave filter F1S 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.
In close loop control circuit 2, controller C2The selection of (s)：
Controller C2S () can be according to controlled device G22The Mathematical Modeling of (s), and model parameter change, both may be selected
Conventional control strategy, also may be selected Based Intelligent Control or complex control strategy；Close loop control circuit 2 uses SPC methods, from TITO-
Realized in NDCS structures and specific controller C2S the selection of the control strategy of () is unrelated.
The scope of application of the invention：
Being equal to suitable for controlled device prediction model may deposit between its true model or prediction model and its true model
When knowing or not exclusively know using the two degrees of freedom IMC of control loop 1, and controlled device Mathematical Modeling in certain deviation
Using the SPC of control loop 2, a kind of two input two for being constituted exports network decoupling and controlling system (TITO-NDCS) network long
The compensation and control of time delay；Its Research Thinking and method, be equally applicable to controlled device prediction model equal to its true model or
It is using the two degrees of freedom IMC of control loop 1 when there may be certain deviation between prediction model and its true model and controlled
Using the SPC of control loop 2 when mathematical model of controlled plant knows or not exclusively knows, the multiple-input and multiple-output network decoupling for being constituted
The compensation and control of control system (MIMO-NDCS) network delay long.
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 y1b(s) or by cross decoupling network pathUnit
Output signal yp12When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () 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 yp21When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () 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 G11(s) output signal y11S () and controlled device are intersected logical
Road transmission function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mbS () is sampled, and count
Calculate the system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b
(s)=y1(s)-y11mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD1 node-node transmissions, feedback signal y1bS () 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 y1b(s) or by cross decoupling
Network pathThe output signal y of unitp12S () is triggered；
B2：In decoupler CD1 nodes are controlled, by feedback signal y1b(s) and controlled device prediction model G11m(s) it is defeated
Go out value y11maS () is added and obtains signal y1c(s), i.e. y1c(s)=y1b(s)+y11ma(s)；By y1cS () acts on feedback filter F1
S () obtains its output signal yF1(s), i.e. yF1(s)=y1c(s)F1(s)；By system Setting signal x1S () subtracts feedback filter
F1The output signal y of (s)F1S (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：By IMC signals u1S () acts on cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；
By yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21S () will experience network transfer delay
τ21Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and network pathThe signal y that unit is transmittedp12S () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；Together
When by signal yp12(s) and IMC signals u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p(s)=yp12(s)+u1(s)；
B6：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to actuator
A1 node-node transmissions, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pS () is triggered；
C2：Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb
(s)；
C3：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Control is solved
Coupling signal u1pS () 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 two degrees of freedom IMC, while realizing to network delay, τ long1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device are intersected
Channel transfer function G21The output signal y of (s)21S () is sampled, and calculate the system output signal of close loop control circuit 2
y2(s), and y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control
Decoupler CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to
Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or by cross decoupling
Network pathThe output signal y of unitp21S () is triggered；
E2：In decoupler CD2 nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback
Signal y2S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2S () implements control algolithm C2S (), obtains signal u2(s)；
E4：By signal u2S () acts on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；Will
yp12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12S () will experience network transfer delay τ12
Afterwards, get to control decoupler CD1 nodes；
E5：By feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2a(s)；
E6：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P21(s) and network pathThe signal y that unit is transmittedp21(s) and signal u2(s) and signal u2aS () is added, obtain control decoupling signal u2p(s),
That is u2p(s)=yp21(s)+u2(s)+u2a(s)；
E7：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to actuator
A2 node-node transmissions, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pS () is triggered；
F2：By feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2b(s)；
F3：Will control decoupling signal u2p(s) and signal u2bS () subtracts each other, obtain signal u2c(s), i.e. u2c(s)=u2p(s)-
u2b(s)；
F4：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () acts on
Controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12
The decoupling of (s) and SPC, while realizing to network delay, τ long3And τ4Compensation.
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, using the control loop 1 of two degrees of freedom IMC, the adjustable parameter of its close loop control circuit is 2
It is individual, stability, tracking performance and the antijamming capability of system are can further improve using the inventive method；Especially when system is deposited
When compared with large disturbances and model mismatch, feedback filter F1S the presence of () can further improve the dynamic property quality of system, drop
Influence of the low network delay to the stability of a system.
4th, in TITO-NDCS, using the control loop 2 of SPC, due to being realized from TITO-NDCS structures and specifically controlled
Device C2S the selection of () control strategy is unrelated, thus can be not only used for, using the TITO-NDCS of conventional control, also can be used to use intelligence
Can control or the TITO-NDCS using complex control strategy.
5th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation 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；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NDCS
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G,
M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal of system；Represent
Will control decoupling signal uiS feedforward network that () is experienced from from control decoupler CD nodes to i-th actuator A node-node transmission leads to
Road propagation delay time；Represent j-th detection signal y of sensor S nodes of systemjS () passes to control decoupler CD nodes
Defeated experienced feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and
CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11(s) and G22S () and controlled device cross aisle are passed
Delivery function G21(s) and G12(s), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unit
WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute
Composition；
In Fig. 3：x1(s) and x2S () represents system input signal；y1(s) and y2S () represents system output signal；C1(s) and
C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；yp21(s) and yp12S () represents and intersects
Decoupling path output signal；u1p(s) and u2pS () represents control decoupling signal；τ1And τ3Representing will control decoupling signal u1p(s) and
u2pDuring 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 yp12When () 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 long delays 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；G11mS () is controlled device transmission function G11S () estimates mould
Type；C2mS () is controller C2The predictor controller of (s)；C1IMCThe internal mode controller of (s).
Fig. 5：A kind of compensation method of TITO-NDCS network delays long
In Fig. 5, F1S () 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 h when the sensor S1 nodes cycle1Sampling
After signal triggering, to controlled device G11(s) output signal y11(s) and controlled device cross aisle transmission function G12The output of (s)
Signal y12(s), and actuator A1 nodes output signal y11mbS () is sampled, and calculate close loop control circuit 1 be
System output signal y1(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)=y1(s)-y11mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD1 node-node transmissions, feedback signal y1bS () 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 y1b(s) or intersected
Decoupling network pathThe output signal y of unitp12After (s) triggering, by feedback signal y1b(s) and controlled device prediction model
G11mThe output valve y of (s)11maS () is added and obtains signal y1c(s), i.e. y1c(s)=y1b(s)+y11ma(s)；By y1cS () acts on
Feedback filter F1S () obtains its output signal yF1(s), i.e. yF1(s)=y1c(s)F1(s)；By system Setting signal x1S () subtracts
Remove feedback filter F1The output signal y of (s)F1S (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；It is right
e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
4th step：By IMC signals u1S () acts on cross decoupling channel transfer function P21S () obtains output signal yp21
(s)；By yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21When () will experience network transmission s
Prolong τ21, get to control decoupler CD2 nodes；
5th step：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and network
PathThe signal y that unit is transmittedp12S () acts on controlled device prediction model G11mS () obtains its output valve y11ma
(s)；Simultaneously by signal yp12(s) and IMC signals u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p(s)=yp12(s)+
u1(s)；
6th step：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to holding
Row device A1 node-node transmissions, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
7th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pAfter (s) triggering, will control
Decoupling signal u processed1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；
8th step：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Will control
Decoupling signal u processed1pS () 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 two degrees of freedom IMC, while realizing to network delay, τ long1And τ2Compensation；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s) it is defeated
Go out signal y21S () is sampled, and calculate the system output signal y of close loop control circuit 22(s), and y2(s)=y22(s)+
y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Control decoupler CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, get to control decoupler
CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or intersected
Decoupling network pathThe output signal y of unitp21After (s) triggering, by the system Setting signal x of close loop control circuit 22(s),
Subtract feedback signal y2S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2S () implements control algolithm C2
S (), obtains signal u2(s)；
4th step：By signal u2S () acts on cross decoupling channel transfer function P12S () obtains its output signal yp12
(s)；By yp12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12When () will experience network transmission s
Prolong τ12Afterwards, get to control decoupler CD1 nodes；
5th step：By feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2a(s)；Control will be come from
Decoupler CD1 nodes, by cross decoupling channel transfer function P21(s) and network pathThe signal that unit is transmitted
yp21(s) and signal u2(s) and signal u2aS () is added, obtain control decoupling signal u2p(s), i.e. u2p(s)=yp21(s)+u2(s)+
u2a(s)；
6th step：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to holding
Row device A2 node-node transmissions, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
7th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pAfter (s) triggering；Will be anti-
Feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2b(s)；Will control decoupling signal u2p(s) and signal u2b(s)
Subtract each other, obtain signal u2c(s), i.e. u2c(s)=u2p(s)-u2b(s)；
8th step：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () is made
For controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and
G12The decoupling of (s) and SPC, while realizing to network delay, τ long3And τ4Compensation；
9th step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (5)
1. the compensation method of a kind of TITO-NDCS network delays long, it is characterised in 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 y1b(s) or by cross decoupling network pathThe output of unit
Signal yp12When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () 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 yp21When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () 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 G11(s) output signal y11S () and controlled device cross aisle are passed
Delivery function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mbS () is sampled, and calculate
The system output signal y of close loop control circuit 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)
=y1(s)-y11mb(s)；
A3：Sensor S1 nodes are by feedback signal y1bS (), is decoupled by the feedback network path of close loop control circuit 1 to control
Device CD1 node-node transmissions, feedback signal y1bS () 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 y1b(s) or by cross decoupling network
PathThe output signal y of unitp12S () is triggered；
B2：In decoupler CD1 nodes are controlled, by feedback signal y1b(s) and controlled device prediction model G11mThe output valve of (s)
y11maS () is added and obtains signal y1c(s), i.e. y1c(s)=y1b(s)+y11ma(s)；By y1cS () acts on feedback filter F1(s)
Obtain its output signal yF1(s), i.e. yF1(s)=y1c(s)F1(s)；By system Setting signal x1S () subtracts feedback filter F1
The output signal y of (s)F1S (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1S () implements Internal Model Control Algorithm C1IMCS (), obtains IMC signals u1(s)；
B4：By IMC signals u1S () acts on cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；Will
yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21S () will experience network transfer delay τ21
Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and network pathIt is single
The signal y that unit transmitsp12S () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；Simultaneously will
Signal yp12(s) and IMC signals u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p(s)=yp12(s)+u1(s)；
B6：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1
Point transmission, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pS () is triggered；
C2：Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；
C3：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By control decoupling letter
Number u1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled right
As G11(s) and G21The decoupling of (s) and two degrees of freedom IMC, while realizing to network delay, τ long1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle
Transmission function G21The output signal y of (s)21S () is sampled, and calculate the system output signal y of close loop control circuit 22
(s), and y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler
CD2 node-node transmissions, feedback signal y2S () will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or led to by cross decoupling network
RoadThe output signal y of unitp21S () is triggered；
E2：In decoupler CD2 nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2
S (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2S () implements control algolithm C2S (), obtains signal u2(s)；
E4：By signal u2S () acts on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；By yp12
S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12S () will experience network transfer delay τ12Afterwards,
Get to control decoupler CD1 nodes；
E5：By feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2a(s)；
E6：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P21(s) and network pathIt is single
The signal y that unit transmitsp21(s) and signal u2(s) and signal u2aS () is added, obtain control decoupling signal u2p(s), i.e. u2p
(s)=yp21(s)+u2(s)+u2a(s)；
E7：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2
Point transmission, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pS () is triggered；
F2：By feedback signal y2S (), acts on control algolithm C2S (), obtains signal u2b(s)；
F3：Will control decoupling signal u2p(s) and signal u2bS () subtracts each other, obtain signal u2c(s), i.e. u2c(s)=u2p(s)-u2b
(s)；
F4：By signal u2cS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2cS () acts on controlled
Object cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled device G22(s) and G12(s)
Decoupling and SPC, while realizing to network delay, τ long3And τ4Compensation.
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 long is mended
The implementation of compensation method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the close loop control circuit 1 of two degrees of freedom IMC, it is closed
The adjustable parameter of ring control loop is 2, can further improve the stability of a system, tracking performance and antijamming capability；Especially
When system is present compared with large disturbances and model mismatch, feedback filter F1S the presence of () can further improve the dynamic of system
Can quality, influence of the reduction network delay to the stability of a system.
5. method according to claim 1, it is characterised in that：Using the control loop 2 of SPC, due to being tied from TITO-NDCS
Realized on structure and specific controller C2S the selection of () control strategy is unrelated, thus can be not only used for using the TITO- of conventional control
NDCS, also can be used for using Based Intelligent Control or the TITO-NDCS using complex control strategy.
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| CN107395399B (en) * | 2017-06-29 | 2019-10-01 | 南京邮电大学 | A kind of fault-tolerant synchronisation control means of complex network inner couplings failure and time delay |
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Application publication date: 20170613 |
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