CN106842943A - Two inputs two based on SPC export network decoupling and controlling system delay compensation method - Google Patents
Two inputs two based on SPC export network decoupling and controlling system delay compensation method Download PDFInfo
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Abstract
Two inputs two based on SPC export network decoupling and controlling system delay compensation method, 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, SPC is implemented to two loops, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, network delay is reduced to TITO NDCS stability influences, improve quality of system control.
Description
Technical field
Two inputs two of the one kind based on SPC (Smith Predictor Control, SPC) export network uneoupled control system
System delay compensation method, is related to the crossing domain of automatic control technology, 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
In dcs, sensor and controller, between controller and actuator, by Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
NCS is capable of achieving resource-sharing, remote operation and control, tool compared with the control system of traditional point-to-point structure
There is a high diagnosis capability, I＆M is easy, many advantages, such as increased flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to the category of NCS, additionally, NCS is in aerospace field, and complicated, dangerous industry
Control field also has wide application, and it is studied has turned into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.Sensor as NCS, when passing through network exchange data between controller and actuator, when inevitably resulting in network
Prolong, so as to the performance of system can be reduced or even cause system unstable.Because the information source in network is a lot, transmitting data stream warp
Numerous computers and communication equipment and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, network
The reason such as congestion or disconnecting, causes the sequential entanglement of network packet and the loss of packet.Although time-delay system point
Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS various time delays of different nature (constant, bounded, with
Machine, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory is being analyzed and is setting to system
Timing, has often done many Utopian it is assumed that transmitting and adjusting such as the sampling of single rate, Synchronization Control, without time delay.But in NCS
In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will be reappraised
Can be applied in NCS.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one
The individual sampling period transmits more than a sampling period, the transmission of list bag or many bags, when whetheing there is data-bag lost, it is entered
Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing including at least two inputs
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- for being constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs by decoupling the multiple-input and multiple-output network decoupling and controlling system for processing
(Networked decoupling control systems, NDCS) delay compensation with control achievement in research then it is relative more
It is few.
The typical structure of MIMO-NDCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Selection pairing, also exists and influences each other unavoidably between each control loop, thus it is respective output signal is independently tracked
Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit failure
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method,
The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO-
In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point of control：
(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size
It is relevant etc. factor, 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
The exact value of network time delay.Time delay causes systematic function to decline or even causes system unstable, while also to the analysis of control system
Difficulty is brought with design.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, to MIMO-NDCS implement
Delay compensation is more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
A kind of two input and output network decoupling and controlling system (TITO-NDCS) network in the present invention relates to MIMO-NDCS
The compensation of time delay and control, the typical structure of its TITO-NDCS are as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is controller；G11S () is controlled device；τ1Represent the output signal u of controller C nodes1(s),
Through preceding the network delay that decoupling actuator DA1 nodes are experienced is transferred to network path；τ2Represent sensor S1 nodes
Output signal y1(s), through the network delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s), by cross decoupling
Path transmission function P12(s) and controlled device line passing transmission function G12S () acts on close loop control circuit 1, believe from input
Number up2S () arrives output signal y1S the closed loop transfer function, between () is：
The denominator of above-mentioned closed loop transfer function, equation (1) to (2)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 controller, G22S () is controlled device；τ3Represent the controlled output signal u of controller C nodes2
S (), the network delay that decoupling actuator DA2 nodes are experienced is transferred to through preceding to network path；τ4Represent sensor S2 sections
The output signal y of point2(s), through the network delay that feedback network tunnel is experienced to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s), by cross decoupling
Path transmission function P21(s) and controlled device line passing transmission function G21S () acts on close loop control circuit 2, believe from input
Number up1S () arrives output signal y2S the closed loop transfer function, between () is：
The denominator of above-mentioned closed loop transfer function, equation (3) to (4)In, contain network delay τ3
And 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 denominator of the closed loop transfer function, equation (1) to (2) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2
Into the denominator of (4), 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, for close loop control circuit 1 and close loop control circuit 2 in Fig. 3, the present invention proposes a kind of based on SPC's
Delay compensation method, constitutes the compensation and control of two close loop control circuit network delays, for exempting to each close loop control circuit
In, the measurement of network delay, estimation or identification between node, and then reduce network delay τ1And τ2, and τ3And τ4To each self-closing
Ring control loop and the influence to whole control system control performance quality and the stability of a system；When prediction model is true equal to its
During real mould, the exponential term not comprising network delay in the characteristic equation of respective close loop control circuit is capable of achieving, and then can reduce
Influence of the network delay to whole system stability, improves the dynamic property quality of system, realizes to TITO-NDCS network delays
Segmentation, real-time, online and dynamic predictive compensation and SPC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation with control, in controller C nodes, use with control
Signal u processed1S () is used as input signal, controlled device prediction model G11mS () passes through as controlled process, control with process data
Network transfer delay prediction modelAndAround controller C1(s), one positive feedback Prediction Control loop of construction and
One negative-feedback Prediction Control loop；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, 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 between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using real
Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter by
Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model, so that in exempting to close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or distinguish
Know；When prediction model is equal to its true model, it is capable of achieving to its network delay τ1And τ2Compensation and SPC；Implement present invention side
The network delay compensation of method is as shown in Figure 5 with SPC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In order to realize meeting during predictive compensation condition, no longer wrapped in the closed loop transform function of close loop control circuit 2
Exponential term containing network delay, to realize to network delay τ3And τ4Compensation with control, in controller C nodes, use with control
Signal u processed2S () is used as input signal, controlled device prediction model G22mS () passes through as controlled process, control with process data
Network transfer delay prediction modelAndAround controller C2S (), constructs a positive feedback Prediction Control loop and one
Individual negative-feedback Prediction Control loop；Implement this step structure as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S2 nodes between controller C nodes, and from controller C nodes to decoupling actuator DA2 nodes, using real
Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter it is controlled
Whether the prediction model of object is equal to its true model, can be realized from system architecture not comprising the pre- of network delay therebetween
Estimate compensation model, so that in exempting to close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or recognize；
When prediction model is equal to its true model, it is capable of achieving to its network delay τ3And τ4Compensation and SPC；Implement the inventive method
Network delay compensation it is as shown in Figure 5 with SPC structures；
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)；C1S () is controller.
2) the signal u of decoupling actuator DA2 nodes in close loop control circuit 2 is come from2p(s), by cross decoupling path
Transmission function P12S () acts on close loop control circuit 1；At the same time, signal u2pS () is transmitted by controlled device line passing
Function G12S () acts on close loop control circuit 1；From input signal u2pS () arrives output signal y1Closed loop transfer function, between (s)
For：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11When (s),
The closed loop transform function of close loop control circuit 1 will be byBecome 1+C1(s)
G11(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function1And τ2Exponential term
WithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, it is right to realize
The dynamic compensation of network delay and SPC.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：G22mS () is controlled device G22The prediction model of (s)；C2S () is controller.
2) the signal u of decoupling actuator DA1 nodes in close loop control circuit 1 is come from1p(s), by cross decoupling path
Transmission function P21S () acts on close loop control circuit 2；At the same time, signal u1pS () is transmitted by controlled device line passing
Function G21S () acts on close loop control circuit 2；From input signal u1pS () arrives output signal y2Closed loop transfer function, between (s)
For：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22When (s),
The closed loop transform function of close loop control circuit 2 will be byBecome 1+C2
(s)G22(s)=0, no longer comprising the network delay τ of the influence stability of a system in its closed loop transform function3And τ4Index
WithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, it is real
Now to the dynamic compensation of network delay and SPC.
The scope of application of the invention：
The output network decoupling of a kind of two input two that its true model is constituted is equal to suitable for controlled device prediction model
The compensation of control system (TITO-NDCS) network delay and control；Its Research Thinking and method, can equally be well applied to controlled device
Prediction model is equal to multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) network delay that its true model is constituted
Compensation with control.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is as decoupling actuator DA1 node controlled signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is as decoupling actuator DA2 node controlled signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11S () and controlled device are intersected
Channel transfer function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mbS () is adopted
Sample, 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：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions,
Feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1bS () is triggered；
B2：In controller C nodes, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b
(s) and controlled device transmission function prediction model G11mThe output signal y of (s)11maS (), obtains deviation signal e1(s), i.e. e1(s)
=x1(s)-y1b(s)-y11ma(s)；
B3：To e1S () implements control algolithm C1S (), obtains control signal u1(s)；By control signal u1(s) act on by
Control object prediction model G11mS () obtains its output valve y11ma(s)；
B4：By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator
DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () is triggered；
C2：In actuator DA1 nodes are decoupled, by control signal u1S () acts on controlled device prediction model G11m(s)
Obtain its output valve y11mb(s)；By control signal u1S () decouples the letter of actuator DA2 nodes with close loop control circuit 2 is come from
Number u2pS () passes through cross decoupling path transmission function P12The output valve y of (s)p12S () subtracts each other and obtains signal u1p(s), i.e. u1p(s)
=u1(s)-yp12(s)；
C3：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () acts on
Controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21
S the uneoupled control of () adds SPC, while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22S () and controlled device are intersected
Channel transfer function G21The output signal y of (s)21(s), and decouple the output signal y of actuator DA2 nodes22mbS () is adopted
Sample, and calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21
(s) and y2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions,
Feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b
(s) and controlled device transmission function prediction model G22mThe output signal y of (s)22maS (), obtains deviation signal e2(s), i.e. e2(s)
=x2(s)-y2b(s)-y22ma(s)；
E3：To e2S () implements control algolithm C2S (), obtains control signal u2(s)；By control signal u2(s) act on by
Control object prediction model G22mS () obtains its output valve y22ma(s)；
E4：By control signal u2S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator
DA2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, controlled signal u2S () is triggered；
F2：In actuator DA2 nodes are decoupled, by control signal u2S () acts on controlled device prediction model G22m(s)
Obtain its output valve y22mb(s)；By control signal u2S () decouples the letter of actuator DA1 nodes with close loop control circuit 1 is come from
Number u1pS () passes through cross decoupling path transmission function P21The output valve y of (s)p21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)
=u2(s)-yp21(s)；
F3：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () 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
S the uneoupled control of () adds SPC, while realizing to network delay τ3And τ4Compensation with control；
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimate or recognize, while also
The synchronous requirement of node clock signal can be exempted, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid pair when
Prolong the waste of consuming node storage resources needed for identification, while can also avoid due to " the sky sampling " or " sampling more " that time delay is caused
The compensation error brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, 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, due to from TITO-NDCS structures, realizing and specific controller C1(s) and C2The selection nothing of the control strategy of (s)
Close, thus can be not only used for using the TITO-NDCS of conventional control, also can be used for using Based Intelligent Control or use complex control strategy
TITO-NDCS.
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 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
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list
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
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction
Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit
Constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal；Representing will control
Signal ui(s) from controller C nodes to i-th decoupling actuator DA node-node transmissions experienced feedforward network tunnel when
Prolong；Represent j-th detection signal y of sensor S nodesjS feedback network that () is experienced to controller C node-node transmissions
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, and its system includes sensor S1 and S2 node, controller C nodes, solution
Coupling actuator DA1 and DA2 node, controlled device transmission function G11(s) and G22S () and controlled device line passing transmit letter
Number G21(s) and G12(s), cross decoupling path transmission function P21(s) and P12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1(s) and x2S () represents the input signal of system；y1(s) and y2S () represents the output signal of system；C1
(s) and C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；τ1And τ3Represent and believe control
Number u1(s) and u2S feedforward network path that () is experienced from from controller C nodes to decoupling actuator DA1 and DA2 node-node transmission is passed
Defeated time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is passed through to controller C node-node transmissions
The feedback network tunnel time delay gone through.
Fig. 4：A kind of TITO-NDCS delay compensations comprising prediction model and control structure
In Fig. 4：C1(s) and C2S () is the controller of control loop 1 and control loop 2；AndIt is network transmission
Time delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate time delay mould
Type；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22The prediction model of (s).
Fig. 5：Two inputs two based on SPC export network decoupling and controlling system delay compensation method specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill people of this area
Member becomes 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, will be to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function G12(s)
Output signal y12(s), and decouple the output signal y of actuator DA1 nodes11mbS () is sampled, and calculate closed-loop control
The system output signal y in loop 11(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
Controller C node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y1bS () triggers after, by closed loop control
The system Setting signal x in loop processed 11S (), subtracts feedback signal y1b(s) and controlled device transmission function prediction model G11m(s)
Output signal y11maS (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)；To e1S () implements control
Algorithm C processed1S (), obtains control signal u1(s)；By control signal u1S () acts on controlled device prediction model G11mS () obtains
Its output valve y11ma(s)；
4th step：By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is performed to decoupling
Device DA1 node-node transmissions, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () triggers after, will
Control signal u1S () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；By control signal u1(s) with
Come from the signal u that close loop control circuit 2 decouples actuator DA2 nodes2pS () passes through cross decoupling path transmission function P12(s)
Output valve yp12S () subtracts each other and obtains signal u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
6th step：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () is made
For controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and
G21S the uneoupled control of () adds SPC, while realizing to network delay τ1And τ2Compensation with control；
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, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, will be to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s)
Output signal y21(s), and decouple the output signal y of actuator DA2 nodes22mbS () is sampled, and calculate closed-loop control
The system output signal y in loop 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s) and y2b(s)=y2(s)-
y22mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to
Controller C node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y2bS () triggers after, by closed loop control
The system Setting signal x in loop processed 22S (), subtracts feedback signal y2b(s) and controlled device transmission function prediction model G22m(s)
Output signal y22maS (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)；To e2S () implements control
Algorithm C processed2S (), obtains control signal u2(s)；By control signal u2S () acts on controlled device prediction model G22mS () obtains
Its output valve y22ma(s)；
4th step：By control signal u2S feedforward network path that () passes through close loop control circuit 2Unit is held to decoupling
Row device DA2 node-node transmissions, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, controlled signal u2S () triggers after, will
Control signal u2S () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；By control signal u2(s) with
Come from the signal u that close loop control circuit 1 decouples actuator DA1 nodes1pS () passes through cross decoupling path transmission function P21(s)
Output valve yp21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
6th step：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () 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
G12S the uneoupled control of () adds SPC, while realizing to network delay τ3And τ4Compensation with control；
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. two inputs two based on SPC export network decoupling and controlling system delay compensation method, 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 controller C nodes are by feedback signal y1bWhen () triggers s, employing mode B is operated；
(3) is as decoupling actuator DA1 node controlled signals u1When () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when controller C nodes are by feedback signal y2bWhen () triggers s, employing mode E is operated；
(6) is as decoupling actuator DA2 node controlled signals u2When () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle
Transmission function G12The output signal y of (s)12(s), and decouple the output signal y of actuator DA1 nodes11mbS () 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：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, feedback
Signal y1bS () will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signaly1bS () is triggered；
B2：In controller C nodes, by the system Setting signal of close loop control circuit 1x1(s), subtract feedback signal y1b(s) with
Controlled device transmission function prediction model G11mThe output signal y of (s)11maS (), obtains deviation signal e1(s), i.e. e1(s)=x1
(s)-y1b(s)-y11ma(s)；
B3：To e1S () implements control algolithm C1(s), obtain control signal u1(s)；By control signal u1S () acts on controlled device
Prediction model G11mS () obtains its output valve y11ma(s)；
B4：By control signal u1S feedforward network path that () passes through close loop control circuit 1Unit is saved to decoupling actuator DA1
Point transmission, u1S () will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1S () is triggered；
C2：In actuator DA1 nodes are decoupled, by control signal u1S () acts on controlled device prediction model G11mS () obtains it
Output valvey11mb(s)；By control signal u1S () decouples the signal u of actuator DA2 nodes with close loop control circuit 2 is come from2p(s)
By cross decoupling path transmission function P12The output valve of (s)yp12S () subtracts each other and obtains signal u1p(s), i.e. u1p(s)=u1
(s)-yp12(s)；
C3：By signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By signal u1pS () acts on controlled
Object cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled device G11(s) and G21(s)
Uneoupled control adds SPC, while realizing to network delay τ1And τ2Compensation with control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle
Transmission function G21The output signal y of (s)21(s), and decouple the output signal y of actuator DA2 nodes22mbS () is sampled,
And calculate the system output signal y of close loop control circuit 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s)
And y2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback
Signal y2bS () will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2bS () is triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s) with
Controlled device transmission function prediction model G22mThe output signal y of (s)22maS (), obtains deviation signal e2(s), i.e. e2(s)=x2
(s)-y2b(s)-y22ma(s)；
E3：To e2S () implements control algolithm C2S (), obtains control signal u2(s)；By control signal u2S () acts on controlled device
Prediction model G22mS () obtains its output valve y22ma(s)；
E4：By control signal u2S feedforward network path that () passes through close loop control circuit 2Unit is saved to decoupling actuator DA2
Point transmission, u2S () will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, controlled signal u2S () is triggered；
F2：In actuator DA2 nodes are decoupled, by control signal u2S () acts on controlled device prediction model G22mS () obtains it
Output valve y22mb(s)；By control signal u2S () decouples the signal u of actuator DA1 nodes with close loop control circuit 1 is come from1p
S () passes through cross decoupling path transmission function P21The output valve y of (s)p21S () subtracts each other and obtains signal u2p(s), i.e. u2p(s)=u2
(s)-yp21(s)；
F3：By signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By signal u2pS () 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)
Uneoupled control adds SPC, while realizing to network delay τ3And τ4Compensation with control.
2. method according to claim 1, it is characterised in that：From TITO-NCS 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：From TITO-NDCS structures, realize compensating network delay
The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize and specific controller C1
(s) and 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
Based Intelligent Control or the TITO-NDCS using complex control strategy.
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| CN109947073A (en) * | 2017-12-21 | 2019-06-28 | 英飞凌科技股份有限公司 | Short pulse width modulation code/unilateral nibble transmission sensor of data rate and automatic protocol detection with raising |
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| CN109947073A (en) * | 2017-12-21 | 2019-06-28 | 英飞凌科技股份有限公司 | Short pulse width modulation code/unilateral nibble transmission sensor of data rate and automatic protocol detection with raising |
| CN109947073B (en) * | 2017-12-21 | 2023-03-10 | 英飞凌科技股份有限公司 | Sensor for short pulse width modulation code/one-sided nibble transmission with improved data rate and automatic protocol detection |
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