CN106873367A - A kind of two input and output network decoupling and controlling system delay compensation methods based on IMC - Google Patents

Abstract

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

Description

A kind of two input and output network decoupling and controlling system delay compensation methods based on IMC

Technical field

Network decoupling and controlling system delay compensation side of the one kind based on IMC (Internal Model Control, IMC) Method, is related to the crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to limited bandwidth resources MIMO Networked Control Systems technical field.

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

Network decoupling and controlling system (TITO-NDCS) net is exported the present invention relates to a kind of two input two in MIMO-NDCS The compensation of network 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 2_p2(s), by cross decoupling Path transmission function P₁₂(s) and controlled device line passing transmission function G₁₂S () acts on close loop control circuit 1, believe from input Number u_p2S () arrives output signal y₁S the closed loop transfer function, between () is：

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

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 the close loop control circuit 1 in Fig. 3 and control loop 2：The present invention proposes a kind of time delay based on IMC Compensation method, constitutes compensation and the IMC of two close loop control circuit network delays, for exempting in each close loop control circuit, saving The measurement of network delay, estimation or identification between point, and then reduce network delay τ₁And τ₂, and τ₃And τ₄To respective closed loop control Loop processed and the influence to whole control system control performance quality and the stability of a system；When prediction model is equal to its true mould During type, the exponential term not comprising network delay in the characteristic equation of each close loop control circuit is capable of achieving, and then when can reduce network Prolong the influence to whole system stability, improve the dynamic property quality of system, realization divides TITO-NDCS network delays Section, real-time, online and dynamic predictive compensation and IMC.

Using method：

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

The first step：In controller C nodes, an internal mode controller C is built_1IMC(s) substitution controller C₁(s)；For reality When now meeting predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1, with Realize to network delay τ₁And τ₂Compensation with control, use with control signal u₁S () is estimated as input signal, controlled device Model G_11mS () passes through network transfer delay prediction model as controlled process, control with process dataAndAround Internal mode controller C_1IMCS (), constructs a positive 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 IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to Meet network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from sensor S1 nodes between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using real net Network data transmission procedureAndInstead 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 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 and IMC；Implement the inventive method Network delay compensation it is as shown in Figure 5 with IMC structures；

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

The first step：In controller C nodes, an internal mode controller C is built_2IMC(s) substitution controller C₂(s)；For reality When now meeting predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, to realize To network delay τ₃And τ₄Compensation with control, around controlled device G₂₂S (), y is exported with close loop control circuit 2₂S () is used as defeated Enter signal, by y₂S () passes through network transfer delay prediction modelWith estimate internal mode controller C_2mIMC(s) and network transmission Time-delay Prediction modelOne positive feedback Prediction Control loop of construction；The structure for implementing this step is as shown in Figure 4；

Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4 Compensation and control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and satisfaction estimate internal mode controller C_2mIMCS () is equal to its internal mode controller C_2IMCS the condition of () is (due to internal model Controller C_2IMCS () is artificial design and selection, C is met naturally_2mIMC(s)=C_2IMC(s)).Therefore, from sensor S2 nodes to Between controller C nodes, and from controller C nodes to decoupling actuator DA2 nodes, passed using real network data Defeated processWithInstead of the predict-compensate model of network delay therebetweenWithThe network delay shown in Fig. 5 is obtained to mend Compensation structure；

3rd step：By internal mode controller C in Fig. 5_2IMCS (), by the further abbreviation of transmission function equivalence transformation rule, obtains The network delay collocation structure of the implementation the inventive method shown in Fig. 6；Realize system not comprising network delay therebetween from structure Predict-compensate model so that in exempting to close loop control circuit 2, network delay τ between node₃And τ₄Measurement, estimate or distinguish Know, be capable of achieving to network delay τ₃And τ₄Compensation and IMC；Implement network delay compensation and the IMC structures such as figure of the inventive method Shown in 6.

Herein it should be strongly noted that in the controller C nodes of Fig. 6, occurring in that the given letter of close loop control circuit 2 Number x₂(s), with its feedback signal y₂(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y₂(s) signal It is connected in controller C nodes by positive feedback and negative-feedback simultaneously：

(1) this is due to by the internal mode controller C in Fig. 5_2IMC(s), according to transmission function equivalence transformation rule further Abbreviation obtains the result shown in Fig. 6, and non-artificial setting；

(2) because the node of NCS is nearly all intelligent node, not only with communication and calculation function, but also with depositing Storage with control etc. function, same signal is carried out in node elder generation " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method Then go up do not have what be not inconsistent normally part；

Same signal is carried out in node (3) " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and The signal y in the node is not indicated that₂S () does not just exist, or do not obtain y₂S () signal, or signal is not stored for；Or because of " phase Mutually offset " cause " zero " signal value to reform into not exist, or it is nonsensical；

(4) triggering of controller C nodes just comes from signal y₂The driving of (s), if controller C nodes are not received by From the signal y that feedback network tunnel comes₂S (), then the controller C nodes in event-driven working method will not It is triggered.

For the close loop control circuit 1 in Fig. 6：

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

In formula：G_11mS () is controlled device G₁₁The prediction model of (s)；C_1IMCS () is internal mode controller.

2) the signal u of decoupling actuator DA2 nodes in close loop control circuit 2 is come from_2p(s), by cross decoupling path Transmission function P₁₂S () acts on close loop control circuit 1；At the same time, signal u_2pS () is transmitted by controlled device line passing Function G₁₂S () acts on close loop control circuit 1；From input signal u_2pS () 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 G_11m(s)=G₁₁When (s), The closed loop transfer function, denominator of close loop control circuit 1 byIt is turned into 1.

Now, close loop control circuit 1 is equivalent to an open-loop control system, in the denominator of closed loop transfer function, no longer Network delay τ comprising the influence stability of a system₁And τ₂Exponential termWithThe stability of system only with controlled device, hand over Stability of the fork decoupling path transmission function with internal mode controller in itself is relevant；Network delay pair can be reduced using the inventive method The influence of the stability of a system, improves the dynamic control performance quality of system, realizes to the dynamic compensation of network delay and IMC.

For the close loop control circuit 2 in Fig. 6：

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

In formula：C_2IMCS () is internal mode controller.

2) the signal u of decoupling actuator DA1 nodes in close loop control circuit 1 is come from_1p(s), by cross decoupling path Transmission function P₂₁S () acts on close loop control circuit 2；At the same time, signal u_1pS () is transmitted by controlled device line passing Function G₂₁S () acts on close loop control circuit 2；From input signal u_1pS () transmits letter to the closed loop between output signal y2 (s) Number is：

Using the inventive method, the denominator of transmission function equation (7) and (8) is 1, and close loop control circuit 2 is equivalent to one Open-loop control system, no longer comprising the network delay τ of the influence stability of a system in the denominator of closed loop transfer function,₃And τ₄'s Exponential termWithThe stability of system only with controlled device, cross decoupling path transmission function and internal mode controller in itself Stability it is relevant；Influence of the network delay to the stability of a system can be reduced using the inventive method, improve the dynamic control of system Performance quality processed, realizes to the dynamic compensation of network delay and IMC.

In close loop control circuit 1 and control loop 2, internal mode controller C_1IMC(s) and C_2IMCThe design of (s) and selection：

Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it It is the inversion model of plant model as feedforward controller C₁₁(s) and C₂₂(s)；Second step is added in feedforward controller The feedforward filter f of certain order₁(s) and f₂S (), constitutes a complete internal mode controller C_1IMC(s) and C_2IMC(s)。

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

Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G_11m (s)=G₁₁(s), G_22m(s)=G₂₂(s)。

Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G_11m(s)= G_11m+(s)G_11m-(s) and G_22m(s)=G_22m+(s)G_22m-(s), wherein：G_11m+(s) and G_22m+S () is respectively controlled device and estimates Model G_11m(s) and G_22mIrreversible part comprising pure lag system and s RHP zero pole points in (s)；G_11m-(s) and G_22m- The s reversible part of minimum phase that () is respectively in controlled device prediction model.

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

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

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

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

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

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

With

Be can be seen that from equation (9) and (10)：The internal mode controller C of one degree of freedom_1IMC(s) and C_2IMCIn (s), all Only one of which customized parameter λ₁And λ₂；Due to λ₁And λ₂The change of parameter and the tracking performance of system and antijamming capability have Direct relation, therefore in the customized parameter λ of wave filter of adjusting₁And λ₂When, generally require dry with anti-in the tracing property of system Ability is disturbed to trade off between the two.

The scope of application of the invention：

It is using the IMC methods of control loop 1 during suitable for controlled device prediction model equal to its true model and controlled Using the IMC methods of control loop 2 when object prediction model is known or is uncertain of, a kind of two input two for being constituted exports network The compensation of decoupling and controlling system (TITO-NDCS) network delay and IMC；Its Research Thinking and method, can equally be well applied to be controlled Using the IMC methods of control loop 1 when object prediction model is equal to its true model, and controlled device prediction model it is known or Using the IMC methods of control loop 2 when being uncertain of, the multiple-input and multiple-output network decoupling and controlling system (MIMO- for being constituted NDCS) compensation of network delay and IMC.

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

For close loop control circuit 1：

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

(2) is when controller C nodes are by feedback signal y_1bWhen () triggers s, employing mode B is operated；

(3) is when decoupling actuator DA1 nodes are by IMC 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 y₂When () triggers s, employing mode E is operated；

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

The step of mode A, includes：

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

A2：After sensor S1 nodes are triggered, to controlled device G₁₁The output signal y of (s)₁₁S () and controlled device are intersected Channel transfer function G₁₂The output signal y of (s)₁₂(s), and decouple the output signal y of actuator DA1 nodes_11mbS () is adopted Sample, and calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂ (s) and y_1b(s)=y₁(s)-y_11mb(s)；

A3：By feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, Feedback signal y_1bS () 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 y_1bS () is triggered；

B2：In controller C nodes, by the system Setting signal x of close loop control circuit 1₁S (), subtracts feedback signal y_1b S () obtains deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)；

B3：To e₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains IMC signals u₁(s)；

B4：By IMC signals u₁S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator DA1 Node-node 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, by IMC signals u₁S () is triggered；

C2：In actuator DA1 nodes are decoupled, by IMC signals u₁S () acts on controlled device prediction model G_11m(s) To its output valve y_11mb(s)；The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_2pS () acts on intersection Decoupling path transmission function P₁₂S () obtains its output valve y_p12(s)；By IMC signals u₁(s) and y_p12S () subtracts each other must decouple execution Device DA1 output signal nodes u_1p(s), i.e. u_1p(s)=u₁(s)-y_p12(s)；

C3：By signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1pS () acts on Controlled device cross aisle transmission function G₂₁S () obtains its output valve y₂₁(s)；So as to realize to controlled device G₁₁(s) and G₂₁ The uneoupled control and IMC of (s), 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, controlled device G₂₂The output signal y of (s)₂₂S () and controlled device are intersected logical Road 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：By feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, Feedback signal y₂S () 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 y₂S () is triggered；

E2：In controller C nodes, by the system Setting signal x of close loop control circuit 2₂(s), with feedback signal y₂(s) phase After adduction subtracts each other, signal e is obtained₂(s), i.e. e₂(s)=x₂(s)+y₂(s)-y₂(s)=x₂(s)；To e₂S () implements internal model control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E3：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2 node-node transmissions, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

The step of mode F, includes：

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

F2：By IMC signals u₂S () decouples the output signal u of actuator DA1 nodes with close loop control circuit 1 is come from_1p S () passes through cross decoupling path transmission function P₂₁The output signal y of (s)_p21S () subtracts each other and obtains signal u_2p(s), i.e. u_2p(s)= u₂(s)-y_p21(s)；

F3：By signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2pS () 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 uneoupled control and IMC of (s), 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, the close loop control circuit 1 in TITO-NDCS and control loop 2：Its internal mode controller is respectively C_1IMC(s) and C_2IMC(s), the equal only one of which of its adjustable parameter, respectively λ₁And λ₂Parameter, the regulation of its parameter is simple with selection, and physics is anticipated It is adopted clear and definite；Stability, tracking performance and the interference free performance of system can be not only improved using IMC, but also can be realized to net The compensation of network time delay and control.

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；τ_caThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions Tunnel time delay；τ_scThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions Network tunnel time delay；G (s) represents controlled device transmission function.

Fig. 2：The typical structure of MIMO-NDCS

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

Fig. 3：The typical structure of TITO-NDCS

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：C_1IMCS () is the internal mode controller of control loop 1；C_2mIMCS () is the internal mode controller of control loop 2 C_2IMCThe prediction model of (s)；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate Time Delay Model；G_11mS () is controlled device transmission function G₁₁(s) it is pre- Estimate model.

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

Fig. 6：A kind of two input and output network decoupling and controlling system delay compensation methods based on IMC

Specific embodiment

Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 6 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 nodes_11mbS () is sampled, and calculate closed-loop control The system output signal y in loop 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂(s) and y_1b(s)=y₁(s)- y_11mb(s)；

Second step：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to Controller C node-node transmissions, feedback signal y_1bS () 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 y_1bS () triggers after, by closed loop control The system Setting signal x in loop processed 1₁S (), subtracts feedback signal y_1bS () obtains deviation signal e₁(s), i.e. e₁(s)=x₁(s)- y_1b(s)；To e₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains IMC signals u₁(s)；

4th step：By IMC signals 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, by IMC signals u₁S () triggers after, will IMC signals u₁S () acts on controlled device prediction model G_11mS () obtains its output valve y_11mb(s)；Closed-loop control will be come to return Road 2 decouples the signal u of actuator DA2 nodes_2pS () acts on cross decoupling path transmission function P₁₂S () obtains its output valve y_p12(s)；By IMC signals u₁(s) and y_p12S () subtracts each other must decouple actuator DA1 output signal nodes u_1p(s), i.e. u_1p(s)=u₁ (s)-y_p12(s)；

6th step：By signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1pS () 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 IMC, 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 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 Controller C node-node transmissions, feedback signal y₂S () 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 y₂S () triggers after, by closed loop control The system Setting signal x of loop processed 2₂(s), with feedback signal y₂S () phase adduction obtains signal e after subtracting each other₂(s), i.e. e₂(s)=x₂ (s)+y₂(s)-y₂(s)=x₂(s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

4th step：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is performed to decoupling Device DA2 node-node transmissions, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

5th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u₂S () triggers after, will IMC signals u₂S () decouples the output signal u of actuator DA1 nodes with close loop control circuit 1 is come from_1pS () passes through cross decoupling Path transmission function P₂₁The output signal y of (s)_p21S () subtracts each other and obtains signal u_2p(s), i.e. u_2p(s)=u₂(s)-y_p21(s)；

6th step：By signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2pS () 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 IMC, 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. a kind of two input and output network decoupling and controlling system delay compensation methods based on IMC, it is characterised in that the method bag Include following steps：

For close loop control circuit 1：

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

(2) is when controller C nodes are by feedback signal y_1bWhen () triggers s, employing mode B is operated；

(3) is when decoupling actuator DA1 nodes are by IMC 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 y₂When () triggers s, employing mode E is operated；

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

The step of mode A, includes：

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

A2：After sensor S1 nodes are triggered, to controlled device G₁₁The output signal y of (s)₁₁(s) and controlled device cross aisle Transmission function G₁₂The output signal y of (s)₁₂(s), and decouple the output signal y of actuator DA1 nodes_11mbS () is sampled, And calculate the system output signal y of close loop control circuit 1₁(s) and feedback signal y_1b(s), and y₁(s)=y₁₁(s)+y₁₂(s) And y_1b(s)=y₁(s)-y_11mb(s)；

A3：By feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, feedback Signal y_1bS () 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 y_1bS () is triggered；

B2：In controller C nodes, by the system Setting signal x of close loop control circuit 1₁S (), subtracts feedback signal y_1b(s) To deviation signal e₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)；

B3：To e₁S () implements Internal Model Control Algorithm C_1IMCS (), obtains IMC signals u₁(s)；

B4：By IMC signals u₁S feedforward network path that () passes through close loop control circuit 1Unit is to decoupling actuator DA1 nodes 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, by IMC signals u₁S () is triggered；

C2：In actuator DA1 nodes are decoupled, by IMC signals u₁S () acts on controlled device prediction model G_11mS () obtains it Output valve y_11mb(s)；The signal u that close loop control circuit 2 decouples actuator DA2 nodes will be come from_2pS () acts on cross decoupling Path transmission function P₁₂S () obtains its output valve y_p12(s)；By IMC signals u₁(s) and y_p12S () subtracts each other must decouple actuator DA1 Output signal node u_1p(s), i.e. u_1p(s)=u₁(s)-y_p12(s)；

C3：By signal u_1pS () acts on controlled device G₁₁S () obtains its output valve y₁₁(s)；By signal u_1pS () 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 and IMC, 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, controlled device G₂₂The output signal y of (s)₂₂S () and controlled device cross aisle are passed Delivery 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：By feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback letter Number y₂S () 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 y₂S () is triggered；

E2：In controller C nodes, by the system Setting signal x of close loop control circuit 2₂(s), with feedback signal y₂(s) phase adduction After subtracting each other, signal e is obtained₂(s), i.e. e₂(s)=x₂(s)+y₂(s)-y₂(s)=x₂(s)；To e₂S () implements Internal Model Control Algorithm C_2IMCS (), obtains IMC signals u₂(s)；

E3：By IMC signals u₂S feedforward network path that () passes through close loop control circuit 2Unit is to decoupling actuator DA2 nodes Transmission, u₂S () will experience network transfer delay τ₃Afterwards, get to decouple actuator DA2 nodes；

The step of mode F, includes：

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

F2：By IMC signals u₂S () decouples the output signal u of actuator DA1 nodes with close loop control circuit 1 is come from_1pS () leads to Cross cross decoupling path transmission function P₂₁The output signal y of (s)_p21S () subtracts each other and obtains signal u_2p(s), i.e. u_2p(s)=u₂(s)- y_p21(s)；

F3：By signal u_2pS () acts on controlled device G₂₂S () obtains its output valve y₂₂(s)；By signal u_2pS () 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 and IMC, while realizing to network delay τ₃And τ₄Compensation with control.

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

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

4. method according to claim 1, it is characterised in that：Close loop control circuit 1 and control loop in TITO-NDCS 2, using internal mode controller C_1IMC(s) and C_2IMC(s)；The equal only one of which parameter of adjustable parameter of its internal mode controller, its parameter Regulation is simple with selection, and explicit physical meaning；Stability, the tracking performance that system can be not only improved using IMC are dry with anti- Immunity energy, but also compensation and control to network delay can be realized.