CN106919045A - A kind of two input and output network decoupling and controlling system random delay mixed control methods - Google Patents

A kind of two input and output network decoupling and controlling system random delay mixed control methods Download PDF

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CN106919045A
CN106919045A CN201710091241.5A CN201710091241A CN106919045A CN 106919045 A CN106919045 A CN 106919045A CN 201710091241 A CN201710091241 A CN 201710091241A CN 106919045 A CN106919045 A CN 106919045A
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杜锋
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Hainan University
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Abstract

Two input and output network decoupling and controlling system random delay mixed control methods, 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 the method for network delay compensation model therebetween, SPC and IMC are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimate or recognize, reduce clock signal synchronization requirement, random network time delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of two input and output network decoupling and controlling system random delay mixed control methods
Technical field
The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band The multiple-input and multiple-output network decoupling and controlling system technical field of resource-constrained wide.
Background technology
In a network environment, sensor, controller and actuator form closed loop, network consisting control system by network media System (Networked control systems, NCS), the typical structure of NCS is as shown in Figure 1.
NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along According to packet loss and other complicated phenomenons, the especially presence of random network time delay, it is possible to decrease NCS control performance quality, or even make System loss of stability, may cause system to break down when serious.
At present, the research on NCS both at home and abroad, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or 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 With two control systems of output (Two-input and two-output, TITO), the multiple-input and multiple-output for being constituted The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially Needed by decoupling the multiple-input and multiple-output network uneoupled control for processing between input and output signal, there is coupling The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
The typical structure of MIMO-NDCS is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In the MIMO-NCS that there is coupling, a change for input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Selection pairing, also exists and influences each other unavoidably between each control loop, thus to make output signal independently tracked respective defeated Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control The influence of effect processed can become very complicated.
(4) control unit failure
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious Control system can be made unstable, or even caused a serious accident.
Due to the above-mentioned particularity of MIMO-NDCS so that be mostly based on SISO-NCS be designed with control method, The requirement of the control performance of MIMO-NDCS and control quality cannot have been met, prevent its from or be not directly applicable MIMO- In the design and analysis of NDCS, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point of control：
(1) due to network delay and network topology structure, communication protocol, offered load, the network bandwidth and data package size It is relevant etc. factor, to more than several or even the dozens of sampling period random network time delay, to set up each control in MIMO-NDCS The Mathematical Modeling that the random network time delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net for producing thereafter in advance in advance Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic 's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, it is implemented time delay benefit Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of two input two in MIMO-NDCS export network decoupling and controlling system (TITO-NDCS) with The compensation of machine network delay and control, the typical structure of its TITO-NDCS are as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1S () arrives output signal y1S the closed loop transfer function, between () is：
In formula：C1S () is control unit, G11S () is controlled device；τ1Representing will control decoupler CD1 node output letter Number u1pS (), the random network time delay that actuator A1 nodes are experienced is transferred to through preceding to network path；τ2Represent output signal y1During s random network that () is experienced from sensor S1 nodes, through feedback network tunnel to control decoupler CD1 nodes Prolong.
2) from C in close loop control circuit 22The output signal u of (s) control unit2S (), is transmitted by cross decoupling passage Function P12(s) and its network path unitAfter act on close loop control circuit 1, from input signal u2S () arrives output signal y1 S the closed loop transfer function, between () is：
3) from the output signal u of the actuator A2 nodes of close loop control circuit 22pS (), is passed by controlled device cross aisle Delivery function G12S () influences the output signal y of close loop control circuit 11(s), from input signal u2pS () arrives output signal y1(s) it Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, when containing random network Prolong τ1And τ2Exponential termWithThe presence of time delay loses the performance quality of control system, the system of even resulting in is deteriorated Stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2S () arrives output signal y2S the closed loop transfer function, between () is：
In formula：C2S () is control unit, G22S () is controlled device；τ3Representing will control decoupler CD2 node output letter Number u2pS (), the random network time delay that actuator A2 nodes are experienced is transferred to through preceding to network path；τ4Represent output signal y2During s random network that () is experienced from sensor S2 nodes, through feedback network tunnel to control decoupler CD2 nodes Prolong.
2) from C in close loop control circuit 11The output signal u of (s) control unit1S (), is transmitted by cross decoupling passage Function P21(s) and its network path unitAfter act on close loop control circuit 2, from input signal u1S () arrives output signal y2 S the closed loop transfer function, between () is：
3) from the output signal u of the actuator A1 nodes of close loop control circuit 11pS (), is passed by controlled device cross aisle Delivery function G21S () influences the output signal y of close loop control circuit 22(s), from input signal u1pS () arrives output signal y2(s) it Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain random network Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even result in system mistake Go stability.
Goal of the invention：
For the TITO-NDCS of Fig. 3, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1, Contain random network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, of close loop control circuit 2 etc. In the denominator of formula (4) to (6), random network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can drop The control performance quality of low respective close loop control circuit simultaneously influences the stability of respective close loop control circuit, while will also decrease whole The control performance quality of individual system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
Therefore, for the close loop control circuit 1 in Fig. 3, proposing a kind of based on SPC (Smith Predictor Control, SPC) delay compensation method；For close loop control circuit 2, propose a kind of based on IMC (Internal Model Control, IMC) delay compensation method；Constitute the compensation of two close loop control circuit network delays and mix control, for exempting from In to each close loop control circuit, the measurement of network delay, estimation or identification between node, and then reduce network delay τ1And τ2, And τ3And τ4Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system； When prediction model is equal to its true model, it is capable of achieving not including network delay in the characteristic equation of respective close loop control circuit Exponential term, and then influence of the network delay to whole system stability can be reduced, improve the dynamic property quality of system, it is right to realize The segmentation of TITO-NDCS network delays, real-time, online and dynamic predictive compensation and SPC and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In decoupler CD1 nodes are controlled, in order to realize meeting during predictive compensation condition, close loop control circuit 1 Closed loop transform function in no longer comprising network delay exponential term, to realize to network delay τ1And τ2Compensation with control, adopt It is used to control decoupling output signal u1p(s) and u2pmS () is used as input signal, controlled device prediction model G11m(s) and G12m(s) Used as controlled process, control passes through network transfer delay prediction model with process dataAndAround controller C1 S (), constructs a positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Random network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from Sensor S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes it Between, using real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to its true model, can realize not including from system architecture The predict-compensate model of network delay therebetween, so that in exempting to close loop control circuit 1, random network delay, τ between node1With τ2Measurement, estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its random network delay, τ1And τ2's Compensation and SPC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In decoupler CD2 nodes are controlled, an internal mode controller C is built first2IMCS () is used to replace control Device C processed2(s)；In order to realize meeting during predictive compensation condition, net is no longer included in the closed loop transform function of close loop control circuit 2 The exponential term of network time delay, to realize to network delay τ3And τ4Compensation and control, use to control decoupling output signal u2p(s) And yp21(s) and u1pmS () is used as input signal, controlled device prediction model G22m(s) and G21mS () is used as controlled process, control System transmits prediction model with process data by network delayAndAround internal mode controller C2IMCS (), constructs one Positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：In for actual TITO-NDCS, it is difficult to obtain the problem of network delay exact value, to realize in fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Random network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from Sensor S2 nodes to control decoupler CD2 nodes between, and from control decoupler CD2 nodes to actuator A2 nodes it Between, using real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to its true model, can realize not including from system architecture The predict-compensate model of network delay therebetween, so that in exempting to close loop control circuit 2, random network delay, τ between node3With τ4Measurement, estimate or recognize；When prediction model is equal to its true model, it is capable of achieving to its random network delay, τ3And τ4's Compensation and IMC；The network delay compensation for implementing the inventive method is as shown in Figure 5 with IMC 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) from the internal mode controller C of close loop control circuit 22IMCThe output IMC signals u of (s)2(s), it is logical by cross decoupling Road transmission function P12(s) and network transmission channelsThe through path of close loop control circuit 1 is acted on, from input IMC signals u2 S () arrives output signal y1S the closed loop transfer function, between () is：
3) from cross decoupling network transmission channelsOutput signal yp12S (), acts on close loop control circuit 1 and controls Transmission function 1/P in decoupler CD1 nodes12S () obtains its output signal u2m(s), from input signal yp12S () arrives output signal y1S the closed loop transfer function, between () is：
4) from the control signal u of the actuator A2 nodes of close loop control circuit 22p(s), while being intersected by controlled device logical Road transmission function G12(s) and its prediction model G12mS () acts on close loop control circuit 1, from input signal u2pS () believes to output Number y1S the closed loop transfer function, between () is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s) When, the characteristic equation of the closed loop transfer function, of close loop control circuit 1 will be by Become 1+C1(s)G11(s)=0；When the network of the influence stability of a system is no longer included in the denominator of its closed loop transfer function, Prolong τ1And τ2Exponential termWithSo as to influence of the network delay to the stability of a system can be reduced, improve the dynamic of system Control performance quality, realizes to the dynamic compensation of random network time 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)；C2IMCS () is internal mode controller.
2) from controller C in close loop control circuit 11(s) output control signal u1S (), is transmitted by cross decoupling passage Function P21(s) and its network transmission channelsThe through path of close loop control circuit 2 is acted on, from input control signal u1S () arrives Output signal y2S closed loop transfer function, is between ()：
3) from cross decoupling network transmission channelsOutput signal yp21S (), acts on the control of close loop control circuit 2 Transmission function 1/P in decoupler CD2 nodes processed21S () obtains its output u1m(s)；While yp21S () acts on close loop control circuit Controlled device transmission function prediction model G in 2 control decoupler CD2 nodes22mS () obtains its output y22ma(s)；From input Signal yp21S () arrives output signal y2S the closed loop transfer function, between () is：
4) from the control signal u of the actuator A1 nodes of close loop control circuit 11p(s), while being intersected by controlled device logical Road transmission function G21(s) and its prediction model G21mS () acts on close loop control circuit 2, from input signal u1pS () believes to output Number y2S the closed loop transfer function, between () is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22(s) When, the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1；Now, close Ring control loop 2 is no longer steady comprising influence system in the denominator of closed loop transfer function, equivalent to an open-loop control system Qualitatively network delay τ3And τ4Exponential termWithThe stability of system only with controlled device and internal mode controller in itself Stability it is relevant；So as to influence of the network delay to the stability of a system can be reduced, improve the dynamic control performance quality of system, Realize to the dynamic compensation of random network time delay and IMC.
In close loop control circuit 1, controller C1The selection of (s)：
Controller C1S () can be according to controlled device G11The Mathematical Modeling of (s), and model parameter change, both may be selected Conventional control strategy, also may be selected Based Intelligent Control or complex control strategy；Close loop control circuit 1 uses SPC methods, from TITO- Realized in NDCS structures and specific controller C1S the selection of the control strategy of () is unrelated.
In close loop control circuit 2, internal mode controller C2IMCThe design of (s) and selection：
Design internal mode controller typically uses pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it It is the inversion model of plant model as feedforward controller C22(s)；Second step is that certain order is added in feedforward controller Feedforward filter f2S (), constitutes a complete internal mode controller C2IMC(s)。
(1) feedforward controller C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and other are various about The factors such as beam condition, in selection close loop control circuit 2, controlled device prediction model is equal to its true model, i.e.,：G22m(s)=G22 (s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G22m(s)= G22m+(s)G22m-(s), wherein：G22m+S () is controlled device prediction model G22mPure lag system and s RHPs are included in (s) The irreversible part of zero pole point；G22m-S () is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 222S () can be chosen for：
(2) feedforward filter f2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs Reason is realisation, thus the reversible part G of controlled device minimum phase has only been taken in the design process of feedforward controller22m-(s), Ignore G22m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, in system Interference signal is there is likely to be, these factors are likely to make system lose stabilization.Therefore, being added in feedforward controller certain The feedforward filter of order, for reducing influence of the factors above to the stability of a system, improves the robustness of system.
Generally the feedforward filter f of close loop control circuit 22S (), is chosen for fairly simple n2 rank wave filtersWherein：λ2It is feedforward filter time constant；n2It is the order of feedforward filter, n2=n2a-n2b；n2aFor Controlled device G22The order of (s) denominator；n2bIt is controlled device G22The order of (s) molecule, usual n2＞ 0.
(3) internal mode controller C2IMC(s)
The internal mode controller C of close loop control circuit 22IMCS () can be chosen for:
Be can be seen that from equation (15)：The internal mode controller C of one degree of freedom2IMCIn (s), the adjustable ginseng of only one of which Number λ2, due to λ2The change of parameter suffers from direct relation with the tracking performance of system and antijamming capability, therefore in filter of adjusting The customized parameter λ of ripple device2When, the tracing property generally required in system is traded off between the two with antijamming capability.
The scope of application of the invention：
A kind of two input two for being equal to its true model suitable for controlled device prediction model exports network uneoupled control system Unite (TITO-NDCS) random network time delay compensation and mix SPC and IMC；Its Research Thinking and method, are equally applicable to be controlled When object prediction model is equal to multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) random network of its true model The compensation prolonged and mix SPC and IMC.
It is a feature of the present invention that the method is comprised the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal trigger when, employing mode A is operated；
(2) is when control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathUnit Output signal yp12When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2b(s) or by cross decoupling network pathUnit Output signal yp21When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11S () and controlled device are intersected logical Road transmission function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mb(s) and y12mb(s) carry out Sampling, 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)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control Decoupler CD1 node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, control decoupler CD1 sections are got to Point；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling Network pathThe output signal y of unitp12S () is triggered；
B2：In decoupler CD1 nodes are controlled, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback Signal y1b(s) and controlled device prediction model G11mThe output valve y of (s)11ma(s) and controlled device cross aisle transmission function Prediction model G12mThe output valve y of (s)12maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma (s)-y12ma(s)；
B3：To e1S () implements control algolithm C1S (), obtains control signal u1(s)；
B4：By control signal u1S () acts on cross decoupling channel transfer function P21S () obtains its output signal yp21 (s)；By yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21When () will experience network transmission s Prolong τ21Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and network pathThe signal y that unit is transmittedp12S () acts on transmission function 1/P12S () unit obtains its output signal u2m(s)；By u2m (s) and yp21S () is added and obtains signal u2pm(s)；By u2pmS () acts on controlled device cross aisle transmission function prediction model G12mS () obtains its output valve y12ma(s)；
B6：By decoupling signal yp12(s) and control signal u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p(s) =yp12(s)+u1(s)；Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
B7：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to actuator A1 node-node transmissions, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pS () is triggered；
C2：Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb (s)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit2pS () acts on controlled Object cross aisle transmission function prediction model G12mS () obtains its output valve y12mb(s)；
C3：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Control is solved Coupling signal u1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to quilt Control object G11(s) and G21The decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation and SPC；
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 actuator A2 nodes output signal y22mb(s) and y21mbS () enters Row sampling, 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)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b(s) or by cross decoupling Network pathThe output signal y of unitp21S () is triggered；
E2：In decoupler CD2 nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback Signal y2b(s) and controlled device prediction model G22mThe output valve y of (s)22ma(s) and controlled device cross aisle transmission function Prediction model G21mThe output valve y of (s)21maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma (s)-y21ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：By IMC signals u2S () acts on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)； By yp12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12S () will experience network transfer delay τ12Afterwards, get to control decoupler CD1 nodes；
E5：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P21(s) and network pathThe signal y that unit is transmittedp21S () acts on transmission function 1/P21S () unit obtains its output signal u1m(s)；By u1m (s) and yp12S () is added and obtains signal u1pm(s)；By u1pmS () acts on controlled device cross aisle transmission function prediction model G21mS () obtains its output valve y21ma(s)；
E6：By decoupling signal yp21S () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；Will Decoupling signal yp21(s) and IMC signals u2S () is added, obtain control decoupling signal u2p(s), i.e. u2p(s)=yp21(s)+u2(s)；
E7：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to actuator A2 node-node transmissions, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pS () is triggered；
F2：Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb (s)；The feedforward network path of close loop control circuit 1 will be come fromThe control decoupling signal u of unit1pS () acts on controlled Object cross aisle transmission function prediction model G21mS () obtains its output valve y21mb(s)；
F3：Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；Control is solved Coupling signal u2pS () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to quilt Control object G22(s) and G12The decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation and IMC.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimate or recognize, while also Node clock signal can be exempted synchronously to require, time delay can be avoided to estimate the inaccurate evaluated error for causing of model, it is to avoid to time delay The waste of node storage resources is expended needed for identification, while can also avoid " sky sampling " or " sampling more " band caused due to time delay The compensation error come.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable In the TITO-NDCS using wired network protocol, the TITO-NDCS of wireless network protocol is also applicable for use with；It is not only suitable for really Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, in TITO-NDCS, using the control loop 1 of SPC, due to being realized from TITO-NDCS structures and specifically controlled Device C1S the selection of () control strategy is unrelated, thus can be not only used for, using the TITO-NDCS of conventional control, also can be used to use intelligence Can control or the TITO-NDCS using complex control strategy.
4th, in TITO-NDCS, using the control loop 2 of IMC, its internal mode controller C2IMCS the adjustable parameter of () only has one Individual λ2Parameter, the regulation of its parameter is simple with selection, and explicit physical meaning；The stabilization of system can be not only improved using IMC Property, tracking performance and interference free performance, but also the compensation to system random network time delay and IMC can be realized.
5th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to Its compensation and control function are realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：The typical structure of NCS
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables Show control signal；τcaThe feedforward network that control signal u (s) is experienced in expression from controller C nodes to actuator A node-node transmissions Tunnel time delay；τscThe feedback net that detection signal y (s) of sensor S nodes is experienced in expression to controller C node-node transmissions Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：The typical structure of MIMO-NDCS
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G, M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yjS () represents j-th output signal of system；uiS () represents i-th control signal of system；Represent Will control decoupling signal uiS feedforward network that () is experienced from from control decoupler CD nodes to i-th actuator A node-node transmission leads to Road propagation delay time；Represent j-th detection signal y of sensor S nodes of systemjS () passes to control decoupler CD nodes Defeated experienced feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：The typical structure of TITO-NDCS
Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11(s) and G22S () and controlled device cross aisle are passed Delivery function G21(s) and G12(s), cross decoupling channel transfer function P21(s) and P12(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute Composition；
In Fig. 3：x1(s) and x2S () represents system input signal；y1(s) and y2S () represents system output signal；C1(s) and C2S () represents the controller of control loop 1 and 2；u1(s) and u2S () represents control signal；yp21(s) and yp12S () represents and intersects Decoupling path output signal；u1p(s) and u2pS () represents control decoupling signal；τ1And τ3Representing will control decoupling signal u1p(s) and u2pDuring s feedforward network tunnel that () is experienced from from control decoupler CD1 and CD2 node to actuator A1 and A2 node-node transmission Prolong；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2S () is to control decoupler CD1 and CD2 node The experienced feedback network tunnel time delay of transmission；τ21And τ12Represent cross decoupling channel transfer function P21(s) and P12 The output signal y of (s)p21(s) and yp12When () transmits to the network path that control decoupler CD2 and CD1 node-node transmission is experienced s Prolong.
Fig. 4：A kind of TITO-NDCS random delay compensation comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G11m(s) and G22mS () is controlled device transmission function G11(s) and G22The prediction model of (s), G12m(s) and G21mS () is controlled device cross aisle transmission function G12(s) and G21S () estimates mould Type；C2IMCS () is internal mode controller.
Fig. 5：A kind of two input and output network decoupling and controlling system random delay mixed control methods
Specific embodiment
Exemplary embodiment of the invention will be described in detail by referring to accompanying drawing 5 below, make the ordinary skill of this area Personnel become apparent from features described above of the invention and advantage.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling After signal triggering, to controlled device G11The output signal y of (s)11(s) and controlled device cross aisle transmission function G12(s) it is defeated Go out signal y12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () is sampled, and calculate closed loop control The system output signal y in loop processed 11(s) and feedback signal y1b(s), and y1(s)=y11(s)+y12(s) and y1b(s)=y1(s)- y11mb(s)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or intersected Decoupling network pathThe output signal y of unitp12After (s) triggering, by the system Setting signal x of close loop control circuit 11S (), subtracts Remove feedback signal y1b(s) and controlled device prediction model G11mThe output valve y of (s)11maS () and controlled device cross aisle are passed Delivery function prediction model G12mThe output valve y of (s)12maS (), obtains deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)- y11ma(s)-y12ma(s)；To e1S () implements control algolithm C1S (), obtains control signal u1(s)；
4th step：By control signal u1S () acts on cross decoupling channel transfer function P21S () obtains output signal yp21 (s)；By yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21When () will experience network transmission s Prolong τ21, get to control decoupler CD2 nodes；
5th step：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and its net Network pathThe signal y that unit is transmittedp12S () acts on transmission function 1/P12S () unit obtains its output signal u2m (s)；By u2m(s) and yp21S () is added and obtains signal u2pm(s)；By u2pmS () acts on controlled device cross aisle transmission function Prediction model G12mS () obtains its output valve y12ma(s)；
6th step：By decoupling signal yp12(s) and control signal u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p (s)=yp12(s)+u1(s)；Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
7th step：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is to holding Row device A1 node-node transmissions, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
8th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pAfter (s) triggering, will control Decoupling signal u processed1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Closed loop control will be come from The feedforward network path in loop processed 2The control decoupling signal u of unit2pS () acts on controlled device cross aisle transmission letter Number prediction model G12mS () obtains its output valve y12mb(s)；
9th step：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；Will control Decoupling signal u processed1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize To controlled device G11(s) and G21The decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation and SPC；
Tenth step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling After signal triggering, to controlled device G22The output signal y of (s)22(s) and controlled device cross aisle transmission function G21(s) it is defeated Go out signal y21(s), and actuator A2 nodes output signal y22mb(s) and y21mbS () is sampled, and calculate closed loop control The system output signal y in loop processed 22(s) and feedback signal y2b(s), and y2(s)=y22(s)+y21(s) and y2b(s)=y2(s)- y22mb(s)-y21mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b(s) or intersected Decoupling network pathThe output signal y of unitp21After (s) triggering, by the system Setting signal x of close loop control circuit 22S (), subtracts Remove feedback signal y2b(s) and controlled device prediction model G22mThe output valve y of (s)22maS () and controlled device cross aisle are passed Delivery function prediction model G21m(s) output valve y21maS (), obtains deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma (s)-y21ma(s)；To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
4th step：By IMC signals u2S () acts on cross decoupling channel transfer function P12S () obtains output signal yp12 (s)；By yp12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12When () will experience network transmission s Prolong τ12, get to control decoupler CD1 nodes；
5th step：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P21(s) and network PathThe signal y that unit is transmittedp21S () acts on transmission function 1/P21S () unit obtains its output signal u1m(s)； By u1m(s) and yp12S () is added and obtains signal u1pm(s)；By u1pmS () acts on controlled device cross aisle transmission function and estimates Model G21mS () obtains its output valve y21ma(s)；
6th step：By decoupling signal yp21S () acts on controlled device prediction model G22mS () obtains its output valve y22ma (s)；By decoupling signal yp21(s) and IMC signals u2S () is added, obtain control decoupling signal u2p(s), i.e. u2p(s)=yp21(s)+ u2(s)；
7th step：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is to holding Row device A2 node-node transmissions, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
8th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pAfter (s) triggering, will control Decoupling signal u processed2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；Closed loop control will be come from The feedforward network path in loop processed 1The control decoupling signal u of unit1pS () acts on controlled device cross aisle transmission function Prediction model G21mS () obtains its output valve y21mb(s)；
9th step：Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；Will control Decoupling signal u processed2pS () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize To controlled device G22(s) and G12The decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation and IMC；
Tenth step：Return to the first step；
The foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, it is all in essence of the invention Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (5)

1. a kind of two input and output network decoupling and controlling system random delay mixed control 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 control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathThe output of unit Signal yp12When () triggers s, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1pWhen () triggers s, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal trigger when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2b(s) or by cross decoupling network pathThe output of unit Signal yp21When () triggers s, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2pWhen () triggers s, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11S () and controlled device cross aisle are passed Delivery function G12The output signal y of (s)12(s), and actuator A1 nodes output signal y11mb(s) and y12mbS () 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)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1bS (), is decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y1bS () will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling network PathThe output signal y of unitp12S () is triggered；
B2：In decoupler CD1 nodes are controlled, by the system Setting signal x of close loop control circuit 11S (), subtracts feedback signal y1b(s) and controlled device prediction model G11mThe output valve y of (s)11maS () and controlled device cross aisle transmission function are estimated Model G12mThe output valve y of (s)12maS (), obtains system deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)- y12ma(s)；
B3：To e1S () implements control algolithm C1S (), obtains control signal u1(s)；
B4：By control signal u1S () acts on cross decoupling channel transfer function P21S () obtains its output signal yp21(s)；Will yp21S () passes through network pathUnit is to control decoupler CD2 node-node transmissions, yp21S () will experience network transfer delay τ21 Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, by cross decoupling channel transfer function P12(s) and network pathIt is single The signal y that unit transmitsp12S () acts on transmission function 1/P12S () unit obtains its output signal u2m(s)；By u2m(s) with yp21S () is added and obtains signal u2pm(s)；By u2pmS () acts on controlled device cross aisle transmission function prediction model G12m(s) Obtain its output valve y12ma(s)；
B6：By decoupling signal yp12(s) and control signal u1S () is added, obtain control decoupling signal u1p(s), i.e. u1p(s)=yp12 (s)+u1(s)；Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11ma(s)；
B7：Will control decoupling signal u1pS feedforward network path that () passes through close loop control circuit 1Unit is saved to actuator A1 Point transmission, u1pS () will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1pS () is triggered；
C2：Will control decoupling signal u1pS () acts on controlled device prediction model G11mS () obtains its output valve y11mb(s)；Will Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit2pS () acts on controlled device intersection Channel transfer function prediction model G12mS () obtains its output valve y12mb(s)；
C3：Will control decoupling signal u1pS () acts on controlled device G11S () obtains its output valve y11(s)；By control decoupling letter Number u1pS () acts on controlled device cross aisle transmission function G21S () obtains its output valve y21(s)；So as to realize to controlled right As G11(s) and G21The decoupling of (s) and control, while realizing to random network delay, τ1And τ2Compensation and SPC；
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 actuator A2 nodes output signal y22mb(s) and y21mbS () 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)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2bS (), is decoupled by the feedback network path of close loop control circuit 2 to control Device CD2 node-node transmissions, feedback signal y2bS () will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b(s) or by cross decoupling network PathThe output signal y of unitp21S () is triggered；
E2：In decoupler CD2 nodes are controlled, by the system Setting signal x of close loop control circuit 22S (), subtracts feedback signal y2b(s) and controlled device prediction model G22mThe output valve y of (s)22maS () and controlled device cross aisle transmission function are estimated Model G21mThe output valve y of (s)21maS (), obtains system deviation signal e2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)- y21ma(s)；
E3：To e2S () implements Internal Model Control Algorithm C2IMCS (), obtains IMC signals u2(s)；
E4：By IMC signals u2S () acts on cross decoupling channel transfer function P12S () obtains its output signal yp12(s)；Will yp12S () passes through network pathUnit is to control decoupler CD1 node-node transmissions, yp12S () will experience network transfer delay τ12 Afterwards, get to control decoupler CD1 nodes；
E5：Control decoupler CD1 nodes will be come from, by cross decoupling channel transfer function P21(s) and network pathIt is single The signal y that unit transmitsp21S () acts on transmission function 1/P21S () unit obtains its output signal u1m(s)；By u1m(s) with yp12S () is added and obtains signal u1pm(s)；By u1pmS () acts on controlled device cross aisle transmission function prediction model G21m(s) Obtain its output valve y21ma(s)；
E6：By decoupling signal yp21S () acts on controlled device prediction model G22mS () obtains its output valve y22ma(s)；Will decoupling Signal yp21(s) and IMC signals u2S () is added, obtain control decoupling signal u2p(s), i.e. u2p(s)=yp21(s)+u2(s)；
E7：Will control decoupling signal u2pS feedforward network path that () passes through close loop control circuit 2Unit is saved to actuator A2 Point transmission, u2pS () will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2pS () is triggered；
F2：Will control decoupling signal u2pS () acts on controlled device prediction model G22mS () obtains its output valve y22mb(s)；Will Come from the feedforward network path of close loop control circuit 1The control decoupling signal u of unit1pS () acts on controlled device intersection Channel transfer function prediction model G21mS () obtains its output valve y21mb(s)；
F3：Will control decoupling signal u2pS () acts on controlled device G22S () obtains its output valve y22(s)；By control decoupling letter Number u2pS () acts on controlled device cross aisle transmission function G12S () obtains its output valve y12(s)；So as to realize to controlled right As G22(s) and G12The decoupling of (s) and control, while realizing to random network delay, τ3And τ4Compensation and IMC.
2. method according to claim 1, it is characterised in that：From TITO-NDCS structures, realize system not comprising control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay between node and node τ1And τ2, and τ3And τ4Measurement, estimate or recognize, exempt the requirement synchronous to node clock signal.
3. method according to claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.
4. method according to claim 1, it is characterised in that：Using the control loop 1 of SPC, due to being tied from TITO-NDCS Realized on structure and specific controller C1S the selection of () control strategy is unrelated, thus can be not only used for using the TITO- of conventional control NDCS, also can be used for using Based Intelligent Control or the TITO-NDCS using complex control strategy.
5. method according to claim 1, it is characterised in that：Using the control loop 2 of IMC, its internal mode controller C2IMC S the adjustable parameter only one of which parameter of (), the regulation of its parameter is simple with selection, and explicit physical meaning；Not only may be used using IMC To improve stability, tracking performance and the interference free performance of system, but also can realize to the compensation of time-varying network time delay with IMC。
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Application publication date: 20170704