CN106950828A - A kind of SPC and two degrees of freedom IMC TITO NDCS unknown network delay compensation methods - Google Patents

A kind of SPC and two degrees of freedom IMC TITO NDCS unknown network delay compensation methods Download PDF

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CN106950828A
CN106950828A CN201710091231.1A CN201710091231A CN106950828A CN 106950828 A CN106950828 A CN 106950828A CN 201710091231 A CN201710091231 A CN 201710091231A CN 106950828 A CN106950828 A CN 106950828A
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杜锋
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Hainan University
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Abstract

SPC and two degrees of freedom IMC TITO NDCS unknown network delay compensation methods, belong to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of two-output impulse generator signal, need the TITO NDCS by decoupling processing, because network data transmits produced network delay among the nodes, not only influence respective close loop control circuit stability, but also the stability of whole system will be influenceed, even result in the problem of TITO NDCS lose stable, propose with network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, SPC and two degrees of freedom IMC are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, unknown network time delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of SPC and two degrees of freedom IMC TITO-NDCS unknown network delay compensation methods
Technical field
A kind of SPC (Smith predictor control, SPC) and two degrees of freedom IMC (Internal model Control, IMC) TITO (Two-input and two-output, TITO) network decoupling and controlling system (Networked Decoupling control systems, NDCS) unknown network delay compensation method, it is related to automatic control technology, network and leads to The crossing domain of letter technology and computer technology, more particularly to limited bandwidth resources multiple-input and multiple-output network uneoupled control system System technical field.
Background technology
The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked Control systems, NCS), NCS typical structure is as shown in Figure 1.
NCS breaks through limitation of the traditional control system on space physics position, uses system unit instead network connection, makes intelligence The integration of energy field devices integration, business management network, realize structural network, node intelligent, control scene, function Decentralized, open system and Products integration.Compared with traditional point-to-point control model, the control model of networking is reduced Wiring cost, facilitate plant maintenance, the interference free performance of strengthening system, the reliability for improving data transfer, the shared network information Resource etc..It had been widely used in process automation, automated manufacturing, Aero-Space, robot, intelligent transportation etc. in recent years Multiple fields.
In NCS, because the network bandwidth is limited, the factor such as network inducement delay and parameter uncertainty is to systematic function With the influence of stability so that NCS analysis and synthesis becomes more difficult, NCS faces many new challenges, especially unknown The presence of network delay, it is possible to decrease NCS control quality, or even make system loss of stability, system may be caused to go out when serious Existing failure.
At present, research both at home and abroad on NCS, 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 Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprises at least two inputs With the control system of two outputs (Two-input and two-output, TITO), the multiple-input and multiple-output constituted The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially The multiple-input and multiple-output network uneoupled control by decoupling processing is needed 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.
MIMO-NDCS typical structure 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 it there is the MIMO-NCS of coupling, the change of an 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 Also exist and influence each other unavoidably between selection pairing, 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 fails
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 MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled, MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO- In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size It is relevant etc. factor, to more than several or even the dozens of sampling period network delay, to set up each in MIMO-NDCS and control back 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 produced 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, implement time delay benefit to it Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
Network decoupling and controlling system (TITO-NDCS) is exported the present invention relates to the input of one kind two in MIMO-NDCS two not Know the compensation and control of time delay, its TITO-NDCS typical structure is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：C1(s) it is control unit, G11(s) it is controlled device；τ1Representing will control decoupler CD1 node output letter Number u1p(s), to network path it is transferred to the network delay that actuator A1 nodes are undergone through preceding；τ2Represent output signal y1 (s) from sensor S1 nodes, the network delay undergone through feedback network tunnel to control decoupler CD1 nodes.
2) control decoupler CD2 output signal nodes u in close loop control circuit 2 is come from2p(s) cross decoupling passage, is passed through Transmission function P12And its network path unit (s)After act on close loop control circuit 1, from input signal u2p(s) to output Signal y1(s) closed loop transfer function, between is：
3) in close loop control circuit 2 actuator A2 nodes output signal u2p(s) controlled device cross aisle, is passed through Transmission function G12(s) the output signal y of close loop control circuit 1 is influenceed1(s), from input signal u2p(s) output signal y is arrived1(s) Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, when containing unknown network Prolong τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely It is qualitative.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is control unit, G22(s) it is controlled device；τ3Representing will control decoupler CD2 node output letter Number u2p(s), to network path it is transferred to the network delay that actuator A2 nodes are undergone through preceding；τ4Represent output signal y2 (s) from sensor S2 nodes, the network delay undergone through feedback network tunnel to control decoupler CD2 nodes.
2) control decoupler CD1 output signal nodes u in close loop control circuit 1 is come from1p(s) cross decoupling passage, is passed through Transmission function P21And network path unit (s)After act on close loop control circuit 2, from input signal u1p(s) to output letter Number y2(s) closed loop transfer function, between is：
3) the output signal u from the actuator A1 nodes of close loop control circuit 11p(s), passed by controlled device cross aisle Delivery function G21(s) the output signal y of close loop control circuit 2 is influenceed2(s), from input signal u1p(s) output signal y is arrived2(s) it Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain unknown network Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses Stability.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1, Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2 Into the denominator of (6), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop 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 and the stability for influenceing whole system, will cause whole system loss of stability when serious.
It is an object of the invention to：
(1) measurement of network delay, estimation or recognized in order to exempt in each close loop control circuit, between node, and then Reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with The influence of the stability of a system；When prediction model is equal to its true model, the characteristic equation of respective close loop control circuit can be achieved In do not include network delay exponential term, improve system dynamic property quality, realize to TITO-NDCS unknown network time delays Segmentation, real-time, online and dynamic compensation and control.
(2) single-degree-of-freedom IMC TITO-NDCS is directed to, due to its internal mode controller CIMC(s) in, only one of which feedforward filter Ripple device parameter lambda is adjustable, it is necessary to be traded off between the tracing property and robustness of system, for the TITO- of high performance requirements NDCS or exist compared with large disturbances and model mismatch TITO-NDCS, it is difficult to take into account the performance of each side and obtain satisfied control Effect.
(3) present invention proposes the SPC and two degrees of freedom IMC methods of a kind of TITO-NDCS unknown networks time delay
For close loop control circuit in Fig. 31, propose that one kind is based on SPC's (Smith Predictor Control, SPC) Unknown network delay compensation and control method；For close loop control circuit in Fig. 32, propose a kind of based on two degrees of freedom IMC The unknown network delay compensation and control method of (Internal Model Control, IMC).
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD1 nodes, when meeting predictive compensation condition to realize, close loop control circuit 1 Closed loop transform function in no longer include the exponential term of network delay, to realize to network delay τ1And τ2Compensation and control, adopt To control decoupling output signal u1pAnd u (s)2pm(s) as input signal, controlled device prediction model G11mAnd G (s)12m(s) As controlled process, control passes through network transfer delay prediction model with process dataAndAround controller C1 (s) a positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, are constructed, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing Device S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAnd Thus no matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising therebetween The predict-compensate model of network delay, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, Estimation is recognized；When prediction model is equal to its true model, it can be achieved to unknown network delay, τ1And τ2Compensation and SPC；It is real The network delay compensation for applying 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 control decoupler CD2 nodes, an internal mode controller C is built first2IMC(s) it is used to replace control Device C processed2(s)；When meeting predictive compensation condition to realize, 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 yp21And u (s)1pm(s) as input signal, controlled device prediction model G22mAnd G (s)21m(s) as controlled process, control System transmits prediction model with process data by network delayAndAround internal mode controller C2IMC(s) one, is constructed Positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing Device S2 nodes to control decoupler CD2 nodes between, and from control decoupler CD2 nodes to actuator A2 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndCause Regardless of whether whether the prediction model of controlled device is equal to its true model, it can be realized from system architecture not comprising net therebetween The predict-compensate model of network time delay, so as to exempt in close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate Meter is recognized；When prediction model is equal to its true model, it can be achieved to unknown network delay, τ3And τ4Compensation and control；With This in the backfeed loop of control decoupler CD2 nodes, increases feedback filter F simultaneously2(s)；Implement the net of the inventive method Network time delay two degrees of freedom IMC method structures are as shown in Figure 5；
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：G11m(s) it is controlled device G11(s) prediction model；C1(s) it is controller.
2) the output signal u of decoupler CD2 nodes is controlled from close loop control circuit 22p(s) cross decoupling passage, is passed through Transmission function P12(s) with its network transmission channelsThe output signal y of unitp12(s) forward direction of close loop control circuit 1 is acted on Path；And yp12(s) transmission function 1/P is acted on12And controlled device cross aisle prediction model G (s)12m(s), from input letter Number u2p(s) output signal y is arrived1(s) closed loop transfer function, between is：
3) the control signal u from the actuator A2 nodes of close loop control circuit 22p(s), while being intersected by controlled device logical Road transmission function G12(s) with its prediction model G12m(s) close loop control circuit 1 is acted on, from input signal u2p(s) to output letter Number y1(s) 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 byBecome Into 1+C1(s)G11(s)=0；The network delay of the influence stability of a system is no longer included in the denominator of its closed loop transfer function, τ1And τ2Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve the dynamic control of system Performance quality, realizes the dynamic compensation to unknown network time delay and SPC.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：G22m(s) it is controlled device G22(s) prediction model；C2IMC(s) it is internal mode controller；F2(s) it is feedback Wave filter.
2) the output signal u of decoupler CD1 nodes is controlled from close loop control circuit 11p(s) cross decoupling passage, is passed through Transmission function P21(s) with its network transmission channelsThe output signal y of unitp21(s) forward direction of close loop control circuit 2 is acted on Path；And yp21(s) transmission function 1/P is acted on21And controlled device cross aisle prediction model G (s)21m(s)；While yp21 (s) controlled device prediction model G is also acted on22m(s), from input signal u1p(s) output signal y is arrived2(s) closed loop between is passed Delivery function is：
3) the control signal u from the actuator A1 nodes of close loop control circuit 11p(s), while being intersected by controlled device logical Road transmission function G21(s) with its prediction model G21m(s) close loop control circuit 2 is acted on, from input signal u1p(s) to output letter Number y2(s) 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；This When, equivalent to one open-loop control system of close loop control circuit 2, no longer comprising influence system in the denominator of closed loop transfer function, The network delay τ for stability of uniting3And τ4Exponential termWithThe stability of system only with controlled device and internal mode controller The stability of itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic control performance of system Quality, realizes the dynamic compensation to unknown network time delay and two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F2(s) presence can improve system with Track and antijamming capability, influence of the reduction network delay to the stability of a system, further improve the dynamic property quality of system.
In close loop control circuit 1, controller C1(s) selection：
Close loop control circuit 1 uses SPC methods, is realized and specific controller C from TITO-NDCS structures1(s) control The selection of strategy is unrelated；Controller C1(s) can be according to controlled device G11(s) Mathematical Modeling and the change feelings of model parameter Condition, both may be selected conventional control strategy, and Based Intelligent Control or complex control strategy also may be selected.
In close loop control circuit 2, two degrees of freedom IMC design and selection：
(1) internal mode controller C2IMC(s) design and selection：
Design internal mode controller and typically use pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it Feedforward controller C is used as the inversion model of plant model22(s)；Second step is that certain order is added in feedforward controller Feedforward filter f2(s) a complete internal mode controller C, is constituted2IMC(s)。
1) feedforward controller C22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and it is other it is 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) it is controlled device prediction model G11m(s) pure lag system and s RHPs are included in The irreversible part of zero pole point；G22m-(s) it is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 222(s) it 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 has only taken in the design process of feedforward controller the reversible part G of controlled device minimum phase22m-(s), It has ignored G22m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.
Generally the feedforward filter f of close loop control circuit 22(s), it is chosen for fairly simple n2Rank wave filterWherein：λ2For feedforward filter time constant；n2For the order of feedforward filter, and n2=n2a-n2b；n2a For controlled device G22(s) order of denominator；n2bFor controlled device G22(s) order of molecule, usual n2＞ 0.
3) internal mode controller C2IMC(s)
The internal mode controller C of close loop control circuit 22IMC(s) it can be chosen for:
It can be seen that from equation (13)：The internal mode controller C of one degree of freedom2IMC(s) in, the adjustable ginseng of only one of which Number λ2, due to λ2The change of parameter and the tracking performance of system and antijamming capability suffer from direct relation, therefore are adjusting filter The customized parameter λ of ripple device2When, the tracing property generally required in system is traded off between the two with antijamming capability.
(2) feedback filter F2(s) design and selection：
The feedback filter F of close loop control circuit 22(s) fairly simple firstorder filter F can, be chosen2(s)=(λ2s+ 1)/(λ2fS+1), wherein：λ2For feedforward filter f2(s) time constant in；λ2fFor feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ2fIn the case of immobilizing, the tracking performance of system can be with Feedforward filter regulation parameter λ2Reduction and improve；In feedforward filter regulation parameter λ2In the case of immobilizing, system Tracing property it is almost unchanged, and antijamming capability then can be with λ2fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can pass through reasonable selection feedforward filter f2(s) with feedback Wave filter F2(s) parameter, to improve the tracing property and antijamming capability of system, shadow of the reduction network delay to the stability of a system Ring, improve the dynamic property quality of system.
The scope of application of the present invention：
Using the SPC of close loop control circuit 1 during suitable for controlled device prediction model equal to its true model, and it is controlled Object prediction model is equal to the two degrees of freedom using close loop control circuit 2 when its true model or model there may be certain deviation IMC, the compensation and control of a kind of TITO-NDCS unknown networks time delay constituted；Its Research Thinking and method, are equally also suitable Using the SPC of close loop control circuit 1, and controlled device prediction model when controlled device prediction model is equal to its true model Using the two degrees of freedom IMC of close loop control circuit 2 when there may be certain deviation equal to its true model or model, constituted The compensation and control of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) unknown network time delay.
It is a feature of the present invention that this method comprises the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering 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 yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering 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 yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, 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 y11(s) intersect with controlled device Channel transfer function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) enter Row sampling, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s) +y12And y (s)1b(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 y1b(s) 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 unitp12(s) triggered；
B2：In control decoupler CD1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback, is subtracted Signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) and subtract controlled Object prediction model G11m(s) output valve y11ma(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)- y12ma(s)-y11ma(s)；
B3：To e1(s) control algolithm C is implemented1(s) control signal u, is obtained1(s)；
B4：By control signal u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12 And network path (s)The signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1 (s)-yp12(s)；By u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
B5：By yp12(s) transmission function 1/P is acted on12(s) its output valve u is obtained2pm(s), by u2pm(s) act on controlled Object cross aisle transmission function prediction model G12m(s) its output valve y is obtained12ma(s)；
B6：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) pass through Network pathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, get to Control decoupler CD2 nodes；
B7：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is to actuator A1 node-node transmissions, u1p(s) 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 u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb (s)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit2p(s) controlled pair is acted on As cross aisle transmission function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control solution Coupling signal u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to quilt Control object G11And G (s)21(s) decoupling and SPC, while realizing to unknown network delay, τ1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) intersect with controlled device Channel transfer function G21(s) output signal y21(s), and actuator A2 nodes output signal y22mbAnd y (s)21mb(s) enter Row sampling, and calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s) +y21And y (s)2b(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 y2b(s) 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 unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by feedback signal y2b(s) with controlled device prediction model G22m(s) defeated Go out value y22ma(s) after subtracting each other, then with controlled device cross aisle transmission function prediction model G21m(s) output y21ma(s) it is added Obtain signal y2c(s), i.e. y2c(s)=y2b(s)-y22ma(s)+y21ma(s)；By y2c(s) feedback filter F is acted on2(s) obtain Its output valve yF2(s)；By system Setting signal x2(s) feedback filter F is subtracted2(s) output signal yF2(s) system, is obtained Deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s), subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21 And network path (s)The signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2 (s)-yp21(s)；
E5：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21(s) make For transmission function 1/P21(s) its output valve u is obtained1pm(s), by u1pm(s) controlled device cross aisle transmission function is acted on Prediction model G21m(s) its output valve y is obtained21ma(s)；
E6：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) pass through Network pathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, get to Control decoupler CD1 nodes；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, u2p(s) 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 u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb (s)；The feedforward network path of close loop control circuit 1 will be come fromThe control decoupling signal u of unit1p(s) controlled pair is acted on As cross aisle transmission function prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control solution Coupling signal u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to quilt Control object G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimation or recognize, also simultaneously The synchronous requirement of node clock signal can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid pair when The waste of consuming node storage resources needed for prolonging identification, while can also avoid due to " the sky sampling " or " many samplings " 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, also suitable for the TITO-NDCS using wireless network protocol；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, simultaneously Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, using SPC control loop 1, due to being realized and specific controller C from TITO-NDCS structures1(s) plan is controlled Selection slightly is unrelated, thus can be not only used for the TITO-NDCS using conventional control, also available for using Based Intelligent Control or using multiple The TITO-NDCS of miscellaneous control strategy.
4th, using two degrees of freedom IMC control loop 2, with being returned using single-degree-of-freedom IMC each closed-loop controls of TITO-NDCS The adjustable parameter on road is compared for 1, using two degrees of freedom IMC TITO-NDCS, and the adjustable parameter of its close loop control circuit is 2 It is individual, it can further improve stability, tracking performance and the antijamming capability of system；Especially when system is present compared with large disturbances and mould During type mismatch, feedback filter F2(s) presence can further improve the dynamic property quality of system, reduce unknown network time delay Influence to the stability of a system.
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：NCS typical structure
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；τcaRepresent that control signal u (s) is undergone into feedforward network from controller C nodes to actuator A node-node transmissions leads to Road propagation delay time；τscRepresent the feedback network for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions Tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
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：yj(s) j-th of output signal of system is represented；ui(s) i-th of control signal of system is represented；Represent Will control decoupling signal ui(s) feedforward network undergone from control decoupler CD nodes to i-th of actuator A node-node transmission leads to Road propagation delay time；Represent the detection signal y of j-th of sensor S node of systemj(s) passed to control decoupler CD nodes Defeated undergone feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
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 G11And G (s)22(s) and controlled device cross aisle pass Delivery function G21And G (s)12(s), cross decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute Composition.
In Fig. 3：x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；C1(s) and C2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；yp21And y (s)p12(s) represent to intersect Decouple path output signal；u1pAnd u (s)2p(s) control decoupling signal is represented；τ1And τ3Representing will control decoupling signal u1p(s) and u2p(s) from control decoupler CD1 and CD2 node undergone to actuator A1 and A2 node-node transmission feedforward network tunnel when Prolong；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to control decoupler CD1 and CD2 node The undergone feedback network tunnel time delay of transmission；τ21And τ12Represent cross decoupling channel transfer function P21And P (s)12 (s) output signal yp21And y (s)p12(s) when the network path undergone to control decoupler CD2 and CD1 node-node transmission is transmitted Prolong.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G11mAnd G (s)22m(s) it is controlled device transmission function G11(s) and G22(s) prediction model；G12mAnd G (s)21m(s) it is controlled device cross aisle transmission function G12And G (s)21(s) estimate mould Type；C1(s) it is controller；C2IMC(s) it is internal mode controller.
Fig. 5：A kind of SPC and two degrees of freedom IMC TITO-NDCS unknown network delay compensation methods
In Fig. 5, F2(s) it is feedback filter.
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 below, makes the ordinary skill of this area Personnel become apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling After signal triggering, to controlled device G11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s) defeated Go out signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) sampled, and calculate closed loop control The system output signal y in loop 1 processed1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(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 y1b(s) 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 unitp12(s) after triggering, by the Setting signal x of close loop control circuit 11(s), subtract Feedback signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) and subtract Controlled device prediction model G11m(s) output valve y11ma(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b (s)-y12ma(s)-y11ma(s)；To e1(s) control algolithm C is implemented1(s) control signal u, is obtained1(s)；
4th step：By control signal u1(s) subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12And network path (s)The signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1 (s)-yp12(s)；By u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
5th step：By yp12(s) transmission function 1/P is acted on12(s) its output valve u is obtained2pm(s), by u2pm(s) act on Controlled device cross aisle transmission function prediction model G12m(s) its output valve y is obtained12ma(s)；
6th step：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) Pass through network pathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, ability Reach control decoupler CD2 nodes；
7th step：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to holding Row device A1 node-node transmissions, u1p(s) 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 u1p(s) after triggering, it will control Decoupling signal u processed1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Closed loop control will be come from The feedforward network path in loop 2 processedThe control decoupling signal u of unit2p(s) controlled device cross aisle transmission function is acted on Prediction model G12m(s) its output valve y is obtained12mb(s)；
9th step：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；Will control Decoupling signal u processed1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize To controlled device G11And G (s)21(s) decoupling and SPC, while realizing to unknown network delay, τ1And τ2Compensation；
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 G22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s) defeated Go out signal y21(s), and actuator A2 nodes output signal y22mbAnd y (s)21mb(s) sampled, and calculate closed loop control The system output signal y in loop 2 processed2(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21And y (s)2b(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 y2b(s) 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 unitp21(s) after triggering, by feedback signal y2b(s) with controlled device prediction model G22m(s) output valve y22ma(s) subtract each other, then with controlled device cross aisle transmission function prediction model G21m(s) output y21ma (s) it is added and obtains signal y2c(s), i.e. y2c(s)=y2b(s)-y22ma(s)+y21ma(s)；By y2c(s) feedback filter F is acted on2 (s) its output valve y is obtainedF2(s)；By system Setting signal x2(s) feedback filter F is subtracted2(s) output signal yF2(s), obtain To system deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s), obtain IMC signals u2(s)；
4th step：By IMC signals u2(s) subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21And network path (s)The signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2 (s)-yp21(s)；
5th step：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21 (s) transmission function 1/P is acted on21(s) its output valve u is obtained1pm(s)；By u1pm(s) transmission of controlled device cross aisle is acted on Function prediction model G21m(s) its output valve y is obtained21ma(s)；
6th step：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) Pass through network pathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, ability Reach control decoupler CD1 nodes；
7th step：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to holding Row device A2 node-node transmissions, u2p(s) 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 u2p(s) after triggering, it will control Decoupling signal u processed2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；Closed loop control will be come from The feedforward network path in loop 1 processedThe control decoupling signal u of unit1p(s) controlled device cross aisle transmission letter is acted on Number prediction model G21m(s) its output valve y is obtained21mb(s)；
9th step：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；Will control Decoupling signal u processed2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize To controlled device G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation；
Tenth step：Return to the first step；
It the foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, all essences in the present invention God is with principle, and any modifications, equivalent substitutions 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 SPC and two degrees of freedom IMC TITO-NDCS unknown network delay compensation methods, it is characterised in that this method bag Include following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering 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 yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering 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 yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, 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 y11(s) with controlled device cross aisle Transmission function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) adopted Sample, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12 And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y1b(s) 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 unitp12(s) triggered；
B2：In control decoupler CD1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback signal, is subtracted y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) and controlled device is subtracted Prediction model G11m(s) output valve y11ma(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)-y12ma (s)-y11ma(s)；
B3：To e1(s) control algolithm C is implemented1(s) control signal u, is obtained1(s)；
B4：By control signal u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12(s) and Network pathThe signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1(s)-yp12 (s)；By u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
B5：By yp12(s) transmission function 1/P is acted on12(s) its output valve u is obtained2pm(s), by u2pm(s) controlled device is acted on Cross aisle transmission function prediction model G12m(s) its output valve y is obtained12ma(s)；
B6：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) network is passed through PathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, control is got to Decoupler CD2 nodes；
B7：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is saved to actuator A1 Point transmission, u1p(s) 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 u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Will Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit2p(s) controlled device intersection is acted on Channel transfer function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control decoupling letter Number u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to controlled pair As G11And G (s)21(s) decoupling and SPC, while realizing to unknown network delay, τ1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) with controlled device cross aisle Transmission function G21(s) output signal y21(s), and actuator A2 nodes output signal y22mbAnd y (s)21mb(s) adopted Sample, and calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21 And y (s)2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), decoupled by the feedback network path of close loop control circuit 2 to control Device CD2 node-node transmissions, feedback signal y2b(s) 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 unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by feedback signal y2b(s) with controlled device prediction model G22m(s) output valve y22ma(s) after subtracting each other, then with controlled device cross aisle transmission function prediction model G21m(s) output y21ma(s) it is added and obtains Signal y2c(s), i.e. y2c(s)=y2b(s)-y22ma(s)+y21ma(s)；By y2c(s) feedback filter F is acted on2(s) its is obtained defeated Go out value yF2(s)；By system Setting signal x2(s) feedback filter F is subtracted2(s) output signal yF2(s) system deviation, is obtained Signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s), subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21(s) and Network pathThe signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2(s)-yp21 (s)；
E5：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21(s) act on Transmission function 1/P21(s) its output valve u is obtained1pm(s), by u1pm(s) controlled device cross aisle transmission function is acted on to estimate Model G21m(s) its output valve y is obtained21ma(s)；
E6：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) network is passed through PathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, control is got to Decoupler CD1 nodes；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, u2p(s) 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 u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；Will Come from the feedforward network path of close loop control circuit 1The control decoupling signal u of unit1p(s) controlled device intersection is acted on Channel transfer function prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control decoupling letter Number u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to controlled pair As G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include 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, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in 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. according to the method described in claim 1, it is characterised in that：Using SPC control loop 1, due to being tied from TITO-NDCS Realized and specific controller C on structure1(s) selection of control strategy is unrelated, thus can be not only used for the TITO- using conventional control NDCS, also available for using Based Intelligent Control or using the TITO-NDCS of complex control strategy.
5. according to the method described in claim 1, it is characterised in that：Using two degrees of freedom IMC control loop 2, its closed loop control The adjustable parameter in loop processed is 2, can improve stability, tracking performance and the antijamming capability of system；Especially when system is deposited When compared with large disturbances and model mismatch, feedback filter F2(s) presence can further improve the dynamic property quality of system, drop Influence of the low network delay to the stability of a system.
CN201710091231.1A 2017-02-20 2017-02-20 A kind of SPC and two degrees of freedom IMC TITO NDCS unknown network delay compensation methods Pending CN106950828A (en)

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