CN106959607A - A kind of dual input exports network decoupling and controlling system variable time delay mixed control method - Google Patents

A kind of dual input exports network decoupling and controlling system variable time delay mixed control method Download PDF

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CN106959607A
CN106959607A CN201710091538.1A CN201710091538A CN106959607A CN 106959607 A CN106959607 A CN 106959607A CN 201710091538 A CN201710091538 A CN 201710091538A CN 106959607 A CN106959607 A CN 106959607A
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杜锋
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Hainan University
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Abstract

Dual input exports network decoupling and controlling system variable time delay mixed control method, belongs to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of dual input output signal, need the TITO NDCS by decoupling processing, because network data transmits produced network delay among the nodes, 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 of TITO NDCS lose stable, 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, estimation is recognized, reduce clock signal synchronization requirement, variable network time delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

A kind of dual input exports network decoupling and controlling system variable time delay mixed control method
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 wide resource-constrained.
Background technology
In a network environment, sensor, controller and actuator pass through network media formation closed loop, network consisting control system Unite (Networked control systems, NCS), NCS typical structure is as shown in Figure 1.
NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along According to packet loss and other complicated phenomenons, the especially presence of variable network time delay, it is possible to decrease NCS control performance quality, or even make System loss of stability, may cause system to break down when serious.
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 variable, 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, controlled to more than several or even the dozens of sampling period variable network time delay, to set up each in MIMO-NDCS The Mathematical Modeling that the variable 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 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
The present invention relates to the output network decoupling and controlling system of a kind of dual input in MIMO-NDCS (TITO-NDCS) is variable The compensation and control of network delay, its TITO-NDCS typical structure are 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) C in close loop control circuit 2 is come from2(s) the output signal u of control unit2(s), transmitted by cross decoupling passage Function P12And its network path unit (s)After act on close loop control circuit 1, from input signal u2(s) output signal y is arrived1 (s) closed loop transfer function, between is：
3) the output signal u from the actuator A2 nodes of close loop control circuit 22p(s), passed by controlled device cross aisle Delivery 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) it Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, when containing variable 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) C in close loop control circuit 1 is come from1(s) the output signal u of control unit1(s), transmitted by cross decoupling passage Function P21And its network path unit (s)After act on close loop control circuit 2, from input signal u1(s) output signal y is arrived2 (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 variable 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 variable network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2 (4) into the denominator of (6), variable network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can be reduced respectively From the control performance quality of close loop control circuit and the stability of respective close loop control circuit is influenceed, while will also decrease whole system The control performance quality of 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 The measurement of network delay, estimation or recognized except in each close loop control circuit, 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 can be achieved 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, realization pair Being segmented of TITO-NDCS network delays, in 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 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 u1p(s) as input signal, controlled device prediction model G11m(s) as controlled process, control Pass through network transfer delay prediction model with process dataAndAround controller C1(s) a positive feedback, is constructed pre- Estimate 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 Variable 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 and not include from system architecture The predict-compensate model of network delay therebetween, so as to exempt in close loop control circuit 1, variable network delay, τ between node1With τ2Measurement, estimation or recognize；When prediction model is equal to its true model, it can be achieved to its variable 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 control decoupler CD2 nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)； When meeting predictive compensation condition to realize, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, To realize to variable network delay, τ3And τ4Compensation and control, around controlled device G22(s) y, is exported with close loop control circuit 22 (s) as input signal, by y2(s) network transfer delay prediction model is passed throughWith estimate internal mode controller C2mIMC(s) and Network transfer delay prediction modelConstruct a positive feedback Prediction Control loop；The structure for implementing this step is 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, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet estimate internal mode controller C2mIMC(s) it is equal to its internal mode controller C2IMC(s) condition is (due to internal model Controller C2IMC(s) it is artificial design and selection, C is met naturally2mIMC(s)=C2IMC(s)).Therefore, from sensor S2 nodes to Between control decoupler CD2 nodes, and from control decoupler CD2 nodes to actuator A2 nodes, using real net Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain shown in Fig. 5 can Become network delay compensation and control structure；
3rd step：By internal mode controller C in Fig. 52IMC(s), by the further abbreviation of transmission function equivalence transformation rule, obtain The network delay compensation and IMC structures of implementation the inventive method shown in Fig. 6；Realize that system does not include network therebetween from structure The predict-compensate model of time delay, so as to exempt in close loop control circuit 2, network variable time delay τ between node3And τ4Measurement, Estimation is recognized, and can be achieved to variable network delay, τ3And τ4Compensation and IMC；
At this it should be strongly noted that in Fig. 6 control decoupler CD2 nodes, occurring in that close loop control circuit 2 Setting signal x2(s), with feedback signal y2(s) implement first " subtracting " afterwards " plus " operation rule, i.e. y2(s) signal is simultaneously by positive and negative Feedback and negative-feedback are connected in CD2 nodes：
(1) this is due to by the internal mode controller C in Fig. 5 close loop control circuits 22IMC(s) unit, according to transmission function etc. The further abbreviation of valency transformation rule obtains the result shown in Fig. 6, and non-artificial setting；
(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing Storage and control function, in node to same signal carry out first " subtracting " afterwards " plus ", what this does not have not in algorithm Meet rule part；
(3) same signal is carried out in node " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and The signal y in the node is not indicated that2(s) just it is not present, or does not obtain y2(s) signal, or signal are not stored for；Or because of " phase Mutually offset " cause " zero " signal value to reform into be not present, or it is nonsensical；
(4) triggering of control decoupler CD2 nodes just comes from signal y2(s) driving, if control decoupler CD2 sections Point is not received by the signal y come from feedback network tunnel2(s), the then control in event-driven working method Decoupler CD2 nodes will not be triggered.
For the close loop control circuit 1 in Fig. 6：
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 deviation signal e from close loop control circuit 22(s) internal mode controller C, is passed through2IMCAnd cross decoupling is logical (s) Road transmission function P12And network transmission channels (s)The through path of close loop control circuit 1 is acted on, from input deviation signal e2 (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), passed by controlled device cross aisle Delivery function G12(s) close loop control circuit 1 is acted on, from input signal u2p(s) output signal y is arrived1(s) the closed loop transmission letter between Number is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s) When, the closed loop transform function of close loop control circuit 1 will be byBecomeThe network delay τ of the influence stability of a system is no longer included in the denominator of its closed loop transfer function,1And τ2 Exponential termWithSo 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 variable network time delay and SPC.
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2IMC(s) it is internal mode controller.
2) controller C in close loop control circuit 1 is come from1(s) output control signal u1(s), transmitted by cross decoupling passage Function P21(s) with its network transmission channelsThe through path of close loop control circuit 2 is acted on, from input control signal u1(s) arrive Output signal y2(s) closed loop transfer function, is between：
3) the control signal u from the actuator A1 nodes of close loop control circuit 11p(s), passed by controlled device cross aisle Delivery function G21(s) close loop control circuit 2 is acted on, from input signal u1p(s) output signal y is arrived2(s) the closed loop transmission letter between Number is：
It is can be seen that from above-mentioned closed loop transfer function, equation (10) into (12)：Using the inventive method, closed loop transmission letter Several denominators is 1, equivalent to one open-loop control system of now close loop control circuit 2, in the denominator of closed loop transfer function, No longer include the network delay τ of the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled pair As, stability of the cross decoupling path transmission function with internal mode controller in itself is relevant；Network can be reduced using the inventive method Influence of the time delay to the stability of a system, improve system dynamic control performance quality, realize to network delay dynamic compensation with IMC。
In close loop control circuit 1, controller C1(s) selection：
Controller C1(s) can be according to controlled device G11(s) Mathematical Modeling, 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 and specific controller C in NDCS structures1(s) selection of control strategy is unrelated.
In close loop control circuit 2, 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 G22m(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), 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 22(s), it is chosen for fairly simple n2Rank wave filterWherein：λ2For feedforward filter time constant；n2For the order of feedforward filter, n2=n2a-n2b；n2aFor 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.
The scope of application of the present invention：
Using the SPC methods of close loop control circuit 1 during suitable for controlled device prediction model equal to its true model, and Using the IMC methods of close loop control circuit 2 when controlled device Mathematical Modeling is known or not exclusively knows, a kind of lose-lose constituted Enter the compensation of dual output network decoupling and controlling system (TITO-NDCS) variable network time delay and mix control；Its Research Thinking with Method, using the SPC methods of close loop control circuit 1 when being equally applicable to controlled device prediction model equal to its true model, with And controlled device Mathematical Modeling is known or IMC methods when not exclusively knowing using close loop control circuit 2, what is constituted is a kind of The compensation of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) variable network time delay and mix control.
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 y2(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) lead to controlled device intersection Road transmission function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and counted 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)；
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 prediction model G11m(s) output valve y11ma(s) system deviation signal e, is obtained1(s), i.e. e1(s) =x1(s)-y1b(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) cross decoupling channel transfer function P is acted on21(s) its output signal y is obtainedp21 (s)；By yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) when will undergo network transmission Prolong τ21Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P12And network path (s)The signal y that unit is transmittedp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p(s) =yp12(s)+u1(s)；Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve is obtained y11ma(s)；
B6：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)；
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 variable 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) sampled, and calculate the system output signal of close loop control circuit 2 y2, and y (s)2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y2(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 y2(s) or by cross decoupling Network pathThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback, is subtracted Signal y2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；
E4：By IMC signals ue(s) cross decoupling channel transfer function P is acted on12(s) its output signal y is obtainedp12(s)； By yp12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12 Afterwards, get to control decoupler CD1 nodes；
E5：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2(s)； To e3(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network path (s)The signal y that unit is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p(s)= yp21(s)+u2(s)；
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 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 IMC, while realizing to variable 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 Node clock signal synchronously requirement can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid to time delay The waste of node storage resources is expended needed for identification, while can also avoid due to " sky sampling " or " many samplings " band that time delay is caused 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, 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, in TITO-NDCS, using SPC control loop 1, due to being realized and controller C from TITO-NDCS structures1 (s) selection of control strategy is unrelated, thus can be not only used for the TITO-NDCS using conventional control, also available for using intelligence control System or the TITO-NDCS using complex control strategy.
4th, in TITO-NDCS, using IMC control loop 2, its internal mode controller C2IMC(s) adjustable parameter only has one Individual λ2Parameter, the regulation and selection of its parameter is simple, and explicit physical meaning；The stabilization of system can not only be improved using IMC Property, tracking performance and interference free performance, but also the compensation to system variable 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：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 the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions Tunnel time delay；τscRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions Network 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 variable time delay compensation comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is net Network propagation delay timeAndEstimate Time Delay Model；G11m(s) it is controlled device transmission function G11(s) prediction model, C2mIMC(s) it is internal mode controller C2IMC(s) predictor controller.
Fig. 5：The TITO-NDCS variable time delay of prediction model is replaced to compensate and control structure with true model
Fig. 6：A kind of dual input exports network decoupling and controlling system variable time delay mixed control method
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 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) output Signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculate close loop control circuit 1 be Output signal of uniting y1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-y11mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal 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 system Setting signal x of close loop control circuit 11(s), subtract Remove feedback signal y1b(s) with controlled device prediction model G11m(s) output valve y11ma(s) deviation signal e, is obtained1(s), i.e. e1 (s)=x1(s)-y1b(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) cross decoupling channel transfer function P is acted on21(s) output signal y is obtainedp21 (s)；By yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) when will undergo network transmission Prolong τ21, get to control decoupler CD2 nodes；
5th step：By decoupling signal yp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p (s)=yp12(s)+u1(s)；Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve is obtained y11ma(s)；
6th 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；
7th 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)；
8th 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 variable network delay, τ1And τ2Compensation；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling After signal triggering, to controlled device G22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s) defeated Go out signal y21(s) sampled, and calculate the system output signal y of close loop control circuit 22, and y (s)2(s)=y22(s)+ y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y2(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 y2(s) or intersected Decoupling network pathThe output signal y of unitp21(s) after triggering, by the system Setting signal x of close loop control circuit 22(s), Subtract feedback signal y2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
4th step：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；By IMC signals ue(s) Act on cross decoupling channel transfer function P12(s) its output signal y is obtainedp12(s)；By yp12(s) network path is passed through Unit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, get to control decoupler CD1 nodes；
5th step：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2 (s)；To e3(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
6th step：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network (s) PathThe signal y that unit is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p (s)=yp21(s)+u2(s)；
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：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 IMC, while realizing to variable network delay, τ3And τ4Compensation；
9th 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 dual input exports network decoupling and controlling system variable time delay mixed control method, it is characterised in that this method includes 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 y2(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) passed with controlled device cross aisle Delivery function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculated 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)；
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 prediction model G11m(s) output valve y11ma(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1 (s)-y1b(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) cross decoupling channel transfer function P is acted on21(s) its output signal y is obtainedp21(s)；Will yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21 Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P12And network path (s)It is single The signal y that member is transmittedp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p(s)=yp12 (s)+u1(s)；Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
B6：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)；
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 variable 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) sampled, and calculate the system output signal y of close loop control circuit 22 , and y (s)2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler CD2 node-node transmissions, feedback signal y2(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 y2(s) or by cross decoupling network lead to RoadThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2 (s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；
E4：By IMC signals ue(s) cross decoupling channel transfer function P is acted on12(s) its output signal y is obtainedp12(s)；Will yp12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12 Afterwards, get to control decoupler CD1 nodes；
E5：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2(s)；To e3 (s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network path (s)It is single The signal y that member is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p(s)=yp21 (s)+u2(s)；
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 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 IMC, while realizing to variable 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 between node and node τ1And 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 controller C on structure1(s) selection of control strategy is unrelated, thus can be not only used for the TITO-NDCS using conventional control, Also it can be used 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 IMC control loop 2, its internal mode controller C2IMC (s) adjustable parameter only one of which parameter, the regulation and selection of its parameter is simple, 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 the compensation to time-varying network time delay with IMC。
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