CN106970525A - The two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC - Google Patents
The two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC Download PDFInfo
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Abstract
The two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC, belong to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of two 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, network delay is reduced to TITO NDCS stability influences, improve quality of system control.
Description
Technical field
One kind based on SPC (Smith Predictor Control, SPC) and IMC (Internal Model Control,
IMC two input and output network decoupling and controlling system delay compensation methods), are related to automatic control technology, the network communications technology and
The crossing domain of computer technology, more particularly to the multiple-input and multiple-output network decoupling and controlling system technology of limited bandwidth resources are led
Domain.
Background technology
In dcs, sensor and controller between controller and actuator, pass through Real Time Communication Network
The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's
Typical structure is as shown in Figure 1.
Resource-sharing, remote operation and control, tool can be achieved compared with the control system of traditional point-to-point structure in NCS
There is high diagnosis capability, I＆M is easy, many advantages, such as adding flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to NCS category, in addition, NCS is in aerospace field, and complicated, dangerous industry
Control field also has wide application, and it is studied turns into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.When between NCS sensor, controller and actuator by network exchange data, when inevitably resulting in network
Prolong, so that the performance of system can be reduced or even cause system unstable.Because the information source in network is a lot, transmitting data stream warp
Numerous computers and communication equipment and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, network
The reason such as congestion or disconnecting, causes sequential entanglement and the loss of packet of network packet.Although point of time-delay system
Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS a variety of time delays of different nature (constant, bounded, with
Machine, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory is being analyzed system and set
Timing, has often done many Utopian it is assumed that transmitting and adjusting such as single rate sampling, Synchronization Control, without time delay.But in NCS
In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will reappraise
It can be applied in NCS.
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
Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- constituted
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs the multiple-input and multiple-output network decoupling and controlling system by decoupling processing
The achievement in research of (Networked decoupling control systems, NDCS) delay compensation and control is then relatively more
It is few.
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 it is respective output signal is independently tracked
Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit 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
The exact value of network time delay.Time delay causes systematic function to decline or even causes system unstable, while also giving the analysis of control system
Difficulty is brought with design.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, to MIMO-NDCS implement
Delay compensation and control are more much more difficult than MIMO-NCS and SISO-NCS.
The content of the invention
The present invention relates to a kind of two input and output network decoupling and controlling system (TITO-NDCS) network in MIMO-NDCS
The compensation and control of time 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 controller；G11(s) it is controlled device；τ1Represent the output signal u of controller C nodes1(s),
The network delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；τ2Represent sensor S1 nodes
Output signal y1(s) network delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s) cross decoupling, is passed through
Path transmission function P12(s) with controlled device line passing transmission function G12(s) close loop control circuit 1 is acted on, from input letter
Number up2(s) output signal y is arrived1(s) closed loop transfer function, between is：
The denominator of above-mentioned closed loop transfer function, equation (1) to (2)In, contain network delay τ1
And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller, G22(s) it is controlled device；τ3Represent the control output signal u of controller C nodes2
(s), the network delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；τ4Expression saves sensor S2
The output signal y of point2(s) network delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s) cross decoupling, is passed through
Path transmission function P21(s) with controlled device line passing transmission function G21(s) close loop control circuit 2 is acted on, from input letter
Number up1(s) output signal y is arrived2(s) closed loop transfer function, between is：
The denominator of above-mentioned closed loop transfer function, equation (3) to (4)In, contain network delay τ3
And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the denominator of the closed loop transfer function, equation (1) to (2) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2
Into the denominator of (4), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop
The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system
Performance quality processed and the stability for influenceing whole system, will cause whole system loss of stability when serious.
Therefore, for the close loop control circuit 1 in Fig. 3：The present invention proposes a kind of delay compensation method based on SPC；Pin
To close loop control circuit 2：The present invention proposes a kind of delay compensation method based on IMC；When constituting two close loop control circuit networks
The compensation prolonged and mix control, for exempting in each close loop control circuit, the measurement of network delay between node, estimate or distinguish
Know, and then reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole control system controlling
The influence of energy quality and the stability of a system；When prediction model is equal to its true model, respective close loop control circuit can be achieved
Do not include the exponential term of network delay in characteristic equation, and then influence of the network delay to whole system stability can be reduced, change
The dynamic property quality of kind system, realize to being segmented of TITO-NDCS network delays, in real time, online and dynamic predictive compensation
With SPC and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：When meeting predictive compensation condition to realize, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation and control, in controller C nodes, use with control
Signal u processed1(s) as input signal, controlled device prediction model G11m(s) as controlled process, control passes through with process data
Network transfer delay prediction modelAndAround controller C1(s), construct positive feedback Prediction Control loop and
One negative-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, 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 are between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using real
Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter by
Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween
Predict-compensate model, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate or distinguish
Know；When prediction model is equal to its true model, it can be achieved to its network delay τ1And τ2Compensation and SPC；Implement present invention side
The network delay compensation of method and SPC structures are as shown in figs.5 and 6；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；For reality
When now meeting predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, to realize
To network delay τ3And τ4Compensation and control, around controlled device G22(s) y, is exported with close loop control circuit 22(s) as defeated
Enter signal, by y2(s) network transfer delay prediction model is passed throughWith estimate internal mode controller C2mIMCAnd network transmission (s)
Time-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 controller C nodes, and from controller C nodes to decoupling actuator DA2 nodes, passed using real network data
Defeated processWithInstead of the predict-compensate model of network delay therebetweenWithThe network delay shown in Fig. 5 is obtained to mend
Repay 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 of implementation the inventive method shown in Fig. 6 and control structure；Realize that system does not include net therebetween from structure
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, and can be achieved to network delay τ3And τ4Compensation and IMC；The network delay compensation for implementing the inventive method is tied with IMC
Structure is as shown in Figure 6.
At this it should be strongly noted that in Fig. 6 controller C nodes, occurring in that the given letter of close loop control circuit 2
Number x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2(s) signal
It is connected to simultaneously by positive feedback and negative-feedback in controller C nodes：
(1) this is due to by the internal mode controller C in Fig. 52IMC(s), according to transmission function equivalence transformation rule further
Abbreviation 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 with control etc. function, in node to same signal carry out first " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method
What does not have on then and is not inconsistent normally 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 controller C nodes just comes from signal y2(s) driving, if controller C nodes are not received by
The signal y come from feedback network tunnel2(s), then the controller C nodes in event-driven working method will not
It is triggered.
For the close loop control circuit 1 in Fig. 6：
1) from input signal 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 signal u that actuator DA2 nodes are decoupled in close loop control circuit 2 is come from2p(s) cross decoupling path, is passed through
Transmission function P12(s) close loop control circuit 1 is acted on；At the same time, signal u2p(s) transmitted by controlled device line passing
Function G12(s) close loop control circuit 1 is acted on；From input signal u2p(s) output signal y is arrived1(s) closed loop transfer function, between
For：
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 byBecome 1+C1(s)
G11(s) the network delay τ of the influence stability of a system=0, is no longer included in its closed loop transform function1And τ2Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve the dynamic control performance quality of system, realize
Dynamic compensation and SPC to network delay.
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) the signal u that actuator DA1 nodes are decoupled in close loop control circuit 1 is come from1p(s) cross decoupling path, is passed through
Transmission function P21(s) close loop control circuit 2 is acted on；At the same time, signal u1p(s) transmitted by controlled device line passing
Function G21(s) close loop control circuit 2 is acted on；From input signal u1p(s) output signal y is arrived2(s) closed loop transfer function, between
For：
Using the inventive method, the denominators of transmission function equation (7) and (8) is no longer to include in 1, its closed loop transform function
Influence the network delay τ of the stability of a system3And τ4Exponential termWithThe stability of system only transmits letter by controlled device
Number, cross decoupling path transmission function and internal mode controller are determined；So as to reduce network delay to the stability of a system
Influence, improves system dynamic control performance quality, realizes the compensation to network delay and 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 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),
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 (9)：The internal mode controller C of one degree of freedom2IMC(s) in, all only one of which can adjust
Parameter lambda2, due to λ2The change of parameter and the tracking performance of system and antijamming capability suffer from direct relation, therefore are adjusting
The customized parameter λ of wave filter2When, the tracing property generally required in system is traded off between the two with antijamming capability.
The scope of application of the present invention：
SPC, and control loop are used when controlled device prediction model is equal to its true model suitable for control loop 1
IMC, a kind of two input and output network uneoupled control system constituted are used when controlled device prediction model is known in 2 or is uncertain of
The compensation and control of system (TITO-NDCS) network delay；Its Research Thinking and method, can equally be well applied in control loop be controlled
Object prediction model uses controlled device prediction model in SPC, and control loop known or not true when being equal to its true model
IMC, the compensation and control of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) network delay constituted are used when knowing
System.
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 controller C nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is as decoupling actuator DA1 node controlled signals u1(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 controller C nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(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 decoupling actuator DA1 nodes output signal y11mb(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)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions,
Feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C nodes, by the system Setting signal x of close loop control circuit 11(s) feedback signal y, is subtracted1b
(s) with controlled device transmission function prediction model G11m(s) output signal y11ma(s) 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)；By control signal u1(s) act on by
Control object prediction model G11m(s) its output valve y is obtained11ma(s)；
B4：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator
DA1 node-node transmissions, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1(s) triggered；
C2：In decoupling actuator DA1 nodes, by control signal u1(s) controlled device prediction model G is acted on11m(s)
Obtain its output valve y11mb(s)；By control signal u1(s) letter of actuator DA2 nodes is decoupled with coming from close loop control circuit 2
Number u2p(s) cross decoupling path transmission function P is passed through12(s) output valve yp12(s) subtract each other and obtain signal u1p(s), i.e. u1p(s)
=u1(s)-yp12(s)；
C3：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) act on
Controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11And G (s)21
(s) uneoupled control adds SPC, while realizing to network delay τ1And τ2Compensation and control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device 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：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions,
Feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase
After adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；To e2(s) internal model control is implemented
Algorithm C2IMC(s) IMC signals u, is obtained2(s)；
E3：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator
DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：By IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p
(s) cross decoupling path transmission function P is passed through21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=
u2(s)-yp21(s)；
F3：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) act on
Controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12
(s) uneoupled control adds IMC, while realizing to network delay τ3And τ4Compensation and control.
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, the control loop 1 in TITO-NDCS uses SPC, due to being realized and specific controller from TITO-NDCS structures
C1(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
It can control or using the TITO-NDCS of complex control strategy.
4th, the control loop 2 in TITO-NDCS uses IMC, its internal mode controller C2IMC(s) adjustable parameter only one of which
λ2Parameter, the regulation and selection of its parameter is simple, and explicit physical meaning；Can not only be improved using IMC system stability,
Tracking performance and interference free performance, but also the compensation to network 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
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list
MemberAnd 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
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction
Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit
Constituted.
In Fig. 2：yj(s) j-th of output signal of system is represented；ui(s) i-th of control signal is represented；Representing will control
Signal ui(s) during the feedforward network tunnel undergone from controller C nodes to i-th of decoupling actuator DA node-node transmission
Prolong；Represent the detection signal y of j-th of sensor S nodej(s) feedback network undergone to controller C node-node transmissions leads to
Road propagation delay time；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, and its system includes sensor S1 and S2 node, controller C nodes, solution
Coupling actuator DA1 and DA2 node, controlled device transmission function G11And G (s)22(s) and controlled device line passing transmission letter
Number G21And G (s)12(s), cross decoupling path transmission function P21And P (s)12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1And x (s)2(s) input signal of system is represented；y1And y (s)2(s) output signal of system is represented；C1
And C (s)2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；τ1And τ3Represent to believe control
Number u1And u (s)2(s) the feedforward network path undergone from controller C nodes to decoupling actuator DA1 and DA2 node-node transmission is passed
Defeated time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) passed through to controller C node-node transmissions
The feedback network tunnel time delay gone through.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4：C1(s) be control loop 1 controller；C2mIMC(s) it is the internal mode controller C of control loop 22IMC(s)
Prediction model；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network
Propagation delay timeAndEstimate Time Delay Model；G11m(s) it is controlled device transmission function G11(s) prediction model.
Fig. 5：The delay compensation and control structure of prediction model are replaced with true model
Fig. 6：The two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 below, makes the ordinary skill people of this area
Member becomes 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
, will be to controlled device G after signal triggering11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s)
Output signal y12(s), and decoupling actuator DA1 nodes output signal y11mb(s) sampled, and calculate closed-loop control
The system output signal y in loop 11(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
Controller C node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y1b(s) after triggering, by closed loop control
The system Setting signal x in loop 1 processed1(s) feedback signal y, is subtracted1b(s) with controlled device transmission function prediction model G11m(s)
Output signal y11ma(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)；To e1(s) control is implemented
Algorithm C processed1(s) control signal u, is obtained1(s)；By control signal u1(s) controlled device prediction model G is acted on11m(s) obtain
Its output valve y11ma(s)；
4th step：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is performed to decoupling
Device DA1 node-node transmissions, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1(s), will after triggering
Control signal u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；By control signal u1(s) with
Come from the signal u that close loop control circuit 2 decouples actuator DA2 nodes2p(s) cross decoupling path transmission function P is passed through12(s)
Output valve yp12(s) subtract each other and obtain signal u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
6th step：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) make
For controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11(s) and
G21(s) uneoupled control adds SPC, while realizing to network delay τ1And τ2Compensation and control；
7th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
, will be to controlled device G after signal triggering22(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)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Controller C node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y2(s) after triggering, by closed loop control
The system Setting signal x of loop 2 processed2(s), with feedback signal y2(s) phase adduction obtains signal e after subtracting each other2(s), i.e. e2(s)=x2
(s)+y2(s)-y2(s)=x2(s)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
4th step：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is performed to decoupling
Device DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s), will after triggering
IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p(s) cross decoupling is passed through
Path transmission function P21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
6th step：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) make
For controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22(s) and
G12(s) uneoupled control adds IMC, while realizing to network delay τ3And τ4Compensation and control；
7th 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 modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
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. the two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC, 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 controller C nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is as decoupling actuator DA1 node controlled signals u1(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 controller C nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(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 decoupling actuator DA1 nodes output signal y11mb(s) sampled,
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(s)
And y1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), fed back by the feedback network path of close loop control circuit 1 to controller C node-node transmissions
Signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C nodes, by the system Setting signal x of close loop control circuit 11(s) feedback signal y, is subtracted1b(s) with
Controlled device transmission function prediction model G11m(s) output signal y11ma(s) 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)；By control signal u1(s) controlled device is acted on
Prediction model G11m(s) its output valve y is obtained11ma(s)；
B4：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is saved to decoupling actuator DA1
Point transmission, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, controlled signal u1(s) triggered；
C2：In decoupling actuator DA1 nodes, by control signal u1(s) controlled device prediction model G is acted on11m(s) it is obtained
Output valve y11mb(s)；By control signal u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22p
(s) cross decoupling path transmission function P is passed through12(s) output valve yp12(s) subtract each other and obtain signal u1p(s), i.e. u1p(s)=u1
(s)-yp12(s)；
C3：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) act on controlled
Object cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11And G (s)21(s)
Uneoupled control adds SPC, while realizing to network delay τ1And τ2Compensation and control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device 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：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback letter
Number y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase adduction
After subtracting each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；To e2(s) Internal Model Control Algorithm is implemented
C2IMC(s) IMC signals u, is obtained2(s)；
E3：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 nodes
Transmission, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：By IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p(s) lead to
Cross cross decoupling path transmission function P21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)-
yp21(s)；
F3：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) act on controlled
Object cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12(s)
Uneoupled control adds IMC, while realizing to network delay τ3And τ4Compensation and control.
2. according to the method described in claim 1, it is characterised in that：From TITO-NCS 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：From TITO-NDCS structures, realize and 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：SPC is used for the control loop 1 in TITO-NDCS, by
In the realization from TITO-NDCS structures and specific controller C1(s) selection of control strategy is unrelated, thus can be not only used for using normal
The TITO-NDCS of control is advised, also available for using 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：IMC is used for the control loop 2 in TITO-NDCS, its
Internal mode controller C2IMC(s) adjustable parameter only one of which parameter, the regulation and selection of its parameter is simple, and physical significance is bright
Really；Stability, tracking performance and the interference free performance of system can be not only improved using IMC, but also when can realize to network
The compensation and control prolonged.
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