CN106970534A - The input of one kind two two exports network decoupling and controlling system and does not know time delay IMC methods - Google Patents
The input of one kind two two exports network decoupling and controlling system and does not know time delay IMC methods Download PDFInfo
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Abstract
Two inputs two export network decoupling and controlling system and do not know time delay IMC methods, belong to the MIMO NDCS technical fields of limited bandwidth resources.Inputted for one kind two between two output signals and affect one another and couple, 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 live network data transmission procedure between all nodes in TITO NDCS, instead of network delay compensation model therebetween, two degrees of freedom IMC and the IMC of one degree of freedom are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, reduction does not know influence of the network delay to TITO NDCS stability, improve quality of system control.
Description
Technical field
Two inputs two export network decoupling and controlling system and do not know time delay IMC (Internal Model Control, IMC)
Method, is related to and automatically controls, the crossing domain of network service and computer technology, more particularly to limited bandwidth resources multi input
Multi output network decoupling and controlling system technical field.
Background technology
In dcs, between sensor and controller, 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.
NCS compared with the control system of traditional point-to-point structure, with cost it is low, be easy to information sharing, be easy to extension
With safeguard, flexibility is big the advantages of, be widely used in process automation, automated manufacturing, Aero-Space, nothing in recent years
The multiple fields such as line communication, robot, intelligent transportation.
In NCS, because the phenomenons such as network delay, data packetloss and network congestion are present so that NCS faces many new
Challenge.The presence of network delay is not known especially, it is possible to decrease NCS controls quality, or even makes system loss of stability, when serious
System may be caused to break down.
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, unknown or time-varying, 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 and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Also exist and influence each other unavoidably between selection pairing, each control loop, thus to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled,
MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO-
In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size
It is relevant etc. factor, to not knowing network delay more than several or even the dozens of sampling period, to set up each in MIMO-NDCS
Control loop does not know the mathematical modeling that network delay is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) when occurring that previous node is to network during latter node-node transmission network data in MIMO-NDCS
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
Network decoupling and controlling system (TITO-NDCS) is exported the present invention relates to the input of one kind two in MIMO-NDCS two not
The compensation and control of network delay are known, its TITO-NDCS typical structure is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：C1(s) it is control unit, G11(s) it is controlled device；τ1Represent that decoupler CD output signal nodes will be controlled
u1p(s), to what network path was transferred to that actuator A1 nodes are undergone network delay is not known through preceding；τ2Represent output signal
y1(s) from sensor S1 nodes, through feedback network tunnel to control decoupler CD nodes undergone when not knowing network
Prolong.
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 P12(s) close loop control circuit 1 is acted on, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, between
For：
3) in close loop control circuit 2 actuator A2 nodes output signal u2p(s) controlled device cross aisle, is passed through
Transmission function G12(s) the output signal y of close loop control circuit 1 is influenceed1(s), from input signal u2p(s) output signal y is arrived1(s)
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, contain and do not know network
Delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even result in system mistake
Go stability.
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；τ3Represent that decoupler CD output signal nodes will be controlled
u2p(s), to what network path was transferred to that actuator A2 nodes are undergone network delay is not known through preceding；τ4Represent output signal
y2(s) from sensor S2 nodes, through feedback network tunnel to control decoupler CD nodes undergone when not knowing network
Prolong.
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 P21(s) close loop control circuit 2 is acted on, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, between
For：
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 and do not know net
Network delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, even result in system
Loss of 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 and do not know network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, of close loop control circuit 2
In the denominator of equation (4) to (6), contain and do not know network delay τ3And τ4Exponential termWithThe presence of time delay
The control performance quality of respective close loop control circuit can be reduced and the stability of respective close loop control circuit is influenceed, while also will drop
The control performance quality of low whole system simultaneously influences the stability of whole system, and whole system will be caused to lose stabilization when serious
Property.
Therefore, for the close loop control circuit 1 in Fig. 3：The present invention proposes a kind of IMC delay compensations based on two degrees of freedom
Method；For the close loop control circuit 2 in Fig. 3：The present invention proposes a kind of IMC delay compensation methods based on one degree of freedom；
For exempting to the measurement in each close loop control circuit, not knowing network delay between node, estimation or recognizing, and then reduce net
Network delay, τ1And τ2, and τ3And τ4It is steady to respective close loop control circuit and whole control system control performance quality and system
Qualitatively influence；When prediction model is equal to its true model, do not wrapped in the characteristic equation that respective close loop control circuit can be achieved
Exponential term containing network delay, and then influence of the network delay to the stability of a system can be reduced, improve the dynamic property matter of system
Amount, realize TITO-NDCS is not known being segmented of network delay, in real time, online and dynamic predictive compensation and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD nodes, an internal mode controller C is built first1IMC(s) it is used to replace control
Device C1(s)；When meeting predictive compensation condition to realize, network is no longer included in the closed loop transform function of close loop control circuit 1
The exponential term of time delay, to realize to network delay τ1And τ2Compensation and control, use to control decoupling signal u1pAnd u (s)2p
And u (s)p12(s) as input signal, controlled device prediction model G11mAnd G (s)12m(s) as controlled process, control with
Process data passes through network transfer delay prediction modelAndAround internal mode controller C1IMC(s), construction one is positive and negative
Prediction Control loop and a negative-feedback Prediction Control loop are presented, 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
It must meet and not know network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore,
From sensor S1 nodes to control decoupler CD nodes, and from control decoupler CD 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, not knowing network delay τ between node1
And τ2Measurement, estimation or recognize；When prediction model is equal to its true model, it can be achieved not knowing it network delay τ1With
τ2Compensation and control；The network delay compensation for implementing the inventive method is as shown in Figure 5 with control structure；
3rd step：In the backfeed loop of the close loop control circuit 1 of control decoupler CD nodes, increase feedback filter F1
(s)；The network delay two degrees of freedom IMC method structures for implementing the inventive method are as shown in Figure 6；
For the close loop control circuit 2 in Fig. 3：
The first step：In control decoupler CD 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 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 C2mIMCAnd net (s)
Network propagation delay time 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-NCS, 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 control decoupler CD nodes between, and from control decoupler CD nodes to actuator A2 nodes, using real net
Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5
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 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 control；The network delay for implementing the inventive method is compensated and one
The IMC structures of the free degree are as shown in Figure 6.
At this it should be strongly noted that in Fig. 6 control decoupler CD nodes, occurring in that close loop control circuit 2
Setting signal 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 is connected in control decoupler CD nodes by positive feedback and negative-feedback simultaneously：
(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 control decoupler CD nodes just comes from signal y2(s) driving, if control decoupler CD nodes
It is not received by the signal y come from feedback network tunnel2(s), the then control solution in event-driven working method
Coupling device CD 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；C1IMC(s) it is internal mode controller；F1(s) it is feedback
Wave filter.
2) internal mode controller C in close loop control circuit 2 is come from2IMC(s) the output signal u of control unit2(s), by intersecting
Decouple channel transfer function P12(s) close loop control circuit 1 is acted on, from input signal u2(s) output signal y is arrived1(s) between
Closed loop transfer function, be：
3) cross decoupling channel transfer function P is come from12(s) the output signal u of unitp12(s) control decoupler, is acted on
The prediction model G of controlled device in CD node controls loop 111m(s), from input signal up12(s) output signal y is arrived1(s) it
Between closed loop transfer function, be：
4) the output signal u of decoupler CD nodes is controlled in close loop control circuit 22p(s), in control decoupler CD
Pass through controlled device cross aisle transmission function prediction model G12m(s) close loop control circuit 1 is acted on；Returned from closed-loop control
The control signal u of the actuator A2 nodes of road 22p(s), while passing through controlled device cross aisle transmission function G12(s) it is pre- with its
Estimate model G12m(s) close loop control circuit 1 is acted on；From input signal u2p(s) output signal y is arrived1(s) the closed loop transmission between
Function 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 transfer function, denominator of close loop control circuit 1 will be byBecome 1.
Now, in equivalent to one open-loop control system of close loop control circuit 1, the denominator of closed loop transfer function, no longer
Include the network delay τ of the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device and
The stability of internal mode controller in itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic of system
State control performance quality, realizes the dynamic compensation to not knowing network delay and two degrees of freedom IMC；When system is present compared with large disturbances
During with model mismatch, feedback filter F1(s) presence can improve the tracing property and antijamming capability of system, during reduction network
Prolong the influence to the stability of a system, further improve the dynamic property quality of system.
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) internal mode controller C in close loop control circuit 1 is come from1IMC(s) the output signal u of control unit1(s), by intersecting
Decouple channel transfer function P21(s) close loop control circuit 2 is acted on, from input signal u1(s) output signal y is arrived2(s) between
Closed loop transfer function, be：
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 acts on close loop control circuit 2；From input signal u1p(s) output signal y is arrived2(s) closed loop transfer function, between is：
Using the inventive method, the closed loop transfer function, denominator of close loop control circuit 2 is 1.
Now, in equivalent to one open-loop control system of close loop control circuit 2, 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 device and
The stability of internal mode controller in itself is relevant.So as to reduce influence of the network delay to the stability of a system, improve the dynamic of system
State control performance quality, realizes the dynamic compensation to not knowing network delay and the IMC of one degree of freedom.
(1) internal mode controller C1IMCAnd C (s)2IMC(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 model11And C (s)22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1And f (s)2(s) a complete internal mode controller C, is constituted1IMCAnd C (s)2IMC(s)。
1) feedforward controller C11And C (s)22(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 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to controlled device poles and zeros assignment situation：G11m(s)=
G11m+(s)G11m-And G (s)22m(s)=G22m+(s)G22m-(s), wherein：G11m+And G (s)22m+(s) it is respectively that controlled device is estimated
Model G11mAnd G (s)22m(s) pure lag system and the irreversible part of s RHP zero pole points are included in；G11m-And G (s)22m-(s)
The reversible part of minimum phase respectively in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211And C (s)22(s) it can be chosen for respectively：With
2) feedforward filter f1And f (s)2(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 phase11m-(s)
And G22m-(s) it, have ignored G11m+And G (s)22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model
Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore,
The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried
The robustness of high system.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), divide
Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2For feedforward
Filter time constant；n1And n2For the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively
Controlled device G11And G (s)22(s) order of denominator； n1bAnd n2bRespectively controlled device G11And G (s)22(s) order of molecule,
Usual n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMCAnd C (s)2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMCAnd C (s)2IMC(s) it can be chosen for respectively:
With
It can be seen that from equation (14) and (15)：The internal mode controller C of one degree of freedom1IMCAnd C (s)2IMC(s) in, all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore is adjusting the customized parameter λ of wave filter1And λ2When, the tracing property generally required in system is done with anti-
Ability is disturbed to trade off between the two.
(2) feedback filter F1(s) design and selection：
The feedback filter F of close loop control circuit 11(s) fairly simple firstorder filter F can, be chosen1(s)=(λ1s+
1)/(λ1fS+1), wherein：λ1For feedforward filter f1(s) time constant in, and it is consistent with the selection of its parameter；λ1fFor feedback filter
Ripple device regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fIn the case of immobilizing, the tracking performance of system can be with
Feedforward filter regulation parameter λ1Reduction and improve；In feedforward filter regulation parameter λ1In the case of immobilizing, system
Tracing property it is almost unchanged, and antijamming capability then can be with λ1fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can pass through reasonable selection feedforward filter f1(s) with feedback
Wave filter F1(s) parameter, improves system tracing property and antijamming capability, and reduction network delay influences on the stability of a system, changed
Kind dynamic performance quality.
The scope of application of the present invention：
Close loop control circuit 1 is used when there may be certain deviation suitable for controlled device prediction model and its true model
Two degrees of freedom IMC methods, and controlled device mathematical modeling it is known or when not knowing using one of close loop control circuit 2 from
By the IMC methods spent, when the output network decoupling and controlling system (TITO-NDCS) of the input of one kind two two constituted does not know network
The compensation and control prolonged；Its Research Thinking and method, being equally applicable to controlled device prediction model and its true model may deposit
In certain deviation using the two degrees of freedom IMC methods of close loop control circuit 1, and controlled device mathematical modeling is known or not true
When knowing using close loop control circuit 2 one degree of freedom IMC methods, the multiple-input and multiple-output network uneoupled control system constituted
System (MIMO-NDCS) does not know the compensation and control of network delay.
It is a feature of the present invention that this method comprises the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when control decoupler CD nodes are by feedback signal y1b(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 CD nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1:Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2:After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device
Channel transfer function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s)
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)+y12And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3:Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD sections are got to
Point；
The step of mode B, includes：
B1:Control decoupler CD nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2:In control decoupler CD nodes, by feedback signal y1b(s) it is first pre- with controlled device cross aisle transmission function
Estimate model G12m(s) output y12ma(s) be added after again with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other,
Obtain signal y1c, and y (s)1c(s)=y1b(s)+y12ma(s)-y11ma(s), and by y1c(s) feedback filter F is acted on1(s)
Obtain its output valve yF1(s)；By the system Setting signal x of close loop control circuit 11(s) subtraction signal yF1(s) system deviation, is obtained
Signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3:To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4:Internal Model Control Algorithm C in close loop control circuit 2 will be come from2IMC(s) output IMC signals u2(s) act on
Decouple cross aisle transmission function P12(s) its decoupling signal u is obtainedp12(s)；By IMC signals u1And u (s)p12(s) subtract each other and obtain
The control decoupling signal u of close loop control circuit 11p(s), i.e. u1p(s)=u1(s)-up12(s)；
B5:By decoupling signal up12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；Will
Come from the control decoupling signal u of the output of close loop control circuit 22p(s) controlled device cross aisle transmission function is acted on to estimate
Model G12m(s) its output valve y is obtained12ma(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)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit2p(s) act on controlled
Object cross aisle transmission function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3:Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control solution
Coupling signal u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to quilt
Control object G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to not knowing network delay τ1And τ2Compensation with
Control；
The step of mode D, includes：
D1:Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2:After sensor S2 nodes are triggered, 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 letter of close loop control circuit 2
Number 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 CD node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD nodes；
The step of mode E, includes：
E1:Control decoupler CD nodes work in event driven manner, by feedback signal y2(s) triggered；
E2:In control decoupler CD nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal
y2(s) implement first to add to subtract afterwards, obtain system deviation signal e2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3:To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4:Internal Model Control Algorithm C in close loop control circuit 1 will be come from1IMC(s) output IMC signals u1(s) act on
Decouple cross aisle transmission function P21(s) its decoupling signal u is obtainedp21(s)；By IMC signals u2And u (s)p21(s) subtract each other and obtain
The control decoupling signal u of close loop control circuit 22p(s), i.e. u2p(s)=u2(s)-up21(s)；
E5:Will control decoupling signal u2p(s) controlled device cross aisle transmission function in close loop control circuit 1 is acted on pre-
Estimate model G12m(s) its output valve y is obtained12ma(s)；
E6: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) after triggering, it will control
Decoupling signal u2p(s) controlled device cross aisle transmission function prediction model G in close loop control circuit 1 is acted on12m(s) obtain
Its output valve y12mb(s)；
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 the IMC of one degree of freedom, while realizing to not knowing network delay τ3And τ4Benefit
Repay and control.
The present invention has following features：
1st, due to from TITO-NDCS structures, realizing and exempting to not knowing the measurement of network delay, observing, estimate or distinguish
Know, while can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error caused of model,
Avoid to expending the waste of node storage resources needed for time-delay identification, at the same can also avoid " sky sampling " that is caused due to time delay or
The compensation error that " many samplings " is brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS using wireless network protocol；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, simultaneously
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, using one degree of freedom IMC close loop control circuit 2, the adjustable parameter of its control loop only has 1, its parameter
Regulation and selection it is simple, and explicit physical meaning；Using two degrees of freedom IMC close loop control circuit 1, its control loop can
Adjust parameter have 2, can further improve stability, tracking performance and the antijamming capability of system, especially when system exist compared with
When large disturbances and model mismatch, feedback filter F1(s) presence can further improve the dynamic property quality of system, reduction
Influence of the network delay to the stability of a system.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation function is 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
Tunnel time delay；Represent the detection signal y of j-th of sensor S node of systemj(s) to control decoupler CD nodes
The undergone feedback network tunnel time delay of transmission；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
In Fig. 3, system is made up of close loop control circuit 1 and 2, and system includes sensor S1 and S2 node, control decoupling
Device CD 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 unitWithConstituted.
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；u1pAnd u (s)2p(s) control solution is represented
Coupling signal；τ1And τ3Represent u1pAnd u (s)2p(s) undergone from control decoupler CD nodes to actuator A1 and A2 node-node transmission
Feedforward network tunnel time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to control
The feedback network tunnel time delay of decoupler CD node-node transmissions experience processed.
Fig. 4：A kind of TITO-NDCS comprising prediction model does not know network delay compensation and control structure
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is that network is passed
Defeated time delayAndPrediction model；G11m(s) it is controlled device transmission function G11(s) prediction model；G12m(s) it is
Controlled device cross aisle transmission function G12(s) prediction model；C1IMCAnd C (s)2IMC(s) the interior of control loop 1 and 2 is represented
Mould controller；C2mIMC(s) internal mode controller C is represented2IMC(s) predictor controller.
Fig. 5：The TITO-NDCS of prediction model is replaced not know network delay compensation and control structure with true model
Fig. 6：A kind of two input and output network decoupling and controlling systems do not know network delay IMC methods
In Fig. 6, F1(s) it is feedback filter
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, and its trigger signal is cycle h1Sampled signal；When
After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) letter is transmitted with controlled device cross aisle
Number G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(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)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD is got to
Node；
3rd step：Control decoupler CD nodes work in event driven manner, by feedback signal y1b(s) after triggering,
Control in decoupler CD nodes, by feedback signal y1b(s) first and controlled device cross aisle transmission function prediction model G12m(s)
Output y12ma(s) be added after again with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other, obtain signal y1c
, and y (s)1c(s)=y1b(s)+y12ma(s)-y11ma(s), and by y1c(s) feedback filter F is acted on1(s) its output valve is obtained
yF1(s)；By the system Setting signal x of close loop control circuit 11(s) subtraction signal yF1(s) system deviation signal e, is obtained1(s), i.e.,
e1(s)=x1(s)-yF1(s)；
4th step：To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；Closed loop control will be come from
Internal Model Control Algorithm C in loop 2 processed2IMC(s) output IMC signals u2(s) decoupling cross aisle transmission function P is acted on12(s)
Obtain its decoupling signal up12(s)；By IMC signals u1And u (s)p12(s) the control decoupling letter for obtaining close loop control circuit 1 is subtracted each other
Number u1p(s), i.e. u1p(s)=u1(s)-up12(s)；By decoupling signal up12(s) controlled device prediction model G is acted on11m(s)
To its output valve y11ma(s)；The control decoupling signal u that close loop control circuit 2 is exported will be come from2p(s) controlled device is acted on
Cross aisle transmission function prediction model G12m(s) its output valve y is obtained12ma(s)；
5th 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；
6th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) after triggering, it will control
Decoupling signal u processed1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Closed loop will be come from
The feedforward network path of control loop 2The control decoupling signal u of unit2p(s) transmission of controlled device cross aisle is acted on
Function prediction model G12m(s) its output valve y is obtained12mb(s)；
7th 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 two degrees of freedom IMC, while realizing to not knowing network delay τ1And τ2Benefit
Repay and control；
8th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；When
After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) letter is transmitted with controlled device cross aisle
Number 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
Control decoupler CD node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, control decoupler CD is got to
Node；
3rd step：Control decoupler CD nodes work in event driven manner, by feedback signal y2(s), will after triggering
The system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) implement first to add to subtract afterwards, obtain deviation signal e2(s),
That is e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
4th step：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；Closed loop control will be come from
Internal Model Control Algorithm C in loop 1 processed1IMC(s) output IMC signals u1(s) decoupling cross aisle transmission function P is acted on21(s)
Obtain its decoupling signal up21(s)；By IMC signals u2And u (s)p21(s) the control decoupling letter for obtaining close loop control circuit 2 is subtracted each other
Number u2p(s), i.e. u2p(s)=u2(s)-up21(s)；Will control decoupling signal u2p(s) controlled pair is acted in close loop control circuit 1
As cross aisle transmission function prediction model G12m(s) its output valve y is obtained12ma(s)；
5th 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；
6th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s), will after triggering
Control decoupling signal u2p(s) controlled device cross aisle transmission function prediction model G in close loop control circuit 1 is acted on12m(s)
Obtain its output valve y12mb(s)；
7th 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 the IMC of one degree of freedom, while realizing to not knowing network delay τ3And τ4
Compensation and control；
8th 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 (4)
1. the input of one kind two two exports network decoupling and controlling system and does not know time delay IMC methods, 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 CD nodes are by feedback signal y1b(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 CD nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1:Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2:After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle
Transmission function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) adopted
Sample, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12
And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3:Sensor S1 nodes are by feedback signal y1b(s), decoupled by the feedback network path of close loop control circuit 1 to control
Device CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD nodes；
The step of mode B, includes：
B1:Control decoupler CD nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2:In control decoupler CD nodes, by feedback signal y1b(s) first mould is estimated with controlled device cross aisle transmission function
Type G12m(s) output y12ma(s) be added after again with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other, obtain
Signal y1c, and y (s)1c(s)=y1b(s)+y12ma(s)-y11ma(s), and by y1c(s) feedback filter F is acted on1(s) it is obtained
Output valve yF1(s)；By the system Setting signal x of close loop control circuit 11(s) subtraction signal yF1(s) system deviation signal e, is obtained1
(s), i.e. e1(s)=x1(s)-yF1(s)；
B3:To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4:Internal Model Control Algorithm C in close loop control circuit 2 will be come from2IMC(s) output IMC signals u2(s) decoupling is acted on
Cross aisle transmission function P12(s) its decoupling signal u is obtainedp12(s)；By IMC signals u1And u (s)p12(s) subtract each other and obtain closed loop
The control decoupling signal u of control loop 11p(s), i.e. u1p(s)=u1(s)-up12(s)；
B5:By decoupling signal up12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；It will come from
The control decoupling signal u exported in close loop control circuit 22p(s) controlled device cross aisle transmission function prediction model is acted on
G12m(s) its output valve y is obtained12ma(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)；Will
Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit2p(s) controlled device intersection is acted on
Channel transfer function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3:Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control decoupling letter
Number u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to controlled pair
As G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to not knowing 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:Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler
CD node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD nodes；
The step of mode E, includes：
E1:Control decoupler CD nodes work in event driven manner, by feedback signal y2(s) triggered；
E2:In control decoupler CD nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s)
Implementation first adds to be subtracted afterwards, obtains system deviation signal e2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3:To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4:Internal Model Control Algorithm C in close loop control circuit 1 will be come from1IMC(s) output IMC signals u1(s) decoupling is acted on
Cross aisle transmission function P21(s) its decoupling signal u is obtainedp21(s)；By IMC signals u2And u (s)p21(s) subtract each other and obtain closed loop
The control decoupling signal u of control loop 22p(s), i.e. u2p(s)=u2(s)-up21(s)；
E5:Will control decoupling signal u2p(s) act on controlled device cross aisle transmission function in close loop control circuit 1 and estimate mould
Type G12m(s) its output valve y is obtained12ma(s)；
E6: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) after triggering, control is decoupled
Signal u2p(s) controlled device cross aisle transmission function prediction model G in close loop control circuit 1 is acted on12m(s) its is obtained defeated
Go out value y12mb(s)；
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 the IMC of one degree of freedom, while realizing to not knowing network delay τ3And τ4Compensation with
Control.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：Using one degree of freedom IMC close loop control circuit 2, its
The adjustable parameter of control loop only has 1, and the regulation and selection of its parameter are simple, and explicit physical meaning；Using two degrees of freedom
IMC close loop control circuit 1, the adjustable parameter of its control loop has 2, can further improve stability, the tracing property of system
Energy and antijamming capability, especially when system is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can enter
One step improves the dynamic property quality of system, influence of the reduction network delay to the stability of a system.
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| CN102063106A (en) * | 2010-11-18 | 2011-05-18 | 海南大学 | External feedback and inner loop nondeterministic network time delay compensation method of network cascade control system |
| CN102710515A (en) * | 2012-05-30 | 2012-10-03 | 海南大学 | Deadband scheduling method applicable to networked control systems |
| CN105699953A (en) * | 2016-01-28 | 2016-06-22 | 西安电子科技大学 | A frequency diversity MIMO radar distance-angle decoupling beam forming method |
| CN106707762A (en) * | 2017-02-20 | 2017-05-24 | 海南大学 | Hybrid control method for uncertain time delay of two-input and two-output network control system |
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