CN106990713A - The input of one kind two two exports NDCS and is uncertain of network delay compensating control method - Google Patents

The input of one kind two two exports NDCS and is uncertain of network delay compensating control method Download PDF

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CN106990713A
CN106990713A CN201710385805.6A CN201710385805A CN106990713A CN 106990713 A CN106990713 A CN 106990713A CN 201710385805 A CN201710385805 A CN 201710385805A CN 106990713 A CN106990713 A CN 106990713A
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杜锋
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Hainan University
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Abstract

Two inputs two export NDCS and are uncertain of network delay compensating control method, 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 the method for network delay compensation model therebetween, two loops are implemented with two degrees of freedom IMC and SPC respectively, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, reduction is uncertain of network delay to TITO NDCS stability influences, improve quality of system control.

Description

The input of one kind two two exports NDCS and is uncertain of network delay compensating control method
Technical field
The input of one kind two two exports NDCS (Networked decoupling control systems, NDCS) and is uncertain of Network delay compensating control method, is related to the crossing domain of automatic control technology, the network communications technology and computer technology, especially It is related to the multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.
Background technology
The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked Control systems, NCS).NCS is the dcs for integrating communication network and control system, is provided simultaneously with The function of signal transacting, Optimal Decision-making and control operation, NCS typical structure is as shown in Figure 1.
Compared with traditional point-to-point direct control system, NCS maximum feature be sensor in system, controller and Actuator is not direct point-to-point connection, but exchanges data and control information by public network, has broken traditional control Limitation of the system processed on locus, can be achieved system control and the remote monitoring under complex environment, reduces the wiring of system Complexity and Operations Management cost, improve the information integration of control system, the flexibility and reliability of strengthening system.
NCS by its interactivity it is strong, connect up less, extension and easy to maintenance and the advantages of resource-sharing can be realized, extensively It is general to be applied to the fields such as national defence, Aero-Space, device fabrication, intelligent transportation, process control and economic management.
But, while adding communication network in feedback control loop, also increase control system analysis and design Complexity.Due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many new challenges. Especially it is uncertain of the presence of network delay, it is possible to decrease NCS control quality, or even makes system loss of stability, can when serious System can 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, it is unknown or uncertain, network delay is less than One sampling period or more than one sampling period, single bag transmission or many bag transmission, when whetheing there is data-bag lost, to it Carry out mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprise at least two it is defeated Enter the multiple-input and multiple-output constituted with the control system of two outputs (Two-input and two-output, TITO) The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially The multiple-input and multiple-output network uneoupled control by decoupling processing is needed between input and output signal, there is coupling The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Also exist and influence each other unavoidably between selection pairing, each control loop, thus 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
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled, MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO- In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size It is relevant etc. factor, to more than several or even the dozens of sampling period network delay, to set up each in MIMO-NDCS and control back The mathematical modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic 's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
Network decoupling and controlling system (TITO-NDCS) is exported the present invention relates to the input of one kind two in MIMO-NDCS two no 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；τ1Representing will control decoupler CD1 node output letter Number u1a(s), to network path it is transferred to the network delay that actuator A1 nodes are undergone through preceding；τ2Represent output signal y1 (s) from sensor S1 nodes, the network delay undergone through feedback network tunnel to control decoupler CD1 nodes.
2) the signal u of decoupler CD2 nodes is controlled from close loop control circuit 22a(s), transmitted by cross decoupling passage Function P12And network path (s)Unit acts on close loop control circuit 1；And from the actuator A2 of close loop control circuit 2 The output signal u of node2a(s) controlled device cross aisle transmission function G, is passed through12(s) output of close loop control circuit 1 is influenceed Signal y1(s), from input signal u2a(s) output signal y is arrived1(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, contain and be uncertain of network Delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses 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；τ3Representing will control decoupler CD2 node output letter Number u2a(s), to network path it is transferred to the network delay that actuator A2 nodes are undergone through preceding；τ4Represent output signal y2 (s) from sensor S2 nodes, the network delay undergone through feedback network tunnel to control decoupler CD2 nodes.
2) the signal u of decoupler CD1 nodes is controlled from close loop control circuit 11a(s), transmitted by cross decoupling passage Function P21And network path (s)Unit acts on close loop control circuit 2；And from the actuator A1 of close loop control circuit 1 The output signal u of node1a(s) controlled device cross aisle transmission function G, is passed through21(s) output of close loop control circuit 2 is influenceed Signal y2(s), from input signal u1a(s) output signal y is arrived2(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, contain and be uncertain of network Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses Stability.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the closed loop transfer function, equation (1) of its close loop control circuit 1 and the denominator of (2), Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2 (4) in denominator, 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, proposing a kind of based on two degrees of freedom IMC (Internal Model Control, IMC) delay compensation method；For close loop control circuit 2, propose a kind of based on SPC (Smith Predictor Control, SPC) delay compensation method；The compensation and control of two close loop control circuit network delays are constituted, for release pair In each close loop control circuit, measurement, estimation or the identification of network delay between node, and then reduce network delay τ1And τ2, and τ3And τ4Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system.When pre- When estimating model equal to its true model, it can be achieved not including the index of network delay in the characteristic equation of respective close loop control circuit , and then influence of the network delay to whole system stability can be reduced, improve the dynamic property quality of system, realization pair TITO-NDCS be uncertain of being segmented of network delay, in real time, online and dynamic predictive compensation and two degrees of freedom IMC and SPC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)； When meeting predictive compensation condition to realize, the finger of network delay is no longer included in the closed loop transform function of close loop control circuit 1 It is several, to realize to network delay τ1And τ2Compensation and control, use to control decoupling output signal u1aAnd y (s)p12(s) make For input signal, controlled device prediction model G11m(s) as controlled process, control passes through network transfer delay with process data Prediction modelAndAround internal mode controller C1IMC(s) two positive feedback Prediction Control loops, are constructed, such as Fig. 4 institutes Show；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing Device S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAnd Thus no matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising therebetween The predict-compensate model of network delay, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, Estimation is recognized；When prediction model is equal to its true model, it can be achieved to its network delay τ1And τ2Compensation and control；With This in the backfeed loop of control decoupler CD1 nodes, increases feedback filter F simultaneously1(s)；Implement the net of the inventive method Network time delay two degrees of freedom IMC method structures are as shown in Figure 5；
For the close loop control circuit 2 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 2 Exponential term containing network delay, to realize to network delay τ3And τ4Compensation and control, around controlled device G22(s), use With the output signal y of close loop control circuit 22(s) as input signal, two Predictive Compensation Control loops are constructed；One is by y2 (s) predictor controller C is passed through2m(s) a negative-feedback Prediction Control loop is constructed；Two be by y2(s) network transfer delay is passed through Prediction modelWith predictor controller C2mAnd network transfer delay prediction model (s)A positive feedback is constructed afterwards to estimate Control loop, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, meet predictor controller C2m(s) it is equal to its real controllers C2(s) condition is (due to controller C2(s) it is people To design and selecting, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to control decoupler CD2 nodes it Between, and from control decoupler CD2 nodes to actuator A2 nodes, using real network data transmission processWith AndInstead of the predict-compensate model of network delay therebetweenAndObtain the network delay collocation structure shown in Fig. 5； Realize that system does not include network delay predict-compensate model therebetween from structure, so as to exempt in close loop control circuit 2, saving Network delay τ between point3And τ4Measurement, estimation or recognize；It can be achieved to being uncertain of network delay τ3And τ4Compensation and SPC.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：G11m(s) it is controlled device G11(s) prediction model；C1IMC(s) it is internal mode controller；F1(s) it is feedback Wave filter.
2) from the control decoupler CD2 node signals of close loop control circuit 2 u2a(s) it is logical by cross decoupling as input Road transmission function P12And network path (s)The signal y of unit transmissionp12(s) close loop control circuit 1 is acted on；Simultaneously Signal yp12(s) controlled device prediction model G in control decoupler CD1 nodes is acted on11m(s), from input signal u2a(s) arrive Output signal y1(s) closed loop transfer function, between is：
3) the actuator A2 output signal nodes u of close loop control circuit 2 is come from2f(s), transmitted by controlled device cross aisle Function G12(s) close loop control circuit 1 is acted on, from input signal u2f(s) output signal y is arrived1(s) closed loop transfer function, between For：
It is can be seen that from above-mentioned closed loop transfer function, equation (5) into (7)：When controlled device prediction model is true equal to its During 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 network delay and two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can improve system with Track and antijamming capability, influence of the reduction network delay to the stability of a system, further improve the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
2) from the control decoupler CD1 node signals of close loop control circuit 1 u1a(s) it is logical by cross decoupling as input Road transmission function P21And network path (s)The signal y of unit transmissionp21(s) close loop control circuit 2 is acted on, from input Signal u1a(s) output signal y is arrived2(s) closed loop transfer function, between is：
3) the actuator A1 output signal nodes u of close loop control circuit 1 is come from1a(s), transmitted by controlled device cross aisle Function G21(s) close loop control circuit 2 is acted on, from input signal u1a(s) output signal y is arrived2(s) closed loop transfer function, between For：
It is can be seen that from above-mentioned closed loop transfer function, equation (8) into (10)：The closed loop transform function of close loop control circuit 2 1+C2(s)G22(s) in=0, the network delay τ of the influence stability of a system is no longer included3And τ4Exponential termWithSo as to Influence of the network delay to the stability of a system can be reduced, improves the dynamic control performance quality of system, is realized to being uncertain of network Dynamic compensation and the control of time delay.
In close loop control circuit 1, two degrees of freedom IMC design
(1) internal mode controller C1IMC(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 is used as the inversion model of plant model；Second step is the feedforward that certain order is added in feedforward controller Wave filter f1(s) a complete internal mode controller C, is constituted1IMC(s)。
1) feedforward controller C11(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, controlled device prediction model is equal to its true model, i.e.,：G11m(s)=G11 (s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)= G11m+(s)G11m-(s), wherein： G11m+(s) it is controlled device prediction model G11m(s) it is flat comprising pure lag system and s right half in The irreversible part of face zero pole point；G11m-(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 111(s) it can be chosen for respectively：
2) feedforward filter f1(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), It has ignored G11m+(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 11(s), it is chosen for fairly simple n1And n2Rank wave filterWherein：λ1For feedforward filter time constant；n1For the order of feedforward filter, and n1=n1a-n1b；n1a For controlled device G11(s) order of denominator；n1bFor controlled device G11(s) order of molecule, usual n1＞ 0.
3) internal mode controller C1IMC(s)
The internal mode controller C of close loop control circuit 11IMC(s) it can be chosen for:
It can be seen that from equation (11)：The internal mode controller C of one degree of freedom1IMC(s) in, the adjustable ginseng of only one of which Number λ1, due to λ1The change of parameter and the tracking performance of system and antijamming capability suffer from direct relation, therefore are adjusting filter The customized parameter λ of ripple device1When, the tracing property generally required in system is traded off between the two with antijamming capability.
(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, to improve the tracing property and antijamming capability of system, shadow of the reduction network delay to the stability of a system Ring, improve the dynamic property quality of system.
In close loop control circuit 2, controller C2(s) selection：
Controller C2(s) can be according to controlled device G22(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 2 uses SPC methods, from TITO- Realized and specific controller C in NDCS structures2(s) selection of control strategy is unrelated.
The scope of application of the present invention：
Estimating mathematical modeling suitable for controlled device, to estimate mathematical modeling equal to its true model or controlled device true with it Using the two degrees of freedom IMC methods of close loop control circuit 1, and controlled device mathematical modulo when there is certain deviation between real mould Using the SPC methods of close loop control circuit 2 when type is known or not exclusively knows, the input of one kind two two constituted exports network solution Coupling control system (TITO-NDCS) is uncertain of the compensation and control of network delay；Its Research Thinking and method, can equally be well applied to Controlled device estimates mathematical modeling and estimates and exist between mathematical modeling and its true model equal to its true model or controlled device Using the two degrees of freedom IMC methods of close loop control circuit 1 during certain deviation, and controlled device mathematical modeling is known or incomplete Using the SPC methods of close loop control circuit 2 when knowing, the multiple-input and multiple-output network decoupling and controlling system (MIMO- constituted NDCS the compensation and control of network delay) are uncertain of.
It is a feature of the present invention that this method comprises the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathUnit Output signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1a(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2(s) or by cross decoupling network pathUnit Output signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by signal u2a(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 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：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control Decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD1 sections are got to Point；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling Network pathThe output signal y of unitp12(s) triggered；
B2：In control decoupler CD1 nodes, by feedback signal y1b(s) with controlled device prediction model G11m(s) defeated Go out value y11ma(s) subtract each other and obtain signal y1c(s), i.e. y1c(s)=y1b(s)-y11ma(s)；By signal y1c(s) feedback filter is acted on Ripple device F1(s) its output valve y, is obtainedF1(s), i.e. yF1(s)=F1(s)y1c(s)；By the given letter of the system of close loop control circuit 1 Number x1(s) feedback filter F, is subtracted1(s) output valve 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：By IMC signals u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12 And network path (s)The signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1a(s), i.e. u1a(s)=u1 (s)-yp12(s)；
B5：By signal yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；By u1a (s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) network path is passed throughUnit To control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, control decoupler CD2 sections are got to Point；
B6：Will control decoupling signal u1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is to actuator A1 node-node transmissions, u1a(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 signal u1a(s) triggered；
C2：After actuator A1 nodes are triggered, decoupling signal u will be controlled1a(s) controlled device prediction model G is acted on11m (s) its output valve y is obtained11mb(s)；
C3：Will control decoupling signal u1a(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control solution Coupling signal u1a(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 control, while realizing to being uncertain of network delay τ1And τ2Compensation and two degrees of freedom IMC；
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 y of close loop control circuit 22 (s), i.e. y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or by cross decoupling Network pathThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22(s) feedback signal y is subtracted2 (s) error signal e is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；To e2(s) control algolithm C is implemented2(s) its output, is obtained Signal u2(s)；
E3：To feedback signal y2(s) control algolithm C is implemented2(s) its output signal u, is obtained2b(s)；
E4：By signal u2(s) with signal u2b(s) be added after, then with from cross decoupling network pathThe output of unit Signal yp21(s) subtract each other, obtain control decoupling output signal u2a(s), i.e. u2a(s)=u2(s)+u2b(s)-yp21(s)；By u2a(s) Act on cross decoupling channel transfer function P12(s) its output signal y is obtainedp12(s)；By yp12(s) cross decoupling network is passed through Path to control decoupler CD1 node-node transmissions, signal yp12(s) will experience network transfer delay τ12Afterwards, control decoupling is got to Device CD1 nodes；
E5：By signal u2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is passed to actuator A2 nodes It is defeated, u2a(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) triggered；
F2：After actuator A2 nodes are triggered, by the feedback signal y from sensor S2 nodes2(s) implement control to calculate Method C2(s) its output signal u, is obtained2d(s)；
F3：By signal u2a(s) with signal u2d(s) subtract each other, obtain signal u2f(s), i.e. u2f(s)=u2a(s)-u2d(s)；
F4：By signal u2f(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2f(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) decoupling and control, while realizing to being uncertain of network delay τ3And τ4Compensation and SPC.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimation or recognize, also simultaneously Node clock signal synchronously requirement can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid to time delay The waste of node storage resources is expended needed for identification, while can also avoid due to " sky sampling " or " many samplings " band that time delay is caused The compensation error come.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS using wireless network protocol；It is not only suitable for really Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, simultaneously Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, in TITO-NDCS, using two degrees of freedom IMC control loop 1, the adjustable parameter of its close loop control circuit is 2 It is individual, stability, tracking performance and the antijamming capability of system can be improved；Especially when system is present compared with large disturbances and model mismatch When, feedback filter F1(s) presence can further improve the dynamic property quality of system, and reduction network delay is stable to system The influence of property.
4th, in TITO-NDCS, using SPC control loop 2, due to being realized from TITO-NDCS structures and specific control Device C2(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.
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 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 leads to Road propagation delay time；Represent the detection signal y of j-th of sensor S node of systemj(s) passed to control decoupler CD nodes Defeated undergone feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11And G (s)22(s) and controlled device cross aisle pass Delivery function G21And G (s)12(s), cross decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute Composition.
In Fig. 3；x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；C1(s) and C2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；yp21And y (s)p12(s) represent to intersect Decouple path output signal；u1aAnd u (s)2a(s) control decoupling signal is represented；τ1And τ3Representing will control decoupling signal u1a(s) and u2a(s) the feedforward network tunnel undergone from control decoupler CD1 and CD2 node to actuator A1 and A2 node-node transmission Time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to control decoupler CD1 and CD2 section The undergone feedback network tunnel time delay of point transmission；τ21And τ12Represent cross decoupling channel transfer function P21And P (s)12 (s) output signal yp21And y (s)p12(s) when the network path undergone to control decoupler CD2 and CD1 node-node transmission is transmitted Prolong.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is network Propagation delay timeAndPrediction model；G11m(s) it is controlled device G11(s) prediction model；C2m(s) it is controller C2 (s) predictor controller.
Fig. 5：The input of one kind two two exports NDCS and is uncertain of network delay compensating control method
Fig. 5 can realize the compensation and control to being uncertain of network delay in close loop control circuit 1 and 2.
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 below, makes the ordinary skill of this area Personnel become apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, and the cycle is h1Sampled signal triggering after, to quilt Control object G11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s) output signal y12(s), with And the output signal y of actuator A1 nodes11mb(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)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or intersected Decoupling network pathThe output signal y of unitp12(s) after triggering, by feedback signal y1b(s) with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other and obtain signal y1c(s), i.e. y1c(s)=y1b(s)-y11ma(s)；By signal y1c(s) make For feedback filter F1(s) its output valve y, is obtainedF1(s), i.e. yF1(s)=F1(s)y1c(s)；What it is by close loop control circuit 1 is Unite Setting signal x1(s) feedback filter F, is subtracted1(s) output valve yF1(s) system deviation signal e, is obtained1(s), i.e. e1(s) =x1(s)-yF1(s)；To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；By IMC signals u1(s) Subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12And network path (s)Unit is transmitted Signal yp12(s) control decoupling signal u, is obtained1a(s), i.e. u1a(s)=u1(s)-yp12(s)；
4th step：By signal yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；Will u1a(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) network path is passed throughIt is single Member to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, control decoupler CD2 is got to Node；
5th step：Will control decoupling signal u1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit to Actuator A1 node-node transmissions, u1a(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
6th step：Actuator A1 nodes work in event driven manner, by signal u1a(s) after triggering, control is decoupled Signal u1a(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
7th step：Will control decoupling signal u1a(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；Will control Decoupling signal u processed1a(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 control, while realizing to being uncertain of network delay τ1And τ2Compensation with two from By spending IMC；
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 the cycle is h2Sampled signal triggering after, to quilt Control object G22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s) output signal y21(s) carry out Sampling, and calculate the system output signal y of close loop control circuit 22(s), i.e. y2(s)=y22(s)+y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or intersected Decoupling network pathThe output signal y of unitp21(s) after triggering, by the system Setting signal x of close loop control circuit 22 (s) feedback signal y is subtracted2(s) error signal e is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；To e2(s) control algolithm is implemented C2(s) its output signal u, is obtained2(s)；To feedback signal y2(s) control algolithm C is implemented2(s) its output signal u, is obtained2b (s)；By signal u2(s) with signal u2b(s) be added after, then with from cross decoupling network pathThe output signal y of unitp21 (s) subtract each other, obtain control decoupling output signal u2a(s), i.e. u2a(s)=u2(s)+u2b(s)-yp21(s)；
4th step：By u2a(s) cross decoupling channel transfer function P is acted on12(s) its output signal y is obtainedp12(s)；Will yp12(s) by cross decoupling network path to control decoupler CD1 node-node transmissions, signal yp12(s) when will undergo network transmission Prolong τ12Afterwards, get to control decoupler CD1 nodes；
5th step：By signal u2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, u2a(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
6th step：Actuator A2 nodes work in event driven manner, by signal u2a(s), will be to carrying out autobiography after triggering The feedback signal y of sensor S2 nodes2(s) control algolithm C is implemented2(s) its output signal u, is obtained2d(s)；By signal u2a(s) with Signal u2d(s) subtract each other, obtain signal u2f(s), i.e. u2f(s)=u2a(s)-u2d(s)；
7th step：By signal u2f(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2f(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) decoupling and control, while realizing to being uncertain of network delay τ3And τ4Compensation and SPC.
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 (5)

1. the input of one kind two two exports NDCS and is uncertain of network delay compensating control method, it is characterised in that this method includes following Step：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathThe output of unit Signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1a(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2(s) or by cross decoupling network pathThe output of unit Signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by signal u2a(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 y11mb(s) sampled, and calculated Go out the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b (s)=y1(s)-y11mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling network The output signal y of path e- τ 12s unitsp12(s) triggered；
B2：In control decoupler CD1 nodes, by feedback signal y1b(s) with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other and obtain signal y1c(s), i.e. y1c(s)=y1b(s)-y11ma(s)；By signal y1c(s) feedback filter F is acted on1 (s) its output valve y, is obtainedF1(s), i.e. yF1(s)=F1(s)y1c(s)；By the system Setting signal x of close loop control circuit 11(s), Subtract feedback filter F1(s) output valve 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：By IMC signals u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12(s) and Network pathThe signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1a(s), i.e. u1a(s)=u1(s)-yp12 (s)；
B5：By signal yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；By u1a(s) make For decoupling channel transfer function P21(s), and by P21(s) output signal yp21(s) network path is passed throughUnit is to control Decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, get to control decoupler CD2 nodes；
B6：Will control decoupling signal u1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is saved to actuator A1 Point transmission, u1a(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 signal u1a(s) triggered；
C2：After actuator A1 nodes are triggered, decoupling signal u will be controlled1a(s) controlled device prediction model G is acted on11m(s) To its output valve y11mb(s)；
C3：Will control decoupling signal u1a(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control decoupling letter Number u1a(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 control, while realizing to being uncertain of network delay τ1And τ2Compensation and two degrees of freedom IMC；
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(s), That is y2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or by cross decoupling network lead to RoadThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 22(s) feedback signal y is subtracted2(s) To error signal e2(s), i.e. e2(s)=x2(s)-y2(s)；To e2(s) control algolithm C is implemented2(s) its output signal u, is obtained2 (s)；
E3：To feedback signal y2(s) control algolithm C is implemented2(s) its output signal u, is obtained2b(s)；
E4：By signal u2(s) with signal u2b(s) be added after, then with from cross decoupling network pathThe output signal of unit yp21(s) subtract each other, obtain control decoupling output signal u2a(s), i.e. u2a(s)=u2(s)+u2b(s)-yp21(s)；By u2a(s) act on In cross decoupling channel transfer function P12(s) its output signal y is obtainedp12(s)；By yp12(s) cross decoupling network path is passed through To control decoupler CD1 node-node transmissions, signal yp12(s) will experience network transfer delay τ12Afterwards, get to control decoupler CD1 nodes；
E5：By signal u2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, u2a (s) will experience network transfer delay τ3Afterwards, actuator A2 nodes could be arrived；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by signal u2a(s) triggered；
F2：After actuator A2 nodes are triggered, by the feedback signal y from sensor S2 nodes2(s) control algolithm C is implemented2 (s) its output signal u, is obtained2d(s)；
F3：By signal u2a(s) with signal u2d(s) subtract each other, obtain signal u2f(s), i.e. u2f(s)=u2a(s)-u2d(s)；
F4：By signal u2f(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2f(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) Decoupling and control, while realizing to being uncertain of network delay τ3And τ4Compensation and SPC.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay between node and node τ1And τ2, and τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：Using two degrees of freedom IMC control loop 1, its closed loop control The adjustable parameter in loop processed is 2, can improve stability, tracking performance and the antijamming capability of system；Especially when system is deposited When compared with large disturbances and model mismatch, feedback filter F1(s) presence can further improve the dynamic property quality of system, drop Influence of the low network delay to the stability of a system.
5. according to the method described in claim 1, it is characterised in that：Using SPC control loop 2, due to being tied from TITO-NDCS Realized and specific controller C on structure2(s) selection of control strategy is unrelated, thus can be not only used for the TITO- using conventional control NDCS, also available for using intelligent control or using the TITO-NDCS of complex control strategy.
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Application publication date: 20170728