CN106990716A - A kind of dual input exports the mixed control method of NDCS unknown network time delays - Google Patents
A kind of dual input exports the mixed control method of NDCS unknown network time delays Download PDFInfo
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Abstract
Dual input exports the mixed control method of NDCS unknown network time delays, belongs to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of two-output impulse generator signal, need the TITO NDCS by decoupling processing, due to network delay produced in network data among the nodes transmitting procedure, not only influence respective close loop control circuit stability, but also whole system stability 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, implement two degrees of freedom IMC and SPC respectively to its loop, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, reduce influence of the unknown time delay of network to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
A kind of dual input exports NDCS (Networked decoupling control systems, NDCS) unknown network
The mixed control method of time delay, is related to automatic control technology, the network communications technology and computer technology crossing domain, more particularly to
The multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.
Background technology
Network control system (Networked control systems, NCS), refers to by Real Time Communication Network institute shape
Into closed-loop feedback control system.Since NCS occurs from last century late nineteen eighties, industrial process control has been widely used in it
The fields such as system, intelligent transport, remote assistant medical treatment and national defense industry, NCS typical structure is as shown in Figure 1.
Communication network is incorporated into real-time control system ,-aspect, NCS can be made to have that cost is low, reliability is high, install and
The advantages of safeguarding simply and be easy to by real-time performance resource-sharing；On the other hand, many communication constraints, such as net are also brought
Data packetloss caused by inducing delay, communications bandwidth resources caused by network communication environment are limited, and the phenomenon such as network congestion
In the presence of so that NCS faces many new challenges.The especially presence of network delay, it is possible to decrease NCS control quality, or even make
System loss of stability, may cause system to break down when serious.
At present, research both at home and abroad for NCS, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, constant, uncertain or random in network delay respectively, 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 comprises at least two
Multiple-input and multiple-output (the Multiple- that input is constituted with two outputs (Two-input and two-output, TITO)
Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with
Between output signal, there is coupling needs the multiple-input and multiple-output network decoupling and controlling system by decoupling processing
The achievement in research of (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Also exist and influence each other unavoidably between selection pairing, each control loop, thus to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled,
MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO-
In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size
It is relevant etc. factor, controlled to more than several or even the dozens of sampling period unknown network time delay, to set up each in MIMO-NDCS
The mathematical modeling that the network delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of compensation of the unknown time delay of two-output impulse generator NDCS (TITO-NDCS) in MIMO-NCS with
Control, 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 controller, G11(s) it is controlled device；τ1Represent control signal u1(s) from C1(s) controller
The C1 nodes at place, the network delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；τ2Expression will be defeated
Go out signal y1(s) from sensor S1 nodes, through feedback network tunnel to C1(s) the C1 nodes where controller are undergone
Network delay.
2) the control signal u in the decoupling actuator DA2 nodes from close loop control circuit 22(s) intersection solution, is acted on
Coupling passage P12(s) unit and cross decoupling network transmission channelsUnit, its output signal yp12(s) remake for closed loop control
Loop 1 processed, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA2 nodes output is decoupled from close loop control circuit 22p(s) controlled device, is passed through
Cross aisle transmission function G12(s) the output signal y of close loop control circuit 1 is acted on1(s), from input signal u2p(s) to output
Signal y1(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (3)In, contain network it is unknown when
Prolong τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely
It is qualitative.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller, G22(s) it is controlled device；τ3Represent control signal u2(s) from C2(s) controller
The C2 nodes at place, the network delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；τ4Expression will be defeated
Go out signal y2(s) from sensor S2 nodes, through feedback network tunnel to C2(s) the C2 nodes where controller are undergone
Network delay.
2) the control signal u in the decoupling actuator DA1 nodes from close loop control circuit 11(s) intersection solution, is acted on
Coupling passage P21(s) unit and cross decoupling network transmission channelsUnit, its output signal yp21(s) remake for closed loop control
Loop 2 processed, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA1 nodes output is decoupled from close loop control circuit 11p(s) controlled device, is passed through
Cross aisle transmission function G21(s) the output signal y of close loop control circuit 2 is acted on2(s), from input signal u1p(s) to output
Signal y2(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (4) and the denominator of (6)In, contain network it is unknown when
Prolong τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely
It is qualitative.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (3), wrap
The unknown delay, τ of network is contained1And τ2Exponential termWithAnd the transmission function equation (4) of close loop control circuit 2 and (6)
Denominator in, contain the unknown delay, τ of network3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11(s) not only by its input signal x1(s) influence, at the same also by
To the input signal x of close loop control circuit 22(s) influence；At the same time, the output signal y of close loop control circuit 22(s) not only
By its input signal x2(s) influence, while also by the input signal x of close loop control circuit 11(s) influence；During network
The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together
When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious
Go stability.
1) measurement of network delay, estimation or recognize, and then drop in order to exempt in each close loop control circuit, between node
Low network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with being
The influence for stability of uniting, improves the dynamic property quality of system, realize to being segmented of TITO-NDCS unknown network time delays, in real time,
Online and dynamic compensation and control.
2) it is directed to the close loop control circuit 1 in Fig. 3：The present invention propose a kind of delay compensation based on two degrees of freedom IMC with
Control method, for overcoming due to one degree of freedom IMC, only one of which feedforward filter parameter lambda in its control loop1It is adjustable
Section between the tracing property and robustness of system, it is necessary to trade off；And the control system for high performance requirements or presence
Compared with the system of large disturbances and model mismatch, it is difficult to the problem of taking into account the performance of each side and obtain Satisfactory Control effect.
3) it is directed to the close loop control circuit 2 in Fig. 3：The present invention proposes a kind of delay compensation and control method based on SPC,
For realizing the compensation to unknown network time delay and control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；In order to
When realization meets predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1,
To realize to network delay τ1And τ2Compensation and control, use with control signal u1(s) as input signal, controlled device is pre-
Estimate model G11m(s) as controlled process, control passes through network transfer delay prediction model with process dataAndEnclose
Around internal mode controller C1IMC(s) a positive feedback Prediction Control loop is constructed；The structure for implementing this step is as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet unknown network Time-delay Prediction modelAndTo be equal to its true modelAndCondition.Therefore, from biography
Sensor S1 nodes are between controller C1 nodes, and from controller C1 nodes to decoupling actuator DA1 nodes, using true
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus nothing
Whether it is equal to its true model by the prediction model of controlled device, when can be realized from system architecture not comprising network therebetween
The predict-compensate model prolonged, so as to exempt in close loop control circuit 1, unknown network delay, τ between node1And τ2Measurement, estimate
Meter is recognized；At the same time, in the backfeed loop of controller C1 nodes, feedback filter F is increased1(s)；Implement present invention side
The network delay compensation of method is as shown in Figure 5 with two degrees of freedom IMC method structures；
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, use with control signal u2(s) conduct
Input signal, controlled device prediction model G22m(s) as controlled process, control pre- by network transfer delay with process data
Estimate modelWithController C is surrounded in controller C2 nodes2(s), construct positive feedback Prediction Control loop and
One negative-feedback Prediction Control loop；The structure for implementing this step is as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and SPC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Meet uncertain network-induced delay prediction modelWithTo be equal to its true modelWithCondition.Therefore, from sensing
Device S2 nodes are between controller C2 nodes, and from controller C2 nodes to decoupling actuator DA2 nodes, using true
Network data transmission processWithInstead of network delay predict-compensate model therebetweenWithThus no matter it is controlled
Whether the prediction model of object is equal to its true model, can be realized from system architecture not comprising the pre- of network delay therebetween
Compensation model is estimated, so as to exempt in close loop control circuit 2, unknown network delay, τ between node3And τ4Measurement, estimate or distinguish
Know；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures.
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) the control signal u in the decoupling actuator DA2 nodes from close loop control circuit 22(s) intersection solution, is acted on
Coupling passage P12(s) unit and cross decoupling network transmission channelsUnit, its output signal yp12(s) remake for closed loop control
Loop 1 processed, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA2 nodes output is decoupled from close loop control circuit 22p(s) controlled device, is passed through
Cross aisle transmission function G12(s) the output signal y of close loop control circuit 1 is acted on1(s), from input signal u2p(s) to output
Signal y1(s) closed loop transfer function, is between：
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 byIt is turned into 1；Now, close
It is no longer steady comprising influence system in equivalent to one open-loop control system of ring control loop 1, the denominator of closed loop transfer function,
Qualitatively network delay τ1And τ2Exponential termWithThe stability of system is only with controlled device, internal mode controller and intersecting
Decouple the stability of channel transfer function in itself relevant；Shadow of the network delay to the stability of a system can be reduced using the inventive method
Ring, improve the dynamic control performance quality of system, realize the dynamic compensation to unknown network time delay and two degrees of freedom IMC.
When system is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can be improved further
The tracing property and antijamming capability of system, influence of the reduction network delay to the stability of a system, 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：
In formula：G22m(s) it is controlled device G22(s) prediction model, C2(s) it is controller.
2) the control signal u in the decoupling actuator DA1 nodes from close loop control circuit 11(s) intersection solution, is acted on
Coupling passage P21(s) unit and cross decoupling network transmission channelsUnit, its output signal yp21(s) remake for closed loop control
Loop 2 processed, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA1 nodes output is decoupled from close loop control circuit 11p(s) controlled device, is passed through
Cross aisle transmission function G21(s) the output signal y of close loop control circuit 2 is acted on2(s), from input signal u1p(s) to output
Signal y2(s) closed loop transfer function, is between：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22(s) when,
The closed loop transform function of close loop control circuit 2 byBecome 1+C2(s)
G22(s)=0；The unknown delay, τ of network of the influence stability of a system is no longer included in its closed loop transform function3And τ4Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve system dynamic control performance quality, realization pair
The dynamic compensation of unknown network time delay and SPC.
In close loop control circuit 1, two degrees of freedom IMC design and selection：
(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 C is used as the inversion model of plant model11(s)；Second step is that certain order is added in feedforward controller
Feedforward 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) pure lag system and s RHPs are included in
The irreversible part of zero pole point；G11m- (s) 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：
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 n1Rank 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 (13)：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；λ1fFor feedback filter 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 its model parameter change, it is both optional
Conventional control strategy is selected, intelligent control or complex control strategy also may be selected；It can be realized from TITO-NDCS structures and specific control
Device C processed2(s) selection of control strategy is unrelated.
The scope of application of the present invention：
It is equal to suitable for controlled device prediction model between its true model, or prediction model and its true model and has one
During fixed deviation, a kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) the unknown network time delay constituted
Compensation and two degrees of freedom IMC and SPC；Its Research Thinking and method, can equally be well applied to controlled device prediction model true equal to its
When there is certain deviation between real mould, or prediction model and its true model, the multiple-input and multiple-output network solution constituted
The compensation of coupling control system (MIMO-NDCS) unknown network time delay and two degrees of freedom IMC and SPC.
It is a feature of the present invention that this method comprises the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when controller C1 nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by IMC signals u1(s) or by from cross decoupling network transmission channelsThe output signal y of unitp12(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when controller C2 nodes are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2(s) or by from cross decoupling network transmission channelsIt is single
The output signal y of memberp21(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device
Channel transfer function G12(s) output signal y12(s), and decoupling actuator DA1 nodes output signal y11mb(s) adopted
Sample, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12
And y (s)1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions,
Feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback filter, is subtracted
F1(s) output signal yF1(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator DA1
Node-node transmission, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or Self-crossover solution is carried out
Coupling network transmission channelsThe output signal y of unitp12(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By IMC signals u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
C4：By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling of close loop control circuit 2
Actuator DA2 node-node transmissions；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
C5：By IMC signals u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) pass through
Cross decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain letter
Number u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
C6：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) act on
Controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11And G (s)21
(s) decoupling and control, while realizing to the unknown delay, τ of network1And 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), and decoupling actuator DA2 nodes output signal y22mb(s) adopted
Sample, and calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21
And y (s)2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions,
Feedback signal y2b(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2b(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2b
(s) with controlled device prediction model G22m(s) output valve y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b
(s)-y22ma(s)；
E3：To e2(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
E4：By signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to decoupling actuator DA2
Point transmission, signal u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by signal u2(s) or by from cross decoupling
Network transmission channelsThe output signal y of unitp21(s) triggered；
F2：By signal u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；
F3：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F4：By signal yp12(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling of close loop control circuit 1
Actuator DA1 node-node transmissions；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
F5：By signal u2(s) the IMC signals u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) pass through
Cross decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain letter
Number u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
F6：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained11(s)；By signal u2p(s) act on
Controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12
(s) decoupling and control, while realizing to the unknown delay, τ of network3And τ4Compensation and SPC.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of unknown network time delay, observation, estimation or recognize, together
When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid
To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused
The compensation error that sampling " 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, the control loop 1 in TITO-NDCS uses two degrees of freedom IMC, and the adjustable parameter of its close loop control circuit is 2
It is individual, with using the adjustable parameter of its close loop control circuit of one degree of freedom IMC TITO-NDCS compared with 1, the inventive method
It can further improve stability, tracking performance and the antijamming capability of system, influence of the reduction network delay to the stability of a system；
Especially when system is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can further improve system
Dynamic property quality.
4th, the control loop 2 in TITO-NDCS uses SPC, from TITO-NDCS structures, realizes and specific controller 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
Control or the TITO-NDCS using 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 and control function are realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：NCS typical structure
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list
MemberAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaRepresent the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction
Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit
Constituted.
In Fig. 2：yj(s) j-th of output signal of system is represented；ui(s) i-th of control signal is represented；Representing will control
Signal ui(s) during the feedforward network tunnel undergone from controller C nodes to i-th of decoupling actuator DA node-node transmission
Prolong；Represent the detection signal y of j-th of sensor S nodej(s) feedback network undergone to controller C node-node transmissions leads to
Road propagation delay time；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, controller C1 and C2 section
Point, decouples actuator DA1 and DA2 node, controlled device transmission function G11And G (s)22(s) and controlled device cross aisle pass
Delivery function G21And G (s)12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithCross decoupling channel transfer function P21And P (s)12, and cross decoupling network path transmission unit (s)WithInstitute
Composition.
In Fig. 3：x1And x (s)2(s) input signal of system is represented；y1And y (s)2(s) output signal of system is represented；C1
And C (s)2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；yp21And y (s)p12(s) represent
Cross decoupling multi-channel output signal；u1pAnd u (s)2p(s) be decouple actuator DA1 and DA2 node output drive signal；τ21With
τ12Represent cross decoupling channel transfer function P21And P (s)12(s) output signal yp21And y (s)p12(s) to decoupling actuator
The network path propagation delay time that DA2 and DA1 node-node transmissions are undergone；τ1And τ3Represent control signal u1And u (s)2(s) from control
The feedforward network tunnel time delay that device C1 and C2 nodes processed are undergone to decoupling actuator DA1 and DA2 node-node transmission；τ2And τ4
Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) feedback undergone to controller C1 and C2 node-node transmission
Network path propagation delay time.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4：G11m(s) it is controlled device G11(s) prediction model；G22m(s) it is controlled device G22(s) estimate mould
Type；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate Time Delay Model；F1(s) it is feedback filter.
Fig. 5：A kind of dual input exports the mixed control method of NDCS unknown network time delays
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 below, makes the ordinary skill people of this area
Member becomes apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
, will be to controlled device G after signal triggering11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s)
Output signal y12(s), and decoupling actuator DA1 nodes output signal y11mb(s) sampled, and calculate closed-loop control
The system output signal y in loop 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-
y11mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) after triggering, by closed loop
The system Setting signal x of control loop 11(s) feedback filter F, is subtracted1(s) output signal yF1(s) deviation signal e, is obtained1
(s), i.e. e1(s)=x1(s)-yF1(s)；To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is performed to decoupling
Device DA1 node-node transmissions, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or selfing is carried out
Pitch Decoupling network transmission channelThe output signal y of unitp12(s) triggered；
6th step：After decoupling actuator DA1 nodes are triggered, by IMC signals u1(s) act on controlled device and estimate mould
Type G11m(s) its output valve y is obtained11mb(s)；
7th step：By IMC signals u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, is saved to the decoupling actuator DA2 of close loop control circuit 2
Point transmission；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
8th step：By IMC signals u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s)
Pass through cross decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other
To signal u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
9th step：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) make
For controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11(s) and
G21(s) decoupling and control, while realizing to unknown network delay, τ1And τ2Compensation and two degrees of freedom IMC；
Tenth step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
, will be to controlled device G after signal triggering22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s)
Output signal y21(s), and decoupling actuator DA2 nodes output signal y22mb(s) sampled, and calculate closed-loop control
The system output signal y in loop 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21And y (s)2b(s)=y2(s)-
y22mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to
Controller C2 node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
3rd step：Controller C2 nodes work in event driven manner, by feedback signal y2b(s) after triggering, by closed loop
The system Setting signal x of control loop 22(s) feedback signal y, is subtracted2b(s) with controlled device prediction model G22m(s) output
Value y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)；To e2(s) control algolithm C is implemented2
(s) control signal u, is obtained2(s)；
4th step：By signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator
DA2 node-node transmissions, signal u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, by signal u2(s) or Self-crossover is carried out
Decoupling network transmission channelThe output signal y of unitp21(s) triggered；
6th step：After decoupling actuator DA2 nodes are triggered, by signal u2(s) controlled device prediction model is acted on
G22m(s) its output valve y is obtained22mb(s)；
7th step：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；Will
Signal yp12(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling actuator DA1 nodes of close loop control circuit 1
Transmission；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
8th step：By signal u2(s) the IMC signals u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s)
Pass through cross decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other
To signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
9th step：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) make
For controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22(s) and
G12(s) decoupling and control, while realizing to unknown network delay, τ3And τ4Compensation and SPC；
Tenth step：Return to the first step；
It the foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, all essences in the present invention
God is with principle, and any 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. a kind of dual input exports the mixed control method of NDCS unknown network time delays, it is characterised in that this method includes following step
Suddenly：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when controller C1 nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by IMC signals u1(s) or by from cross decoupling network transmission channelsIt is single
The output signal y of memberp12(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when controller C2 nodes are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2(s) or by from cross decoupling network transmission channelsUnit
Output signal yp21(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle
Transmission function G12(s) output signal y12(s), and decoupling actuator DA1 nodes output signal y11mb(s) sampled,
And calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12(s)
And y1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), fed back by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions
Signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1(s)
Output signal yF1(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator DA1 nodes
Transmission, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or by from cross decoupling net
Network transmission channelThe output signal y of unitp12(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By IMC signals u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
C4：By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, is performed to the decoupling of close loop control circuit 2
Device DA2 node-node transmissions；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
C5：By IMC signals u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) by intersecting
Decouple passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain signal u1p
(s), i.e. u1p(s)=u1(s)-yp12(s)；
C6：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) act on controlled
Object cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11And G (s)21(s)
Decoupling and control, while realizing to the unknown delay, τ of network1And 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), and decoupling actuator DA2 nodes output signal y22mb(s) sampled,
And calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21(s)
And y2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), fed back by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions
Signal y2b(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2b(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2b(s)
With controlled device prediction model G22m(s) output valve y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b
(s)-y22ma(s)；
E3：To e2(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
E4：By signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is passed to decoupling actuator DA2 nodes
It is defeated, signal u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by signal u2(s) or passed from cross decoupling network
Defeated passageThe output signal y of unitp21(s) triggered；
F2：By signal u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；
F3：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F4：By signal yp12(s) cross decoupling network transmission channels are passed throughUnit, is performed to the decoupling of close loop control circuit 1
Device DA1 node-node transmissions；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
F5：By signal u2(s) the IMC signals u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) by intersecting
Decouple passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain signal u2p
(s), i.e. u2p(s)=u2(s)-yp21(s)；
F6：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained11(s)；By signal u2p(s) act on controlled
Object cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12(s)
Decoupling and control, while realizing to the unknown delay, τ of network3And 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 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, to unknown network time delay
The implementation of compensation method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：Two degrees of freedom IMC, its closed loop are used for control loop 1
The adjustable parameter of control loop is 2；With the adjustable parameter of each close loop control circuits of TITO-NDCS using single-degree-of-freedom IMC
Compared for 1, can further improve stability, tracking performance and the antijamming capability of system；Especially when system exist it is larger
When disturbance and model mismatch, feedback filter F1(s) presence can further improve the dynamic property quality of system, reduce network
Influence of the time delay to the stability of a system.
5. according to the method described in claim 1, it is characterised in that：SPC is used for control loop 2, can be from TITO-NDCS
Realized and specific controller C in 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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| 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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Application publication date: 20170728 |