CN107065525A - Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods - Google Patents

Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods Download PDF

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CN107065525A
CN107065525A CN201710091169.6A CN201710091169A CN107065525A CN 107065525 A CN107065525 A CN 107065525A CN 201710091169 A CN201710091169 A CN 201710091169A CN 107065525 A CN107065525 A CN 107065525A
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杜锋
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Hainan University
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Abstract

Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods, belong to the MIMO NDCS technical fields of limited bandwidth resources.Inputted for one kind two between two output signals and affect one another and couple, need the TITO NDCS by decoupling processing, because network data transmits produced network delay among the nodes, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem of TITO NDCS lose stable, propose with the network data transmission process between all real nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, two degrees of freedom IMC is implemented to two loops simultaneously, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, reduce influence of the time-vary delay system to TITO NDCS stability, improve quality of system control.

Description

Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods
Technical field
Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC (Internal Model Control, IMC) it is related to and automatically controls, the crossing domain of network service and computer technology, more particularly to limited bandwidth resources Multiple-input and multiple-output network decoupling and controlling system technical field.
Background technology
In dcs, between sensor and controller, controller and actuator, pass through Real Time Communication Network The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's Typical structure is as shown in Figure 1.
Resource-sharing, remote operation and control, tool can be achieved compared with the control system of traditional point-to-point structure in NCS Many advantages, such as having high diagnosis capability, I＆M simplicity, add flexibility and the reliability of system.Long-range distant behaviour Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether Control system based on net belongs to NCS category, in addition, NCS is in aerospace field and complexity, dangerous industry control Also there is wide application in field processed, and it, which is studied, just turns into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many New challenge.When between NCS sensor, controller and actuator by network exchange data, when inevitably resulting in network Prolong, so that the performance of system can be reduced or even cause the unstable of system.Because the information source in network is a lot, transmitting data stream Through numerous computers and communication apparatus and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, net The reason such as network congestion or disconnecting, will cause sequential entanglement and the loss of packet of network packet.Although time-delay system Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS a variety of time delays of different nature (constant, bounded, At random, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory to system carry out analysis and During design, often do many Utopian it is assumed that transmitting and adjusting such as single rate sampling, Synchronization Control, without time delay.And in NCS In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will reappraise It can be applied in NCS.
At present, research both at home and abroad on NCS, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprises at least two inputs Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- constituted Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with Between output signal, there is coupling needs the multiple-input and multiple-output network decoupling and controlling system by decoupling processing The achievement in research of (Networked decoupling control systems, NDCS) delay compensation and control is then relatively more It is few.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Also exist and influence each other unavoidably between selection pairing, each control loop, thus it is respective output signal is independently tracked Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled, MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO- In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size It is relevant etc. factor, controlled to more than several or even the dozens of sampling period time-varying network time delay, to set up each in MIMO-NDCS The mathematical modeling that the time-varying network time delay in loop processed is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic 's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, to MIMO-NDCS implement Delay compensation and control are more much more difficult than MIMO-NCS and SISO-NCS.
The content of the invention
When exporting network decoupling and controlling system (TITO-NDCS) the present invention relates to the input of one kind two in MIMO-NDCS two Become the compensation and control of network delay, 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 the output signal u of controller C nodes1(s), The time-varying network time delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；τ2Expression saves sensor S1 The output signal y of point1(s) the time-varying network time delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s) cross decoupling, is passed through Path transmission function P12(s) with controlled device line passing transmission function G12(s) close loop control circuit 1 is acted on, from input letter Number up2(s) output signal y is arrived1(s) closed loop transfer function, between is：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, when containing time-varying network Prolong τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses 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 controller, G22(s) it is controlled device；τ3Represent the control output signal u of controller C nodes2 (s), the time-varying network time delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；τ4Represent sensor The output signal y of S2 nodes2(s) the time-varying network time delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s) cross decoupling, is passed through Path transmission function P21(s) with controlled device line passing transmission function G21(s) close loop control circuit 2 is acted on, from input letter Number up1(s) output signal y is arrived2(s) closed loop transfer function, between is：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, when containing time-varying network Prolong 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 time-varying network delay, τ1And τ2Exponential termWithAnd the closed loop transfer function, equation of close loop control circuit 2 (3) and in the denominator of (4), time-varying network delay, τ is contained3And τ4Exponential termWithThe presence of time delay can be reduced respectively From the control performance quality of close loop control circuit and the stability of respective close loop control circuit is influenceed, while will also decrease whole system The control performance quality of system simultaneously influences the stability of whole system, and whole system loss of stability will be caused when serious.
It is an object of the invention to：
(1) measurement of network delay, estimation or recognized in order to exempt in each close loop control circuit, between node, and then Reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with The influence of the stability of a system, when controlled device prediction model is equal to its true model, can be achieved respective close loop control circuit Do not include the exponential term of network delay in characteristic equation, and then influence of the network delay to the stability of a system can be reduced, improve system The dynamic property quality of system, realize to being segmented of TITO-NDCS time-varying network time delays, in real time, online and dynamic predictive compensation With control.
(2) single-degree-of-freedom IMC TITO-NDCS is directed to, due to its internal mode controller C1IMCAnd C (s)2IMC(s) in, only One feedforward filter parameter lambda1And λ2It can adjust, it is necessary to be traded off between the tracing property and robustness of system, for high property Can require control system or exist compared with large disturbances and model mismatch system, it is difficult to take into account the performance of each side and obtain satisfaction Control effect.
Therefore, the present invention proposes that the input of one kind two two exports network control system time-varying network time delay two degrees of freedom IMC side Method.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first1IMC(s) it is used to replace controller C1 (s)；When meeting predictive compensation condition to realize, network delay is no longer included in the closed loop transform function of close loop control circuit 1 Exponential term, to realize to network delay τ1And τ2Compensation and control, use with control signal u1And u (s)p2m(s) as defeated Enter signal, controlled device prediction model G11mAnd G (s)12m(s) and intersect estimate Decoupled Model P12m(s) it is used as controlled and decoupled Journey, control passes through network transfer delay prediction model with process dataAndAround internal mode controller C1IMC(s), structure A positive feedback Prediction Control loop and a negative-feedback Prediction Control loop are made, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman Foot estimates Decoupled Model P12m(s) it is equal to its true Decoupled Model P12(s) condition is (due to decoupling channel transfer function P12(s) It is artificial design and selection, P is met naturally12m(s)=P12(s))；Therefore, from sensor S1 nodes to controller C nodes, And from controller C nodes to decoupling actuator DA1 nodes, using real network data transmission processAnd Instead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to Its true model, can realize the predict-compensate model not comprising network delay therebetween from system architecture, so as to exempt pair In close loop control circuit 1, time-varying network delay, τ between node1And τ2Measurement, estimation or recognize；When prediction model is true equal to its During real mould, it can be achieved to its time-varying network delay τ1And τ2Compensation and control；At the same time, pre- decoupler CPD sections are being controlled In the backfeed loop of point, increase feedback filter F1(s)；Implement the time-varying network time delay two degrees of freedom IMC side of the inventive method Method structure is as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built first2IMC(s) it is used to replace controller C2 (s)；When meeting predictive compensation condition to realize, network delay is no longer included in the closed loop transform function of close loop control circuit 2 Exponential term, to realize to network delay τ3And τ4Compensation and control, use with control signal u2And u (s)p1m(s) as defeated Enter signal, controlled device prediction model G22mAnd G (s)21m(s) and intersect estimate Decoupled Model P21m(s) as controlled and decoupling Process, control passes through network transfer delay prediction model with process dataAndAround internal mode controller C2IMC(s), A positive feedback Prediction Control loop and a negative-feedback Prediction Control loop are constructed, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Time-varying network Time-delay Prediction model must be metAndTo be equal to its true modelAndCondition, Yi Jiman Foot estimates Decoupled Model P21m(s) it is equal to its true Decoupled Model P21(s) condition is (due to decoupling channel transfer function P21(s) It is artificial design and selection, P is met naturally21m(s)=P21(s))；Therefore, from sensor S2 nodes to controller C nodes, And from controller C nodes to decoupling actuator DA2 nodes, using real network data transmission processAnd Instead of the predict-compensate model of network delay therebetweenAndThus no matter whether the prediction model of controlled device is equal to Its true model, can realize the predict-compensate model not comprising network delay therebetween from system architecture, so as to exempt pair In close loop control circuit 2, time-varying network delay, τ between node3And τ4Measurement, estimation or recognize；When prediction model is true equal to its During real mould, it can be achieved to its time-varying network delay τ3And τ4Compensation and control；At the same time, pre- decoupler CPD sections are being controlled In the backfeed loop of point, increase feedback filter F2(s)；Implement the time-varying network time delay two degrees of freedom IMC side of the inventive method Method structure is as shown in Figure 5；
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) in the pre- decoupler CPD nodes of control, the internal mode controller C of close loop control circuit 22IMC(s) output letter Number u2(s) with cross decoupling channel transfer function prediction model P21m(s) output signal yp21m(s) signal u is obtained after subtracting each otherp2m (s), i.e. up2m(s)=u2(s)-yp21m(s)；By up2m(s) close loop control circuit 1 is acted on, from input signal up2m(s) to output Signal y1(s) closed loop transfer function, between is：
3) the uneoupled control signal u in actuator DA2 nodes is decoupled from close loop control circuit 2p2(s), solved by intersecting Coupling path transmission function P12(s), and controlled device cross aisle transmission function G is passed through12(s) with its prediction model G12m(s) Close loop control circuit 1 is acted on, from input signal up2(s) output signal y is arrived1(s) closed loop transfer function, between is：
Using the inventive method, 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 time-varying network time delay and two degrees of freedom IMC.
When close loop control circuit 1 is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can be improved The tracing property and antijamming capability of system, influence of the reduction network delay to the stability of a system, further improve the dynamic of system Performance quality.
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；C2IMC(s) it is internal mode controller；F2(s) it is feedback Wave filter.
2) in the pre- decoupler CPD nodes of control, the internal mode controller C of close loop control circuit 11IMC(s) output signal u1 (s) with cross decoupling channel transfer function prediction model P12m(s) output signal yp12m(s) signal u is obtained after subtracting each otherp1m(s), That is up1m(s)=u1(s)-yp12m(s)；By up1m(s) close loop control circuit 2 is acted on, from input signal up1m(s) output signal is arrived y2(s) closed loop transfer function, between is：
3) the uneoupled control signal u in the decoupling actuator DA1 nodes from close loop control circuit 1p1(s), by intersecting Decouple path transmission function P21(s), and controlled device cross aisle transmission function G is passed through21(s) with its prediction model G21m (s) close loop control circuit 2 is acted on, from input signal up1(s) output signal y is arrived2(s) closed loop transfer function, between is：
Using the inventive method, work as G22m(s)=G22(s) when, the closed loop transfer function, denominator of close loop control circuit 2 will be byBecome 1.
Now, in equivalent to one open-loop control system of close loop control circuit 2, the denominator of closed loop transfer function, no longer Include the network delay τ of the influence stability of a system3And τ4Exponential termWithThe stability of system only with controlled device and The stability of internal mode controller in itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic of system State control performance quality, realizes the dynamic compensation to time-varying network time delay and two degrees of freedom IMC.
When close loop control circuit 2 is when compared with large disturbances and model mismatch, feedback filter F2(s) presence can be improved The tracing property and antijamming capability of system, influence of the reduction network delay to the stability of a system, further improve the dynamic of system Can quality.
Two degrees of freedom IMC design
(1) internal mode controller C1IMCAnd C (s)2IMC(s) design and selection：
Design internal mode controller and typically use pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it Feedforward controller C is used as the inversion model of plant model11And C (s)22(s)；Second step is added in feedforward controller The feedforward filter f of certain order1And f (s)2(s) a complete internal mode controller C, is constituted1IMCAnd C (s)2IMC(s)。
1) feedforward controller C11And C (s)22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and it is other it is various about The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m (s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)= G11m+(s)G11m-And G (s)22m(s)=G22m+(s)G22m-(s), wherein：G11m+And G (s)22m+(s) it is respectively that controlled device is estimated Model G11mAnd G (s)22m(s) the irreversible part comprising pure lag system and s RHP zero pole points in；G11m-And G (s)22m- (s) it is respectively the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211And C (s)22(s) it can be chosen for respectively：With
2) feedforward filter f1And f (s)2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs Reason is realisation, thus has only taken in the design process of feedforward controller the reversible part G of controlled device minimum phase11m-(s) And G22m-(s) it, have ignored G11m+And G (s)22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore, The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried The robustness of high system.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), divide Fairly simple n1 and n2 rank wave filters are not chosen forWithWherein：λ1And λ2For feedforward Filter time constant；N1 and n2 is the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively Controlled device G11And G (s)22(s) order of denominator；n1bAnd n2bRespectively controlled device G11And G (s)22(s) order of molecule, Usual n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMCAnd C (s)2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMCAnd C (s)2IMC(s) it can be chosen for respectively:
With
It can be seen that from equation (11) and (12)：The internal mode controller C of one degree of freedom1IMCAnd C (s)2IMC(s) in, all Only one of which customized parameter λ1And λ2.Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have Direct relation, therefore is adjusting the customized parameter λ of wave filter1And λ2When, the tracing property generally required in system is done with anti- Ability is disturbed to trade off between the two.
(2) feedback filter F1And F (s)2(s) design and selection：
Close loop control circuit 1 and the feedback filter F in loop 21And F (s)2(s) fairly simple single order, can be chosen respectively Wave filter F1(s)=(λ1s+1)/(λ1f) and F s+12(s)=(λ2s+1)/(λ2fS+1), wherein：λ1And λ2For feedforward filter f1 And f (s)2(s) time constant in, and it is consistent with the selection of its parameter；λ1fAnd λ2fFor feedback filter regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fAnd λ2fIn the case of immobilizing, the tracking performance of system Can be with feedforward filter regulation parameter λ1And λ2Reduction and improve；In feedforward filter regulation parameter λ1And λ2Immobilize In the case of, the tracing property of system is almost unchanged, and antijamming capability then can be with λ1fAnd λ2fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can pass through reasonable selection feedforward filter f1And f (s)2(s) With feedback filter F1And F (s)2(s) parameter, to improve the tracing property and antijamming capability of system, reduction network delay is to being The influence for stability of uniting, improves the dynamic property quality of system.
The scope of application of the present invention：
It is equal to its true model suitable for controlled device prediction model, and model there may be one kind two of certain deviation Input two exports the compensation and two degrees of freedom IMC of network decoupling and controlling system (TITO-NDCS) time-varying network time delay；It, which is studied, thinks Road and method, can equally be well applied to controlled device prediction model and there may be certain deviation equal to its true model, and model Two or more input and output constituted multiple-input and multiple-output decoupling and controlling system (MIMO-NDCS) time-varying network time delay Compensation and two degrees of freedom IMC.
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 the pre- decoupler CPD nodes of control 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) 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 the pre- decoupler CPD nodes of control are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device Channel transfer function G12(s) output signal y12(s), and decoupling actuator DA1 nodes output signal y11mbAnd y (s)12mb (s) sampled, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)= y11(s)+y12And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control Pre- decoupler CPD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control pre- decoupler CPD nodes；
The step of mode B, includes：
B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1b(s) triggered；
B2：In pre- decoupler CPD nodes are controlled, by feedback signal y1b(s) first letter is transmitted with controlled device cross aisle Number prediction model G12m(s) output y12ma(s) be added after again with controlled device prediction model G11m(s) output valve y11ma(s) phase Subtract, and its result is acted on into feedback filter F1(s) its output valve y is obtainedF1(s), i.e. yF1(s)=(y1b(s)+y12ma(s)- y11ma(s))F1(s)；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) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) with pre- decoupling cross aisle transmission function P12m(s) output signal yp12m(s) subtract each other, Obtain pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2m(s) act on and close The controlled device cross aisle transmission function prediction model G of ring control loop 112m(s) its output signal y is obtained12ma(s)；Will be pre- Decoupling signal up2m(s) cross decoupling channel transfer function prediction model P is acted on12m(s) its output signal y is obtainedp12m(s)； By yp12m(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
B6：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, 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) triggered；
C2：Close loop control circuit 2 will be come from decouple the decoupling output signal u of actuator DA2 nodesp2(s), act on and close The decoupling cross aisle transmission function P of ring control loop 112(s) its output valve y is obtainedp12(s)；By IMC signals u1And y (s)p12 (s) subtract each other, obtain the decoupling output signal u of control loop 1p1(s), i.e. up1(s)=u1(s)-yp12(s)；
C3：Close loop control circuit 2 will be come from decouple the decoupling output signal u of actuator DA2 nodesp2(s) solution, is acted on Prediction model G in coupling actuator DA1 nodes12m(s) its output valve y is obtained12mb(s)；
C4：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device transmission function prediction model, is acted on G11m(s) its output valve y is obtained11mb(s)；
C5：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device G, is acted on11(s) its output is obtained Value y11(s)；By signal up1(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to Realize to controlled device G11And G (s)21(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ1And τ2Benefit Repay and control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) lead to controlled device intersection Road transmission function G21(s) output signal y21(s), and decoupling actuator DA2 nodes output signal y22mbAnd y (s)21mb(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) +y21And y (s)2b(s)=y2(s)-y22mb(s)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to control Pre- decoupler CPD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control pre- decoupler CPD nodes；
The step of mode E, includes：
E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2b(s) triggered；
E2：In pre- decoupler CPD nodes are controlled, by feedback signal y2b(s) first letter is transmitted with controlled device cross aisle Number prediction model G21m(s) output y21ma(s) be added after again with controlled device prediction model G22m(s) output valve y22ma(s) phase Subtract, and its result is acted on into feedback filter F2(s) its output valve y is obtainedF2(s), i.e. yF2(s)=(y2b(s)+y21ma(s)- y22ma(s))F2(s)；By the system Setting signal x of close loop control circuit 22(s) feedback filter F, is subtracted2(s) output signal yF2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s) with pre- decoupling cross aisle transmission function P21m(s) output signal yp21m(s) subtract each other, Obtain pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1m(s) act on and close The controlled device cross aisle transmission function prediction model G of ring control loop 221m(s) its output signal y is obtained21ma(s)；Will be pre- Decoupling signal up1m(s) cross decoupling channel transfer function prediction model P is acted on21m(s) its output signal y is obtainedp21m(s)； By yp21m(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；
E6：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：Close loop control circuit 1 will be come from decouple the decoupling output signal u of actuator DA1 nodesp1(s), act on and close The decoupling cross aisle transmission function P of ring control loop 221(s) its output valve y is obtainedp21(s)；By IMC signals u2And y (s)p21 (s) subtract each other, obtain the decoupling output signal u of control loop 2p2(s), i.e. up2(s)=u2(s)-yp21(s)；
F3：Close loop control circuit 1 will be come from decouple the decoupling output signal u of actuator DA1 nodesp1(s) solution, is acted on Prediction model G in coupling actuator DA2 nodes21m(s) its output valve y is obtained21mb(s)；
F4：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device transmission function prediction model, is acted on G22m(s) its output valve y is obtained22mb(s)；
F5：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device G, is acted on22(s) its output is obtained Value y22(s)；By signal up2(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to Realize to controlled device G22And G (s)12(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ3And τ4Benefit Repay and control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of time-varying 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 being realized from TITO-NDCS structures, 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, compared with the adjustable parameter of each close loop control circuits of single-degree-of-freedom IMC TITO-NDCS is 1, using two certainly By spending IMC TITO-NDCS, the adjustable parameter of its each close loop control circuit is 2, and the inventive method can further improve system Stability, tracking performance and antijamming capability；Especially when system is present compared with large disturbances and model mismatch, feedback filter F1And F (s)2(s) presence can further improve the dynamic property quality of system, shadow of the reduction network delay to the stability of a system Ring.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：NCS typical structure
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables Show control signal；τcaRepresent the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions Tunnel time delay；τscRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
In Fig. 2, system is by r sensor S node, controller C nodes, m decoupling actuator DA 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 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
In Fig. 3, system is made up of close loop control circuit 1 and 2, and system includes sensor S1 and S2 node, controller C sections 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), cross decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithConstituted.
In Fig. 3：x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；C1(s) and C2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；up1And u (s)p2(s) control solution is represented Coupling signal；τ1And τ3Represent control signal u1And u (s)2(s) from controller C nodes to decoupling actuator DA1 and DA2 node The undergone feedforward network tunnel time delay of transmission；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1(s) and y2(s) feedback network tunnel time delay is undergone to controller C node-node transmissions.
Fig. 4：A kind of TITO-NDCS time-vary delay systems compensation comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G11mAnd G (s)22m(s) it is controlled device transmission function G11(s) and G22(s) prediction model；G12mAnd G (s)21m(s) it is controlled device cross aisle transmission function G12And G (s)21(s) estimate mould Type；P12mAnd P (s)21m(s) it is cross decoupling channel transfer function P21And P (s)12(s) prediction model；C1IMCAnd C (s)2IMC (s) it is internal mode controller.
Fig. 5：The input of one kind two two exports network decoupling and controlling system time-varying network time delay two degrees of freedom IMC methods
In Fig. 5：F1And F (s)2(s) it is feedback filter.
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, are sampled the cycle for h1Signal triggered；Work as biography 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 y11mbAnd y (s)12mb(s) sampled, And calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12(s) And y1b(s)=y1(s)-y11mb(s)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Control pre- decoupler CPD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control pre- solution Coupling device CPD nodes；
3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1b(s), will after triggering Feedback signal y1b(s) first and controlled device cross aisle transmission function prediction model G12m(s) output y12ma(s) after being added again With controlled device prediction model G11m(s) output valve y11ma(s) subtract each other, and its result is acted on into feedback filter F1(s) To its output valve yF1(s), i.e. yF1(s)=(y1b(s)+y12ma(s)-y11ma(s))F1(s)；The system of close loop control circuit 1 is given Determine signal x1(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) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) with pre- decoupling cross aisle transmission function P12m(s) output signal yp12m(s) phase Subtract, obtain pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2m(s) act on In the controlled device cross aisle transmission function prediction model G of close loop control circuit 112m(s) its output signal y is obtained12ma(s)； By pre- decoupling signal up2m(s) cross decoupling channel transfer function prediction model P is acted on12m(s) its output signal y is obtainedp12m (s)；By yp12m(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
6th 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, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
7th step：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s), will after triggering Come from the decoupling output signal u that close loop control circuit 2 decouples actuator DA2 nodesp2(s) close loop control circuit 1, is acted on Decouple cross aisle transmission function P12(s) its output valve y is obtainedp12(s)；By IMC signals u1And y (s)p12(s) subtract each other, controlled The decoupling output signal u in loop 1 processedp1(s), i.e. up1(s)=u1(s)-yp12(s)；
8th step：Close loop control circuit 2 will be come from decouple the decoupling output signal u of actuator DA2 nodesp2(s), act on Prediction model G in decoupling actuator DA1 nodes12m(s) its output valve y is obtained12mb(s)；
9th step：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device transmission function, is acted on to estimate Model G11m(s) its output valve y is obtained11mb(s)；
Tenth step：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device G, is acted on11(s) it is obtained Output valve y11(s)；By signal up1(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)； So as to realize to controlled device G11And G (s)21(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ1And τ2 Compensation and control；
11st 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 sampled the cycle for h2Signal triggered；Work as biography 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 y22mbAnd y (s)21mb(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)-y21mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to Control pre- decoupler CPD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control pre- solution Coupling device CPD nodes；
3rd step：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2b(s), will after triggering Feedback signal y2b(s) first and controlled device cross aisle transmission function prediction model G21m(s) output y21ma(s) after being added again With controlled device prediction model G22m(s) output valve y22ma(s) subtract each other, and its result is acted on into feedback filter F2(s) To its output valve yF2(s), i.e. yF2(s)=(y2b(s)+y21ma(s)-y22ma(s))F2(s)；The system of close loop control circuit 2 is given Determine signal x2(s) feedback filter F, is subtracted2(s) output signal yF2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2 (s)-yF2(s)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
4th step：By IMC signals u2(s) with pre- decoupling cross aisle transmission function P21m(s) output signal yp21m(s) phase Subtract, obtain pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
5th step：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1m(s) act on In the controlled device cross aisle transmission function prediction model G of close loop control circuit 221m(s) its output signal y is obtained21ma(s)； By pre- decoupling signal up1m(s) cross decoupling channel transfer function prediction model P is acted on21m(s) its output signal y is obtainedp21m (s)；By yp21m(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；
6th step：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is performed to decoupling Device DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
7th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s), will after triggering Come from the decoupling output signal u that close loop control circuit 1 decouples actuator DA1 nodesp1(s) close loop control circuit 2, is acted on Decouple cross aisle transmission function P21(s) its output valve y is obtainedp21(s)；By IMC signals u2And y (s)p21(s) subtract each other, controlled The decoupling output signal u in loop 2 processedp2(s), i.e. up2(s)=u2(s)-yp21(s)；
8th step：Close loop control circuit 1 will be come from decouple the decoupling output signal u of actuator DA1 nodesp1(s), act on Prediction model G in decoupling actuator DA2 nodes21m(s) its output valve y is obtained21mb(s)；
9th step：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device transmission function, is acted on to estimate Model G22m(s) its output valve y is obtained22mb(s)；
Tenth step：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device G, is acted on22(s) it is obtained Output valve y22(s)；By signal up2(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)； So as to realize to controlled device G22And G (s)12(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ3And τ4 Compensation and control；
11st step：Return to the first step；
It the foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, all essences in the present invention God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (4)

1. a liang input two exports network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods, it is characterised in that this method bag Include following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when the pre- decoupler CPD nodes of control 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) 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 the pre- decoupler CPD nodes of control are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle Transmission function G12(s) output signal y12(s), and decoupling actuator DA1 nodes output signal y11mbAnd y (s)12mb(s) Sampled, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11 (s)+y12And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), solved by the feedback network path of close loop control circuit 1 to control is pre- Coupling device CPD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control pre- decoupler CPD to save Point；
The step of mode B, includes：
B1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y1b(s) triggered；
B2：In pre- decoupler CPD nodes are controlled, by feedback signal y1b(s) it is first pre- with controlled device cross aisle transmission function Estimate model G12m(s) output y12ma(s) be added after again with controlled device prediction model G11m(s) output valve y11ma(s) subtract each other, And its result is acted on into feedback filter F1(s) its output valve y is obtainedF1(s), i.e. yF1(s)=(y1b(s)+y12ma(s)-y11ma (s))F1(s)；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) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) with pre- decoupling cross aisle transmission function P12m(s) output signal yp12m(s) subtract each other, obtain Pre- decoupling signal up1m(s), i.e. up1m(s)=u1(s)-yp12m(s)；
B5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 2p2m(s) closed loop control is acted on The controlled device cross aisle transmission function prediction model G in loop 1 processed12m(s) its output signal y is obtained12ma(s)；It will decouple in advance Signal up2m(s) cross decoupling channel transfer function prediction model P is acted on12m(s) its output signal y is obtainedp12m(s)；By yp12m (s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；
B6：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator DA1 nodes Transmission, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) triggered；
C2：Close loop control circuit 2 will be come from decouple the decoupling output signal u of actuator DA2 nodesp2(s) closed loop control, is acted on The decoupling cross aisle transmission function P in loop 1 processed12(s) its output valve y is obtainedp12(s)；By IMC signals u1And y (s)p12(s) phase Subtract, obtain the decoupling output signal u of control loop 1p1(s), i.e. up1(s)=u1(s)-yp12(s)；
C3：Close loop control circuit 2 will be come from decouple the decoupling output signal u of actuator DA2 nodesp2(s), decoupling is acted on to hold Prediction model G in row device DA1 nodes12m(s) its output valve y is obtained12mb(s)；
C4：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device transmission function prediction model G, is acted on11m (s) its output valve y is obtained11mb(s)；
C5：The output signal u of actuator DA1 nodes will be decoupledp1(s) controlled device G, is acted on11(s) its output valve y is obtained11 (s)；By signal up1(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize To controlled device G11And G (s)21(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ1And τ2Compensation with Control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) passed with controlled device cross aisle Delivery function G21(s) output signal y21(s), and decoupling actuator DA2 nodes output signal y22mbAnd y (s)21mb(s) carry out Sampling, 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)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), solved by the feedback network path of close loop control circuit 2 to control is pre- Coupling device CPD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control pre- decoupler CPD to save Point；
The step of mode E, includes：
E1：Pre- decoupler CPD nodes are controlled to work in event driven manner, by feedback signal y2b(s) triggered；
E2：In pre- decoupler CPD nodes are controlled, by feedback signal y2b(s) it is first pre- with controlled device cross aisle transmission function Estimate model G21m(s) output y21ma(s) be added after again with controlled device prediction model G22m(s) output valve y22ma(s) subtract each other, And its result is acted on into feedback filter F2(s) its output valve y is obtainedF2(s), i.e. yF2(s)=(y2b(s)+y21ma(s)-y22ma (s))F2(s)；By the system Setting signal x of close loop control circuit 22(s) feedback filter F, is subtracted2(s) output signal yF2 (s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-yF2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s) with pre- decoupling cross aisle transmission function P21m(s) output signal yp21m(s) subtract each other, obtain Pre- decoupling signal up2m(s), i.e. up2m(s)=u2(s)-yp21m(s)；
E5：By from the pre- decoupling signal u controlled in pre- decoupler CPD nodes close loop control circuit 1p1m(s) closed loop control is acted on The controlled device cross aisle transmission function prediction model G in loop 2 processed21m(s) its output signal y is obtained21ma(s)；It will decouple in advance Signal up1m(s) cross decoupling channel transfer function prediction model P is acted on21m(s) its output signal y is obtainedp21m(s)；By yp21m (s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；
E6：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 nodes Transmission, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：Close loop control circuit 1 will be come from decouple the decoupling output signal u of actuator DA1 nodesp1(s) closed loop control, is acted on The decoupling cross aisle transmission function P in loop 2 processed21(s) its output valve y is obtainedp21(s)；By IMC signals u2And y (s)p21(s) phase Subtract, obtain the decoupling output signal u of control loop 2p2(s), i.e. up2(s)=u2(s)-yp21(s)；
F3：Close loop control circuit 1 will be come from decouple the decoupling output signal u of actuator DA1 nodesp1(s), decoupling is acted on to hold Prediction model G in row device DA2 nodes21m(s) its output valve y is obtained21mb(s)；
F4：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device transmission function prediction model G, is acted on22m (s) its output valve y is obtained22mb(s)；
F5：The output signal u of actuator DA2 nodes will be decoupledp2(s) controlled device G, is acted on22(s) its output valve y is obtained22 (s)；By signal up2(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize To controlled device G22And G (s)12(s) decoupling and two degrees of freedom IMC, and realize to time-varying network delay, τ3And τ4Compensation with Control.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay 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, to time-varying 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：Each closed-loop controls of TITO-NDCS with single-degree-of-freedom IMC are returned The adjustable parameter on road is 1 and compared, using two degrees of freedom IMC TITO-NDCS, and the adjustable parameter of its close loop control circuit is 2 It is individual, it can further improve stability, tracking performance and the antijamming capability of system；Especially when system is present compared with large disturbances and mould During type mismatch, feedback filter F1And F (s)2(s) presence can further improve the dynamic property quality of system, during reduction network Prolong the influence to the stability of a system.
CN201710091169.6A 2017-02-20 2017-02-20 Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods Pending CN107065525A (en)

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Application publication date: 20170818