CN107065529A - The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system - Google Patents

The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system Download PDF

Info

Publication number
CN107065529A
CN107065529A CN201710091219.0A CN201710091219A CN107065529A CN 107065529 A CN107065529 A CN 107065529A CN 201710091219 A CN201710091219 A CN 201710091219A CN 107065529 A CN107065529 A CN 107065529A
Authority
CN
China
Prior art keywords
signal
control
network
nodes
decoupling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710091219.0A
Other languages
Chinese (zh)
Inventor
杜锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hainan University
Original Assignee
Hainan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hainan University filed Critical Hainan University
Priority to CN201710091219.0A priority Critical patent/CN107065529A/en
Publication of CN107065529A publication Critical patent/CN107065529A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system, belong 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, 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, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, unknown network time delay is reduced to TITO NDCS stability influences, improve quality of system control.

Description

The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system
Technical field
Unknown time delay two degrees of freedom IMC (the Internal Model of two-output impulse generator network decoupling and controlling system Control, IMC) method, it is related to and automatically controls, the crossing domain of network service and computer, more particularly to limited bandwidth resources Multiple-input and multiple-output network decoupling and controlling system technical field.
Background technology
The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked Control systems, NCS), NCS typical structure is as shown in Figure 1.
NCS breaks through limitation of the traditional control system on space physics position, uses system unit instead network connection, makes intelligence The integration of energy field devices integration, business management network, realize structural network, node intelligent, control scene, function Decentralized, open system and Products integration.Compared with traditional point-to-point control model, the control model of networking is reduced Wiring cost, facilitate plant maintenance, the interference free performance of strengthening system, the reliability for improving data transfer, the shared network information Resource etc..It had been widely used in process automation, automated manufacturing, Aero-Space, robot, intelligent transportation etc. in recent years Multiple fields.
In NCS, because the network bandwidth is limited, the factor such as network inducement delay and parameter uncertainty is to systematic function With the influence of stability so that NCS analysis and synthesis becomes more difficult, NCS faces many new challenges, especially unknown The presence of network delay, it is possible to decrease NCS control quality, or even make system loss of stability, system may be caused to go out when serious Existing failure.
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 With the control system of two outputs (Two-input and two-output, TITO), the multiple-input and multiple-output constituted The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially The multiple-input and multiple-output network uneoupled control by decoupling processing is needed between input and output signal, there is coupling The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is 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, to more than several or even the dozens of sampling period network delay, to set up each in MIMO-NDCS and control back The mathematical modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic 's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) in MIMO-NDCS not Know the compensation and control of time 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 control unit, G11(s) it is controlled device；τ1Representing will control decoupler CD1 node output letter Number u1p(s), to network path it is transferred to the network delay that actuator A1 nodes are undergone through preceding；τ2Represent output signal y1 (s) from sensor S1 nodes, the network delay undergone through feedback network tunnel to control decoupler CD1 nodes.
2) control decoupler CD2 output signal nodes u in close loop control circuit 2 is come from2p(s) cross decoupling passage, is passed through Transmission function P12And its network path unit (s)After act on close loop control circuit 1, from input signal u2p(s) to output Signal y1(s) closed loop transfer function, between is：
3) in close loop control circuit 2 actuator A2 nodes output signal u2p(s) controlled device cross aisle, is passed through Transmission function G12(s) the output signal y of close loop control circuit 1 is influenceed1(s), from input signal u2p(s) output signal y is arrived1(s) Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, when containing unknown 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 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 control unit, G22(s) it is controlled device；τ3Representing will control decoupler CD2 node output letter Number u2p(s), to network path it is transferred to the network delay that actuator A2 nodes are undergone through preceding；τ4Represent output signal y2 (s) from sensor S2 nodes, the network delay undergone through feedback network tunnel to control decoupler CD2 nodes.
2) control decoupler CD1 output signal nodes u in close loop control circuit 1 is come from1p(s) cross decoupling passage, is passed through Transmission function P21And network path unit (s)After act on close loop control circuit 2, from input signal u1p(s) to output letter Number y2(s) closed loop transfer function, between is：
3) the output signal u from the actuator A1 nodes of close loop control circuit 11p(s), passed by controlled device cross aisle Delivery function G21(s) the output signal y of close loop control circuit 2 is influenceed2(s), from input signal u1p(s) output signal y is arrived2(s) it Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain unknown network Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses Stability.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1, Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2 Into the denominator of (6), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system Performance quality processed and the stability for influenceing whole system, will cause whole system loss of stability when serious.
(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 prediction model is equal to its true model, can be achieved the characteristic equation of respective close loop control circuit In do not include the exponential term of network delay, and then can reduce influence of the network delay to the stability of a system, improve the dynamic of system Performance quality, realize to being segmented of TITO-NDCS unknown network time delays, in real time, online and dynamic predictive compensation and 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 a kind of unknown time delay two degrees of freedom IMC side of two-output impulse generator network decoupling and controlling system Method.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD1 nodes, an internal mode controller C is built first1IMC(s) it is used to replace control Device C processed1(s)；When meeting predictive compensation condition to realize, net is no longer included in the closed loop transform function of close loop control circuit 1 The exponential term of network time delay, to realize to network delay τ1And τ2Compensation and control, use to control decoupling output signal u1p(s) And yp12And u (s)2pm(s) as input signal, controlled device prediction model G11mAnd G (s)12m(s) as controlled process, control System passes through network transfer delay prediction model with process dataAndAround internal mode controller C1IMC(s) one, is constructed Individual positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing Device S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAnd Thus no matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising therebetween The predict-compensate model of network delay, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, Estimation is recognized；When prediction model is equal to its true model, it can be achieved to unknown network delay, τ1And τ2Compensation and control； At the same time, in the backfeed loop of control decoupler CD1 nodes, feedback filter F is increased1(s)；Implement the inventive method Unknown network time delay two degrees of freedom IMC method structures are as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In control decoupler CD2 nodes, an internal mode controller C is built first2IMC(s) it is used to replace control Device C processed2(s)；When meeting predictive compensation condition to realize, net is no longer included in the closed loop transform function of close loop control circuit 2 The exponential term of network time delay, to realize to network delay τ3And τ4Compensation and control, use to control decoupling output signal u2p(s) And yp21And u (s)1pm(s) as input signal, controlled device prediction model G22mAnd G (s)21m(s) as controlled process, control System transmits prediction model with process data by network delayAndAround internal mode controller C2IMC(s) one, is constructed Positive feedback Prediction Control loop and a negative-feedback Prediction Control loop, as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing Device S2 nodes to control decoupler CD2 nodes between, and from control decoupler CD2 nodes to actuator A2 nodes, adopt With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndCause Regardless of whether whether the prediction model of controlled device is equal to its true model, it can be realized from system architecture not comprising net therebetween The predict-compensate model of network time delay, so as to exempt in close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate Meter is recognized；When prediction model is equal to its true model, it can be achieved to unknown network delay, τ3And τ4Compensation and control；With This in the backfeed loop of control decoupler CD2 nodes, increases feedback filter F simultaneously2(s)；Implement the inventive method not Know that network delay two degrees of freedom IMC method structures are 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) the output signal u of decoupler CD2 nodes is controlled from close loop control circuit 22p(s) cross decoupling passage, is passed through Transmission function P12(s) with its network transmission channelsThe output signal y of unitp12(s) act on before close loop control circuit 1 To path；And yp12(s) transmission function 1/P is acted on12And controlled device cross aisle prediction model G (s)12m(s)；Simultaneously yp12(s) controlled device prediction model G is also acted on11m(s).From input signal u2p(s) output signal y is arrived1(s) closed loop between Transmission function is：
3) the control signal u from the actuator A2 nodes of close loop control circuit 22p(s), while being intersected by controlled device logical Road transmission function G12(s) with its prediction model G12m(s) close loop control circuit 1 is acted on, from input signal u2p(s) to output letter Number y1(s) closed loop transfer function, between is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s) When, the closed loop transfer function, denominator of close loop control circuit 1 will be byBecome 1；This When, equivalent to one open-loop control system of close loop control circuit 1, no longer comprising influence system in the denominator of closed loop transfer function, The network delay τ for stability of uniting1And τ2Exponential termWithThe stability of system only with controlled device and internal mode controller The stability of itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic control performance of system Quality, realizes the dynamic compensation to unknown network time delay and two degrees of freedom IMC；Exist compared with large disturbances when close loop control circuit 1 and During model mismatch, feedback filter F1(s) presence can improve the tracing property and antijamming capability of system, reduce network delay Influence to the stability of a system, further improves 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；C2IMC(s) it is internal mode controller；F2(s) it is feedback Wave filter.
2) the output signal u of decoupler CD1 nodes is controlled from close loop control circuit 11p(s) cross decoupling passage, is passed through Transmission function P21(s) with its network transmission channelsThe output signal y of unitp21(s) act on before close loop control circuit 2 To path；And yp21(s) transmission function 1/P is acted on21And controlled device cross aisle prediction model G (s)21m(s)；Simultaneously yp21(s) controlled device prediction model G is also acted on22m(s).From input signal u1p(s) output signal y is arrived2(s) closed loop between Transmission function is：
3) the control signal u from the actuator A1 nodes of close loop control circuit 11p(s), while being intersected by controlled device logical Road transmission function G21(s) with its prediction model G21m(s) close loop control circuit 2 is acted on, from input signal u1p(s) to output letter Number y2(s) closed loop transfer function, between is：
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 transfer function, denominator of close loop control circuit 2 will be byBecome 1；This When, equivalent to one open-loop control system of close loop control circuit 2, no longer comprising influence system in the denominator of closed loop transfer function, The network delay τ for stability of uniting3And τ4Exponential termWithThe stability of system only with controlled device and internal mode controller The stability of itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic control performance of system Quality, realizes the dynamic compensation to unknown network time delay and two degrees of freedom IMC.When close loop control circuit 2 is compared with large disturbances and mould During type mismatch, feedback filter F2(s) presence can improve the tracing property and antijamming capability of system, reduce network delay pair The influence of the stability of a system, further improves the dynamic property quality of system.
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 n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2For feedforward Filter time constant；n1And n2For the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively Controlled device G11And G (s)22(s) order of denominator；n1bAnd n2bRespectively controlled device G11And G (s)22(s) order of molecule, Usual n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMCAnd C (s)2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMCAnd C (s)2IMC(s) it can be chosen for respectively:
With
It can be seen that from equation (13) and (14)：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 pair of certain deviation Input the compensation and two degrees of freedom IMC of dual output network decoupling and controlling system (TITO-NDCS) unknown 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) unknown 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 control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathUnit Output signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2b(s) or by cross decoupling network pathUnit Output signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device Channel transfer function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) enter Row sampling, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s) +y12And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control Decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD1 sections are got to Point；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling Network path e-τ 12 sThe output signal y of unitp12(s) triggered；
B2：By feedback signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) phase adduction and controlled device prediction model G11m(s) output valve y11ma(s) signal y is obtained after subtracting each other1c(s), i.e. y1c (s)=y1b(s)+y12ma(s)-y11ma(s)；By y1c(s) feedback filter F is acted on1(s) its output signal y is obtainedF1(s)；
B3：By the Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1(s) output signal yF1(s), obtain To deviation signal e1(s), i.e. e1(s)=x1(s)-yF1(s)；To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC letters, are obtained Number u1(s)；
B4：By IMC signals u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12 (s) with network path e-τ 12 sThe signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1 (s)-yp12(s)；
B5：By yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；By yp12(s) make For transmission function 1/P12(s) its output valve u is obtained2pm(s), by u2pm(s) controlled device cross aisle transmission function is acted on Prediction model G12m(s) its output valve y is obtained12ma(s)；
B6：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) pass through Network pathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, get to Control decoupler CD2 nodes；
B7：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is to actuator A1 node-node transmissions, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb (s)；The feedforward network path of close loop control circuit 2 will be come fromThe control decoupling signal u of unit2p(s) controlled pair is acted on As cross aisle transmission function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control solution Coupling signal u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to quilt Control object G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ1And τ2Compensation；
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 actuator A2 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 Decoupler CD2 node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b (s) or by cross decoupling Network pathThe output signal y of unitp21(s) triggered；
E2：By feedback signal y2b(s) with controlled device cross aisle transmission function prediction model G21m(s) output valve y21ma(s) phase adduction and controlled device prediction model G22m(s) output valve y22ma(s) signal y is obtained after subtracting each other2c(s), i.e. y2c (s)=y2b(s)+y21ma(s)-y22ma(s)；By y2c(s) feedback filter F is acted on2(s) its output signal y is obtainedF2(s)；
E3：By the Setting signal x of close loop control circuit 22(s) feedback filter F, is subtracted2(s) output signal yF2(s), obtain To deviation signal e2(s), i.e. e2(s)=x2(s)-yF2(s)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC letters, are obtained Number u2(s)；
E4：By IMC signals u2(s), subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21 (s) with network path e-τ 21 sThe signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2 (s)-yp21(s)；
E5：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21(s) make For transmission function 1/P21(s) its output valve u is obtained1pm(s), by u1pm(s) controlled device cross aisle transmission function is acted on Prediction model G21m(s) its output valve y is obtained21ma(s)；
E6：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) pass through Network pathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, get to Control decoupler CD1 nodes；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb (s)；The feedforward network path of close loop control circuit 1 will be come fromThe control decoupling signal u of unit1p(s) act on controlled Object cross aisle transmission function prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control solution Coupling signal u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to quilt Control object G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of all-network path unknown network time delay, observation, Estimation is recognized, while can also exempt the requirement synchronous to node clock signal, it is to avoid time delay estimation model is inaccurate to be caused Evaluated error, it is to avoid the waste to expending node storage resources needed for time-delay identification, and " sky sampling " caused due to time delay Or the compensation error that " many samplings " is brought.
2nd, it is unrelated with the selection of specific network communication protocol due to being realized from TITO-NDCS structures, thus be both applicable In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS of wireless network protocol；It is not only suitable for certainty Procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, while also fitting The TITO-NDCS constituted for heterogeneous network.
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, and reduction unknown network time delay is to the stability of a system Influence.
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 network for being undergone sensor S nodal test signal y (s) to controller C node-node transmissions Tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G, M feedforward network tunnel time delayUnit, and r feedback network tunnel time delayUnit is constituted.
In Fig. 2：yj(s) j-th of output signal of system is represented；ui(s) i-th of control signal of system is represented；Represent Will control decoupling signal ui(s) feedforward network undergone from control decoupler CD nodes to i-th of actuator A node-node transmission leads to Road propagation delay time；Represent the detection signal y of j-th of sensor S node of systemj(s) passed to control decoupler CD nodes Defeated undergone feedback network tunnel time delay；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11And G (s)22(s) and controlled device cross aisle pass Delivery function G21And G (s)12(s), cross decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unit WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute Composition.
In Fig. 3：x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；C1(s) and C2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；yp21And y (s)p12(s) represent to intersect Decouple path output signal；u1pAnd u (s)2p(s) control decoupling signal is represented；τ1And τ3Representing will control decoupling signal u1p(s) and u2p(s) from control decoupler CD1 and CD2 node undergone to actuator A1 and A2 node-node transmission feedforward network tunnel when Prolong；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to control decoupler CD1 and CD2 node The undergone feedback network tunnel time delay of transmission；τ21And τ12Represent cross decoupling channel transfer function P21And P (s)12 (s) output signal yp21And y (s)p12(s) when the network path undergone to control decoupler CD2 and CD1 node-node transmission is transmitted Prolong.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is net Network propagation delay timeAndEstimate Time Delay Model；G11mAnd G (s)22m(s) it is controlled device transmission function G11And G (s)22 (s) prediction model；G12mAnd G (s)21m(s) it is controlled device cross aisle transmission function G12And G (s)21(s) estimate mould Type；C1IMCAnd C (s)2IMC(s) it is internal mode controller.
Fig. 5：A kind of unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system
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 h when the sensor S1 nodes cycle1Sampling After signal triggering, to controlled device G11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s) defeated Go out signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) sampled, and calculate closed loop control The system output signal y in loop 1 processed1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)- y11mb(s)-y12mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or intersected Decoupling network pathThe output signal y of unitp12(s) after triggering, by feedback signal y1b(s) passed with controlled device cross aisle Delivery function prediction model G12m(s) output valve y12ma(s) phase adduction and controlled device prediction model G11m(s) output valve y11ma (s) signal y is obtained after subtracting each other1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)-y11ma(s)；By y1c(s) feedback filtering is acted on Device F1(s) its output signal y is obtainedF1(s)；By the 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)；To e1(s) Internal Model Control Algorithm is implemented C1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12And network path (s)The signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1 (s)-yp12(s)；
5th step：By yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；By yp12 (s) transmission function 1/P is acted on12(s) its output valve u is obtained2pm(s), by u2pm(s) transmission of controlled device cross aisle is acted on Function prediction model G12m(s) its output valve y is obtained12ma(s)；
6th step：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) Pass through network pathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, ability Reach control decoupler CD2 nodes；
7th step：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to holding Row device A1 node-node transmissions, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
8th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) after triggering, it will control Decoupling signal u processed1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Closed loop control will be come from The feedforward network path in loop 2 processedThe control decoupling signal u of unit2p(s) controlled device cross aisle transmission function is acted on Prediction model G12m(s) its output valve y is obtained12mb(s)；
9th step：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；Will control Decoupling signal u processed1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize To controlled device G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ1And τ2Compensation；
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 After signal triggering, to controlled device G22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s) defeated Go out signal y21(s), and actuator A2 nodes output signal y22mbAnd y (s)21mb(s) sampled, and calculate closed loop control The system output signal y in loop 2 processed2(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21And y (s)2b(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 decoupler CD2 node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b (s) or are intersected Decoupling network pathThe output signal y of unitp21(s) after triggering, by feedback signal y2b(s) passed with controlled device cross aisle Delivery function prediction model G21m(s) output valve y21ma(s) phase adduction and controlled device prediction model G22m(s) output valve y22ma (s) signal y is obtained after subtracting each other2c(s), i.e. y2c(s)=y2b(s)+y21ma(s)-y22ma(s)；By y2c(s) feedback filtering is acted on Device F2(s) its output signal y is obtainedF2(s)；By the 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)；To e2(s) Internal Model Control Algorithm is implemented C2IMC(s) IMC signals u, is obtained2(s)；
4th step：By control signal u2(s) subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21And network path (s)The signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2 (s)-yp21(s)；
5th step：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21 (s) transmission function 1/P is acted on21(s) its output valve u is obtained1pm(s)；By u1pm(s) transmission of controlled device cross aisle is acted on Function prediction model G21m(s) its output valve y is obtained21ma(s)；
6th step：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) Pass through network pathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, ability Reach control decoupler CD1 nodes；
7th step：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to holding Row device A2 node-node transmissions, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
8th step：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s) after triggering, it will control Decoupling signal u processed2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；Closed loop control will be come from The feedforward network path in loop 1 processedThe control decoupling signal u of unit1p(s) controlled device cross aisle transmission function is acted on Prediction model G21m(s) its output valve y is obtained21mb(s)；
9th step：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；Will control Decoupling signal u processed2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize To controlled device G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation；
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 (4)

1. the unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system, 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 control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathThe output of unit Signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2b(s) or by cross decoupling network pathThe output of unit Signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle Transmission function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mbAnd y (s)12mb(s) adopted Sample, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12 And y (s)1b(s)=y1(s)-y11mb(s)-y12mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling network PathThe output signal y of unitp12(s) triggered；
B2：By feedback signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) Phase adduction and controlled device prediction model G11m(s) output valve y11ma(s) signal y is obtained after subtracting each other1c(s), i.e. y1c(s)=y1b (s)+y12ma(s)-y11ma(s)；By y1c(s) feedback filter F is acted on1(s) its output signal y is obtainedF1(s)；
B3：By the Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1(s) output signal yF1(s), obtain partially Difference signal e1(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)；
B4：By IMC signals u1(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P12(s) and Network pathThe signal y that unit is transmittedp12(s) control decoupling signal u, is obtained1p(s), i.e. u1p(s)=u1(s)-yp12 (s)；
B5：By yp12(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11ma(s)；By yp12(s) act on Transmission function 1/P12(s) its output valve u is obtained2pm(s), by u2pm(s) controlled device cross aisle transmission function is acted on to estimate Model G12m(s) its output valve y is obtained12ma(s)；
B6：By u1p(s) decoupling channel transfer function P is acted on21(s), and by P21(s) output signal yp21(s) network is passed through PathUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21Afterwards, control is got to Decoupler CD2 nodes；
B7：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is saved to actuator A1 Point transmission, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Will Come from the feedforward network path of close loop control circuit 2The control decoupling signal u of unit2p(s) controlled device intersection is acted on Channel transfer function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control decoupling letter Number u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to controlled pair As G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ1And τ2Compensation；
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 actuator A2 nodes output signal y22mbAnd y (s)21mb(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)-y21mb(s)；
D3：Sensor S2 nodes are by feedback signal y2b(s), decoupled by the feedback network path of close loop control circuit 2 to control Device CD2 node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2b(s) or by cross decoupling network PathThe output signal y of unitp21(s) triggered；
E2：By feedback signal y2b(s) with controlled device cross aisle transmission function prediction model G21m(s) output valve y21ma(s) Phase adduction and controlled device prediction model G22m(s) output valve y22ma(s) signal y is obtained after subtracting each other2c(s), i.e. y2c(s)=y2b (s)+y21ma(s)-y22ma(s)；By y2c(s) feedback filter F is acted on2(s) its output signal y is obtainedF2(s)；
E3：By the Setting signal x of close loop control circuit 22(s) feedback filter F, is subtracted2(s) output signal yF2(s), obtain partially Difference signal e2(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)；
E4：By IMC signals u2(s), subtract and come from control decoupler CD1 nodes by decoupling channel transfer function P21(s) and Network pathThe signal y that unit is transmittedp21(s) control decoupling signal u, is obtained2p(s), i.e. u2p(s)=u2(s)-yp21 (s)；
E5：By yp21(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22ma(s)；By yp21(s) act on Transmission function 1/P21(s) its output valve u is obtained1pm(s), by u1pm(s) controlled device cross aisle transmission function is acted on to estimate Model G21m(s) its output valve y is obtained21ma(s)；
E6：By u2p(s) decoupling channel transfer function P is acted on12(s), and by P12(s) output signal yp12(s) network is passed through PathUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, control is got to Decoupler CD1 nodes；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；Will Come from the feedforward network path of close loop control circuit 1The control decoupling signal u of unit1p(s) controlled device friendship is acted on Pitch channel transfer function prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control decoupling letter Number u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to controlled pair As G22And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to unknown network delay, τ3And τ4Compensation.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay between node and node τ1And τ2, and τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：Using two degrees of freedom IMC TITO-NDCS, its closed loop control The adjustable parameter in loop processed is 2, can further improve stability, tracking performance and the antijamming capability of system；Especially when When system is present compared with large disturbances and model mismatch, feedback filter F1And F (s)2(s) presence can further improve the dynamic of system State performance quality, influence of the reduction network delay to the stability of a system.
CN201710091219.0A 2017-02-20 2017-02-20 The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system Pending CN107065529A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710091219.0A CN107065529A (en) 2017-02-20 2017-02-20 The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710091219.0A CN107065529A (en) 2017-02-20 2017-02-20 The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system

Publications (1)

Publication Number Publication Date
CN107065529A true CN107065529A (en) 2017-08-18

Family

ID=59622811

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710091219.0A Pending CN107065529A (en) 2017-02-20 2017-02-20 The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system

Country Status (1)

Country Link
CN (1) CN107065529A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111796515A (en) * 2020-07-30 2020-10-20 中国科学院光电技术研究所 Improved double-port internal model control method suitable for unknown input tracking system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111796515A (en) * 2020-07-30 2020-10-20 中国科学院光电技术研究所 Improved double-port internal model control method suitable for unknown input tracking system
CN111796515B (en) * 2020-07-30 2022-04-19 中国科学院光电技术研究所 Improved double-port internal model control method suitable for unknown input tracking system

Similar Documents

Publication Publication Date Title
CN106802562A (en) A kind of two input two exports network decoupling and controlling system long delay compensation method
CN106802559A (en) A kind of two input two exports Network Delays in Networked Control Systems Based two degrees of freedom IMC methods
CN107065529A (en) The unknown time delay two degrees of freedom IMC methods of two-output impulse generator network decoupling and controlling system
CN106773726A (en) A kind of two input two exports network decoupling and controlling system random delay compensation method
CN106773731A (en) A kind of dual input exports the unknown time delay mixed control method of network decoupling and controlling system
CN106814618A (en) A kind of two input two exports the IMC methods of the big network delay of network decoupling and controlling system
CN106919042A (en) A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay
CN106802556A (en) A kind of IMC methods of two input and output network decoupling and controlling system unknown network time delay
CN106919047A (en) A kind of two-output impulse generator Delays In Networked Control System two degrees of freedom IMC methods
CN107065527A (en) A kind of unknown time delay IMC methods of two-output impulse generator network decoupling and controlling system
CN106814615A (en) A kind of compensation method of the TITO NDCS network delays of two degrees of freedom IMC
CN107065533A (en) Two inputs two export network decoupling and controlling system random delay two degrees of freedom IMC methods
CN106773738A (en) A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay
CN106950827A (en) A kind of two degrees of freedom IMC methods of TITO NDCS random network time delays
CN106950828A (en) A kind of SPC and two degrees of freedom IMC TITO NDCS unknown network delay compensation methods
CN106773734A (en) A kind of two input two exports network decoupling and controlling system variable network time delay IMC methods
CN106842940A (en) A kind of compensation method of TITO NDCS network delays long
CN107065525A (en) Two inputs two export network decoupling and controlling system time-vary delay system two degrees of freedom IMC methods
CN107065531A (en) The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods
CN107153353A (en) A kind of two input two exports the two degrees of freedom IMC methods of NDCS network delays
CN107247409A (en) A kind of dual input exports the two degrees of freedom IMC methods of NDCS random delay
CN106842932A (en) A kind of SPC of TITO NDCS random delay and two degrees of freedom IMC methods
CN106773728A (en) A kind of IMC methods of two input and output network decoupling and controlling system random network time delay
CN106970534A (en) The input of one kind two two exports network decoupling and controlling system and does not know time delay IMC methods
CN106814616A (en) A kind of two input two exports network decoupling and controlling system random network time delay IMC methods

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170818