CN107065530A - The input of one kind two two exports network decoupling and controlling system long time delay compensation method - Google Patents

Abstract

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

Description

The input of one kind two two exports network decoupling and controlling system long time delay compensation method

Technical field

The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band The multiple-input and multiple-output network decoupling and controlling system technical field of wide resource-constrained.

Background technology

The closed-loop feedback control system being made up of Real Time Communication Network, referred to as network control system (Networked Control systems, NCS).NCS is the dcs for integrating communication network and control system, is provided simultaneously with The function of signal transacting, Optimal Decision-making and control operation, NCS typical structure is as shown in Figure 1.

Compared with traditional point-to-point direct control system, NCS maximum feature be sensor in system, controller and Actuator is not direct point-to-point connection, but exchanges data and control information by public network, has broken traditional control Limitation of the system processed on locus, can be achieved system control and the remote monitoring under complex environment, reduces the wiring of system Complexity and Operations Management cost, improve the information integration of control system, the flexibility and reliability of strengthening system.

NCS by its interactivity it is strong, connect up less, extension and easy to maintenance and the advantages of resource-sharing can be realized, extensively It is general to be applied to the fields such as national defence, Aero-Space, device fabrication, intelligent transportation, process control and economic management.

But, while adding communication network in feedback control loop, also increase control system analysis and design Complexity.Due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many new challenges. The presence of especially big network delay, it is possible to decrease NCS control quality, or even make system loss of stability, it may be led when serious Cause system breaks down.

At present, research both at home and abroad on NCS, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or uncertain, network delay is less than One sampling period or more than one sampling period, single bag transmission or many bag transmission, when whetheing there is data-bag lost, to it Carry out mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprise at least two it is defeated Enter the multiple-input and multiple-output constituted with the control system of two outputs (Two-input and two-output, TITO) The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially The multiple-input and multiple-output network uneoupled control by decoupling processing is needed between input and output signal, there is coupling The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is then relatively less.

MIMO-NDCS typical structure is as shown in Figure 2.

Compared with SISO-NCS, MIMO-NDCS has the characteristics that：

(1) affected one another between input signal and output signal and there is coupling

In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Also exist and influence each other unavoidably between selection pairing, each control loop, thus it is respective output signal is independently tracked Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal Cooperation is used.

(2) internal structure is more more complex than SISO-NCS

(3) controlled device there may be uncertain factor

In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control The influence of effect processed can become very complicated.

(4) control unit fails

In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious Control system can be made unstable, or even caused a serious accident.

Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled, MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO- In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.

For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：

(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size It is relevant etc. factor, to more than several or even the dozens of sampling period network delay, to set up each in MIMO-NDCS and control back The mathematical modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.

(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with Design brings difficulty.

(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic 's.

(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it Repay more much more difficult than MIMO-NCS and SISO-NCS with control.

The content of the invention

It is big that network decoupling and controlling system (TITO-NDCS) is exported the present invention relates to the input of one kind two in MIMO-NDCS two The compensation and control of time delay, its TITO-NDCS typical structure are 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 u_1a(s), to network path it is transferred to the network delay that actuator A1 nodes are undergone through preceding；τ₂Represent output signal y₁ (s) from sensor S1 nodes, the network delay undergone through feedback network tunnel to control decoupler CD1 nodes.

2) the signal u of decoupler CD2 nodes is controlled from close loop control circuit 2_2a(s), transmitted by cross decoupling passage Function P₁₂And network path (s)Unit acts on close loop control circuit 1；And from the actuator A2 of close loop control circuit 2 sections The output signal u of point_2a(s) controlled device cross aisle transmission function G, is passed through₁₂(s) the output letter of influence close loop control circuit 1 Number y₁(s), from input signal u_2a(s) output signal y is arrived₁(s) closed loop transfer function, is between：

Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, contain big network delay τ₁And τ₂Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization Property.

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 u_2a(s), to network path it is transferred to the network delay that actuator A2 nodes are undergone through preceding；τ₄Represent output signal y₂ (s) from sensor S2 nodes, the network delay undergone through feedback network tunnel to control decoupler CD2 nodes.

2) the signal u of decoupler CD1 nodes is controlled from close loop control circuit 1_1a(s), transmitted by cross decoupling passage Function P₂₁And network path (s)Unit acts on close loop control circuit 2；And from the actuator A1 of close loop control circuit 1 The output signal u of node_1a(s) controlled device cross aisle transmission function G, is passed through₂₁(s) output of close loop control circuit 2 is influenceed Signal y₂(s), from input signal u_1a(s) output signal y is arrived₂(s) closed loop transfer function, is between：

Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, contain big 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 stabilization Property.

Goal of the invention：

For Fig. 3 TITO-NDCS, in the closed loop transfer function, equation (1) of its close loop control circuit 1 and the denominator of (2), Contain network delay τ₁And τ₂Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2 (4) in denominator, network delay τ is contained₃And τ₄Exponential termWithThe presence of time delay can reduce respective closed loop The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system Performance quality processed and the stability for influenceing whole system, will cause whole system loss of stability when serious.

Therefore, for close loop control circuit 1 and control loop 2, proposing a kind of based on IMC (Internal Model Control, IMC) delay compensation method, constitute two close loop control circuit network delays compensation and control, for exempt pair In each close loop control circuit, measurement, estimation or the identification of network delay between node, and then reduce network delay τ₁And τ₂, and τ₃And τ₄Influence to respective close loop control circuit and to whole control system control performance quality and the stability of a system.When pre- When estimating model equal to its true model, it can be achieved not including the index of network delay in the characteristic equation of respective close loop control circuit , and then influence of the network delay to whole system stability can be reduced, improve the dynamic property quality of system, realization pair Being segmented of the big network delays of TITO-NDCS, in real time, online and dynamic predictive compensation and IMC.

Using method：

For the close loop control circuit 1 in Fig. 3：

The first step：In control decoupler CD1 nodes, an internal mode controller C is built_1IMC(s) substitution controller C₁(s)； When meeting predictive compensation condition to realize, the finger of network delay is no longer included in the closed loop transform function of close loop control circuit 1 It is several, to realize to network delay τ₁And τ₂Compensation and control, to control decoupling output signal u_1aAnd network path (s) The output signal y of unit_p12(s) as input signal, controlled device prediction model G_11m(s) as controlled process, control and mistake Number of passes evidence passes through network transfer delay prediction modelAndAround internal mode controller C_1IMC(s) negative-feedback is constructed Prediction Control loop and a positive 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 big network delay, τ₁And τ₂Compensation and control；It is real The network delay compensation for applying the inventive method is as shown in Figure 5 with IMC structures；

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_2IMC(s) substitution controller C₂(s)； When meeting predictive compensation condition to realize, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, To realize to network delay τ₃And τ₄Compensation and control, around controlled device G₂₂(s) y, is exported with close loop control circuit 2₂(s) As input signal, by y₂(s) network transfer delay prediction model is passed throughWith estimate internal mode controller C_2mIMCAnd net (s) Network propagation delay time prediction modelConstruct a positive feedback Prediction Control loop；The structure for implementing this step is as shown in Figure 4；

Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet estimate internal mode controller C_2mIMC(s) it is equal to its internal mode controller C_2IMC(s) condition is (due to internal model Controller C_2IMC(s) it is artificial design and selection, C is met naturally_2mIMC(s)=C_2IMC(s)).Therefore, from sensor S2 nodes to Between control decoupler CD2 nodes, and from control decoupler CD2 nodes to actuator A2 nodes, using real net Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5 Network delay compensation and control structure；Realize that system does not include network delay predict-compensate model therebetween from structure, so as to exempt To in close loop control circuit 2, network delay τ between node₃And τ₄Measurement, estimation or recognize；It can be achieved to big network delay, τ₃ And τ₄Compensation and IMC.

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：G_11m(s) it is controlled device G₁₁(s) prediction model；C_1IMC(s) it is internal mode controller.

2) from the control decoupler CD2 node signals of close loop control circuit 2 u_2a(s) it is logical by cross decoupling as input Road transmission function P₁₂And network path (s)The signal y of unit transmission_p12(s), while acting on the He of close loop control circuit 1 To controlled device prediction model G_11m(s)；From input signal u_2a(s) output signal y is arrived₁(s) closed loop transfer function, between is：

3) the actuator A2 output signal nodes u of close loop control circuit 2 is come from_2a(s), transmitted by controlled device cross aisle Function G₁₂(s) close loop control circuit 1 is acted on, from input signal u_2a(s) output signal y is arrived₁(s) closed loop transfer function, between For：

It is can be seen that from above-mentioned closed loop transfer function, equation (5) into (7)：When controlled device prediction model is true equal to its During model, that is, work as G_11m(s)=G₁₁(s) when, the denominator of closed loop transfer function, is 1；Now close loop control circuit 1 is equivalent to one The network delay τ of the influence stability of a system is no longer included in open-loop control system, its closed loop transform function₁And τ₂Exponential term WithThe stability of system only has with controlled device, the stability of cross decoupling path transmission function and internal mode controller in itself Close；Influence of the network delay to the stability of a system can be reduced using the inventive method, improve the dynamic control performance quality of system, Realize the dynamic compensation to big network delay and IMC.

For the close loop control circuit 2 in Fig. 5：

1) from input signal x₂(s) output signal y is arrived₂(s) closed loop transfer function, between is：

2) from the control decoupler CD1 node signals of close loop control circuit 1 u_1a(s) it is logical by cross decoupling as input Road transmission function P₂₁And network path (s)The signal y of unit transmission_p21(s) close loop control circuit 2 is acted on, from input Signal u_1a(s) output signal y is arrived₂(s) closed loop transfer function, between is：

3) the actuator A1 output signal nodes u of close loop control circuit 1 is come from_1a(s), transmitted by controlled device cross aisle Function G₂₁(s) close loop control circuit 2 is acted on, from input signal u_1a(s) output signal y is arrived₂(s) closed loop transfer function, between For：

It is can be seen that from above-mentioned closed loop transfer function, equation (8) into (10)：The denominator of closed loop transfer function, is 1, now Influence system is no longer included in equivalent to one open-loop control system of close loop control circuit 2, the denominator of closed loop transfer function, The network delay τ of stability₃And τ₄Exponential termWithThe stability of system is only passed with controlled device, cross decoupling path Stability of the delivery function with internal mode controller in itself is relevant；Network delay can be reduced to the stability of a system using the inventive method Influence, improves the dynamic control performance quality of system, realizes the dynamic compensation to big network delay and IMC.

Internal mode controller C_1IMCAnd 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 to design an inversion model for plant model taken as feedforward controller C₁₁And C (s)₂₂ (s)；

Second step is the feedforward filter f that certain order is added in feedforward controller₁And f (s)₂(s), composition one is complete Whole internal mode controller C_1IMCAnd 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.,：G_11m (s)=G₁₁(s), G_22m(s)=G₂₂(s)。

Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G_11m(s)= G_11m+(s)G_11m- (s) and G_22m(s)=G_22m+(s)G_22m- (s), wherein：G_11m+And G (s)_22m+(s) it is respectively that controlled device is estimated Model G_11mAnd G (s)_22m(s) the irreversible part comprising pure lag system and s RHP zero pole points in；G_11m-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 phase_11m-(s) And G_22m-(s) it, have ignored G_11m+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=n_1a-n_1bAnd n₂=n_2a-n_2b；n_1aAnd n_2aRespectively Controlled device G₁₁And G (s)₂₂(s) order of denominator；n_1bAnd n_2bRespectively controlled device G₁₁And G (s)₂₂(s) order of molecule, Usual n₁＞ 0 and n₂＞ 0.

(3) internal mode controller C_1IMCAnd C (s)_2IMC(s)

Close loop control circuit 1 and the internal mode controller C in loop 2_1IMCAnd 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 freedom_1IMCAnd 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.

The scope of application of the present invention：

Using the IMC methods of close loop control circuit 1 when estimating mathematical modeling equal to its true model suitable for controlled device, And controlled device mathematical modeling is known or IMC methods when not exclusively knowing using close loop control circuit 2, the one kind constituted Two inputs two export the compensation and control of the big network delay of network decoupling and controlling system (TITO-NDCS)；Its Research Thinking and side Method, can equally be well applied to the IMC side using close loop control circuit 1 when controlled device estimates mathematical modeling equal to its true model Method, and controlled device mathematical modeling is known or IMC methods when not exclusively knowing using close loop control circuit 2, is constituted The compensation and control of the big network delay of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS).

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 y_1b(s) or by cross decoupling network pathUnit Output signal y_p12(s) when triggering, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1a(s) when triggering, employing mode C is operated；

For close loop control circuit 2：

(4) is h when the sensor S2 nodes cycle₂Sampled signal triggering when, employing mode D is operated；

(5) is when control decoupler CD2 nodes are by feedback signal y₂(s) or by cross decoupling network pathUnit Output signal y_p21(s) when triggering, employing mode E is operated；

(6) is when actuator A2 nodes are by signal u_2a(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 y_11mb(s) sampled, and Calculate the system output signal y of close loop control circuit 1₁(s) with feedback signal y_1b, and y (s)₁(s)=y₁₁(s)+y₁₂(s) and y_1b(s)=y₁(s)-y_11mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to control Decoupler CD1 node-node transmissions, feedback signal y_1b(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 y_1b(s) or by cross decoupling Network pathThe output signal y of unit_p12(s) triggered；

B2：In control decoupler CD1 nodes, by the system Setting signal x of close loop control circuit 1₁(s) feedback, is subtracted Signal y_1b(s) with controlled device prediction model G_11m(s) output valve y_11ma(s) system deviation signal e, is obtained₁(s), i.e. e₁(s) =x₁(s)-y_1b(s)-y_11ma(s)；

B3：To e₁(s) Internal Model Control Algorithm C is implemented₁(s) IMC signals u, is obtained₁(s)；

B4：By IMC signals u₁(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P₁₂ And network path (s)The signal y that unit is transmitted_p12(s) control decoupling signal u, is obtained_1a(s), i.e. u_1a(s)=u₁ (s)-y_p12(s)；

B5：By signal y_p12(s) controlled device prediction model G is acted on_11m(s) its output valve y is obtained_11ma(s)；By u_1a (s) decoupling channel transfer function P is acted on₂₁(s), and by P₂₁(s) output signal y_p21(s) network path is passed throughUnit To control decoupler CD2 node-node transmissions, y_p21(s) will experience network transfer delay τ₂₁Afterwards, control decoupler CD2 sections are got to Point；

B6：Will control decoupling signal u_1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is to actuator A1 node-node transmissions, u_1a(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

The step of mode C, includes：

C1：Actuator A1 nodes work in event driven manner, by signal u_1a(s) triggered；

C2：After actuator A1 nodes are triggered, decoupling signal u will be controlled_1a(s) controlled device prediction model G is acted on_11m (s) its output valve y is obtained_11mb(s)；

C3：Will control decoupling signal u_1a(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；By control solution Coupling signal u_1a(s) controlled device cross aisle transmission function G is acted on₂₁(s) its output valve y is obtained₂₁(s)；So as to realize to quilt Control object G₁₁And G (s)₂₁(s) decoupling and control, while realizing to big network delay, τ₁And τ₂Compensation and IMC；

The step of mode D, includes：

D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h₂Sampled signal；

D2：After sensor S2 nodes are triggered, to controlled device G₂₂(s) output signal y₂₂(s) intersect with controlled device Channel transfer function G₂₁(s) output signal y₂₁(s) sampled, and calculate the system output signal y of close loop control circuit 2₂ (s), i.e. y₂(s)=y₂₂(s)+y₂₁(s)；

D3：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to control Decoupler CD2 node-node transmissions, feedback signal y₂(s) will experience network transfer delay τ₄Afterwards, control decoupler CD2 sections are got to Point；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or by cross decoupling Network pathThe output signal y of unit_p21(s) triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂(s) feedback signal y is subtracted₂ (s) error signal e is obtained₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) it, is obtained Export IMC signals u₂(s)；

E3：To feedback signal y₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) its IMC signal u, is obtained_2b(s)；

E4：By IMC signals u₂(s) with IMC signals u_2b(s) be added after, then with from cross decoupling network pathUnit Output signal y_p21(s) subtract each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b(s)-y_p21(s)； By u_2a(s) cross decoupling channel transfer function P is acted on₁₂(s) its output signal y is obtained_p12(s)；By y_p12(s) by intersecting Decoupling network path to control decoupler CD1 node-node transmissions, signal y_p12(s) will experience network transfer delay τ₁₂Afterwards, get to Control decoupler CD1 nodes；

E5：By signal u_2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is passed to actuator A2 nodes It is defeated, u_2a(s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes could be arrived；

The step of mode F, includes：

F1：Actuator A2 nodes work in event driven manner, by signal u_2a(s) triggered；

F2：After actuator A2 nodes are triggered, by signal u_2a(s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂ (s)；By signal u_2a(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 control, while realizing to big network delay, τ₃And τ₄Compensation and IMC.

The present invention has following features：

1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimation or recognize, also simultaneously Node clock signal synchronously requirement can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid to time delay The waste of node storage resources is expended needed for identification, while can also avoid due to " sky sampling " or " many samplings " band that time delay is caused The compensation error come.

2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS using wireless network protocol；It is not only suitable for really Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, simultaneously Also it is applied to the TITO-NDCS that heterogeneous network is constituted.

3rd, in TITO-NDCS, control loop 1 and loop 2 using IMC, its internal mode controller C_1IMCAnd C (s)_2IMC(s) Only one of which adjustable parameter, the regulation and selection of its parameter is simple, and explicit physical meaning；It can not only be improved using IMC and be Stability, tracking performance and the interference free performance of system, but also the compensation to network delay and IMC can be realized.

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；τ_caRepresent the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions Tunnel time delay；τ_scRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions Network tunnel time delay；G (s) represents controlled device transmission function.

Fig. 2：MIMO-NDCS typical structure

In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G, M feedforward network tunnel time delay(i=1,2 ..., m) unit, and r feedback network tunnel time delay(j= 1,2 ..., r) unit is constituted.

In Fig. 2：y_j(s) j-th of output signal of system is represented；u_i(s) i-th of control signal of system is represented；Represent The feedforward network that decoupling signal ui (s) will be controlled to be 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 system_j(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；y_p21And y (s)_p12(s) represent to intersect Decouple path output signal；u_1aAnd u (s)_2a(s) control decoupling signal is represented；τ₁And τ₃Representing will control decoupling signal u_1a(s) and u_2a(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 node₁(s) and_y2(s) passed to control decoupler CD1 and CD2 node Defeated undergone feedback network tunnel time delay；τ₂₁And τ₁₂Represent cross decoupling channel transfer function P₂₁And P (s)₁₂(s) Output signal y_p21And y (s)_p12(s) the network path propagation delay time undergone to control decoupler CD2 and CD1 node-node transmission.

Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model

In Fig. 4,AndIt is network transfer delayAndPrediction model；AndIt is network Propagation delay timeAndPrediction model；G_11m(s) it is controlled device G₁₁(s) prediction model；C_2mIMC(s) it is internal model control Device C processed_2IMC(s) predictor controller；C_1IMC(s) it is internal mode controller.

Fig. 5：The input of one kind two two exports network decoupling and controlling system long time delay compensation method

Fig. 5 can be realized to the compensation of big network delay and IMC in close loop control circuit 1 and 2.

Embodiment

The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 below, makes the ordinary skill of this area Personnel become apparent from the features described above and advantage of the present invention.

Specific implementation step is as described below：

For close loop control circuit 1：

The first step：Sensor S1 nodes work in time type of drive, and the cycle is h₁Sampled signal triggering after, to quilt Control object G₁₁(s) output signal y₁₁(s) with controlled device cross aisle transmission function G₁₂(s) output signal y₁₂(s), with And the output signal y of actuator A1 nodes_11mb(s) sampled, and calculate the system output signal y of close loop control circuit 1₁ (s) with feedback signal y_1b, and y (s)₁(s)=y₁₁(s)+y₁₂And y (s)_1b(s)=y₁(s)-y_11mb(s)；

Second step：Sensor S1 nodes are by feedback signal y_1b(s), by the feedback network path of close loop control circuit 1 to Control decoupler CD1 node-node transmissions, feedback signal y_1b(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 y_1b(s) or intersected Decoupling network pathThe output signal y of unit_p12(s) after triggering, by the system Setting signal x of close loop control circuit 1₁(s), Subtract feedback signal y_1b(s) with controlled device prediction model G_11m(s) output valve y_11ma(s) system deviation signal e, is obtained₁ (s), i.e. e₁(s)=x₁(s)-y_1b(s)-y_11ma(s)；To e₁(s) Internal Model Control Algorithm C is implemented_1IMC(s) IMC signals u, is obtained₁ (s)；By IMC signals u₁(s), subtract and come from control decoupler CD2 nodes by decoupling channel transfer function P₁₂And network (s) PathThe signal y that unit is transmitted_p12(s) control decoupling signal u, is obtained_1a(s), i.e. u_1a(s)=u₁(s)-y_p12(s)；

4th step：By signal y_p12(s) controlled device prediction model G is acted on_11m(s) its output valve y is obtained_11ma(s)；Will u_1a(s) decoupling channel transfer function P is acted on₂₁(s), and by P₂₁(s) output signal y_p21(s) network path is passed throughIt is single Member to control decoupler CD2 node-node transmissions, y_p21(s) will experience network transfer delay τ₂₁Afterwards, control decoupler CD2 is got to Node；

5th step：Will control decoupling signal u_1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is to holding Row device A1 node-node transmissions, u_1a(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

6th step：Actuator A1 nodes work in event driven manner, by signal u_1a(s) after triggering, control is decoupled Signal u_1a(s) controlled device prediction model G is acted on_11m(s) its output valve y is obtained_11mb(s)；

7th step：Will control decoupling signal u_1a(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；Will control Decoupling signal u processed_1a(s) controlled device cross aisle transmission function G is acted on₂₁(s) its output valve y is obtained₂₁(s)；So as to realize To controlled device G₁₁And G (s)₂₁(s) decoupling and control, while realizing to big network delay, τ₁And τ₂Compensation and IMC；

8th step：Return to the first step；

For close loop control circuit 2：

The first step：Sensor S2 nodes work in time type of drive, and the cycle is h₂Sampled signal triggering after, to quilt Control object G₂₂(s) output signal y₂₂(s) with controlled device cross aisle transmission function G₂₁(s) output signal y₂₁(s) carry out Sampling, and calculate the system output signal y of close loop control circuit 2₂(s), i.e. y₂(s)=y₂₂(s)+y₂₁(s)；

Second step：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to Control decoupler CD2 node-node transmissions, feedback signal y₂(s) will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or intersected Decoupling network pathThe output signal y of unit_p21(s) after triggering, by the system Setting signal x of close loop control circuit 2₂ (s) feedback signal y is subtracted₂(s) error signal e is obtained₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂(s) internal model control is implemented Algorithm C_2IMC(s), obtain it and export IMC signals u₂(s)；To feedback signal y₂(s) Internal Model Control Algorithm C is implemented_2IMC(s), obtain It exports IMC signals u_2b(s)；By IMC signals u₂(s) with IMC signals u_2b(s) after being added, then with leading to from cross decoupling network RoadThe output signal y of unit_p21(s) subtract each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b (s)-y_p21(s)；

4th step：By u_2a(s) cross decoupling channel transfer function P is acted on₁₂(s) its output signal y is obtained_p12(s)；Will y_p12(s) by cross decoupling network path to control decoupler CD1 node-node transmissions, signal y_p12(s) when will undergo network transmission Prolong τ₁₂Afterwards, get to control decoupler CD1 nodes；

5th step：By signal u_2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, u_2a(s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

6th step：Actuator A2 nodes work in event driven manner, by signal u_2a(s) after triggering, by signal u_2a (s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂(s)；By signal u_2a(s) controlled device cross aisle biography is acted on Delivery function G₁₂(s) its output valve y is obtained₁₂(s)；So as to realize to controlled device G₂₂And G (s)₁₂(s) decoupling and control, simultaneously Realize to big network delay, τ₃And τ₄Compensation and IMC；

8th step：Return to the first step；

It the foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, all essences in the present invention God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.

The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (4)

1. the input of one kind two two exports network decoupling and controlling system long time delay compensation method, it is characterised in that this method includes following Step：

For close loop control circuit 1：

(1) is h when the sensor S1 nodes cycle₁Sampled signal triggering when, employing mode A is operated；

(2) is when control decoupler CD1 nodes are by feedback signal y_1b(s) or by cross decoupling network pathThe output of unit Signal y_p12(s) when triggering, employing mode B is operated；

(3) is when actuator A1 nodes are by control decoupling signal u_1a(s) when triggering, employing mode C is operated；

For close loop control circuit 2：

(4) is h when the sensor S2 nodes cycle₂Sampled signal triggering when, employing mode D is operated；

(5) is when control decoupler CD2 nodes are by feedback signal y₂(s) or by cross decoupling network pathThe output of unit Signal y_p21(s) when triggering, employing mode E is operated；

(6) is when actuator A2 nodes are by signal u_2a(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 y_11mb(s) sampled, and calculated Go out the system output signal y of close loop control circuit 1₁(s) with feedback signal y_1b, and y (s)₁(s)=y₁₁(s)+y₁₂And y (s)_1b (s)=y₁(s)-y_11mb(s)；

A3：Sensor S1 nodes are by feedback signal y_1b(s), decoupled by the feedback network path of close loop control circuit 1 to control Device CD1 node-node transmissions, feedback signal y_1b(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 y_1b(s) or by cross decoupling network PathThe output signal y of unit_p12(s) triggered；

B2：In control decoupler CD1 nodes, by the system Setting signal x of close loop control circuit 1₁(s) feedback signal, is subtracted y_1b(s) with controlled device prediction model G_11m(s) output valve y_11ma(s) system deviation signal e, is obtained₁(s), i.e. e₁(s)=x₁ (s)-y_1b(s)-y_11ma(s)；

B3：To e₁(s) Internal Model Control Algorithm C is implemented₁(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 transmitted_p12(s) control decoupling signal u, is obtained_1a(s), i.e. u_1a(s)=u₁(s)-y_p12 (s)；

B5：By signal y_p12(s) controlled device prediction model G is acted on_11m(s) its output valve y is obtained_11ma(s)；By u_1a(s) make For decoupling channel transfer function P₂₁(s), and by P₂₁(s) output signal y_p21(s) network path is passed throughUnit is to control Decoupler CD2 node-node transmissions, y_p21(s) will experience network transfer delay τ₂₁Afterwards, get to control decoupler CD2 nodes；

B6：Will control decoupling signal u_1a(s) the feedforward network path of close loop control circuit 1, is passed throughUnit is saved to actuator A1 Point transmission, u_1a(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

The step of mode C, includes：

C1：Actuator A1 nodes work in event driven manner, by signal u_1a(s) triggered；

C2：After actuator A1 nodes are triggered, decoupling signal u will be controlled_1a(s) controlled device prediction model G is acted on_11m(s) To its output valve y_11mb(s)；

C3：Will control decoupling signal u_1a(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；By control decoupling letter Number u_1a(s) controlled device cross aisle transmission function G is acted on₂₁(s) its output valve y is obtained₂₁(s)；So as to realize to controlled pair As G₁₁And G (s)₂₁(s) decoupling and control, while realizing to big network delay, τ₁And τ₂Compensation and IMC；

The step of mode D, includes：

D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h₂Sampled signal；

D2：After sensor S2 nodes are triggered, to controlled device G₂₂(s) output signal y₂₂(s) with controlled device cross aisle Transmission function G₂₁(s) output signal y₂₁(s) sampled, and calculate the system output signal y of close loop control circuit 2₂(s), That is y₂(s)=y₂₂(s)+y₂₁(s)；

D3：Sensor S2 nodes are by feedback signal y₂(s), by the feedback network path of close loop control circuit 2 to control decoupler CD2 node-node transmissions, feedback signal y₂(s) will experience network transfer delay τ₄Afterwards, get to control decoupler CD2 nodes；

The step of mode E, includes：

E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y₂(s) or by cross decoupling network lead to RoadThe output signal y of unit_p21(s) triggered；

E2：In control decoupler CD2, by the system Setting signal x of close loop control circuit 2₂(s) feedback signal y is subtracted₂(s) To error signal e₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；To e₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) its output, is obtained IMC signals u₂(s)；

E3：To feedback signal y₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) its IMC signal u, is obtained_2b(s)；

E4：By IMC signals u₂(s) with IMC signals u_2b(s) be added after, then with from cross decoupling network pathUnit it is defeated Go out signal y_p21(s) subtract each other, obtain control decoupling output signal u_2a(s), i.e. u_2a(s)=u₂(s)+u_2b(s)-y_p21(s)；By u_2a (s) cross decoupling channel transfer function P is acted on₁₂(s) its output signal y is obtained_p12(s)；By y_p12(s) cross decoupling net is passed through Network path to control decoupler CD1 node-node transmissions, signal y_p12(s) will experience network transfer delay τ₁₂Afterwards, control solution is got to Coupling device CD1 nodes；

E5：By signal u_2a(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, u_2a (s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes could be arrived；

The step of mode F, includes：

F1：Actuator A2 nodes work in event driven manner, by signal u_2a(s) triggered；

F2：After actuator A2 nodes are triggered, by signal u_2a(s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂(s)； By signal u_2a(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 control, while realizing to big network delay, τ₃And τ₄Compensation and IMC.

2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node₁And τ₂, And τ₃And τ₄Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.

3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.

4. according to the method described in claim 1, it is characterised in that：Using internal mode controller C_1IMCAnd C (s)_2IMC(s) adjustable The equal only one of which parameter of parameter, the regulation and selection of its parameter is simple, and explicit physical meaning；It can not only be improved using IMC Stability, tracking performance and the interference free performance of system, but also the compensation and control to network delay can be realized.