CN107065531A - The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods - Google Patents

The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods Download PDF

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CN107065531A
CN107065531A CN201710091230.7A CN201710091230A CN107065531A CN 107065531 A CN107065531 A CN 107065531A CN 201710091230 A CN201710091230 A CN 201710091230A CN 107065531 A CN107065531 A CN 107065531A
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杜锋
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Hainan University
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Abstract

Two inputs two export network decoupling and controlling system (TITO NDCS) time delay two degrees of freedom IMC methods, belong to the MIMO NDCS technical fields of limited bandwidth resources.Inputted for one kind two between two output signals and affect one another and couple, need the TITO NDCS by decoupling processing, because network data transmits produced network delay among the nodes, not only influence the stability of respective close loop control circuit, but also the stability of whole system will be influenceed, even result in the problem of TITO NDCS lose stable, propose with the network data transmission process between all real nodes in TITO NDCS, instead of 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, reduce influence of the network delay to TITO NDCS stability, improve quality of system control.

Description

The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods
Technical field
The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC (Internal Model Control) method, is related to and automatically controls, the crossing domain of network service and computer technology, more particularly to limited bandwidth resources Multiple-input and multiple-output network decoupling and controlling system technical field.
Background technology
Network control system (Networked control systems, NCS), refers to by Real Time Communication Network institute shape Into closed-loop feedback control system.Since NCS occurs from last century late nineteen eighties, industrial process control has been widely used in it The fields such as system, intelligent transport, remote assistant medical treatment and national defense industry, NCS typical structure is as shown in Figure 1.
Communication network is incorporated into real-time control system ,-aspect, NCS can be made to have that cost is low, reliability is high, install and The advantages of safeguarding simply and be easy to by real-time performance resource-sharing；On the other hand, many communication constraints, such as net are also brought Data packetloss caused by inducing delay, communications bandwidth resources caused by network communication environment are limited, and the phenomenon such as network congestion In the presence of so that NCS faces many new challenges.The especially presence of network delay, it is possible to decrease NCS control quality, or even make System loss of stability, may cause system to break down when serious.
At present, research both at home and abroad 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 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 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 road network time delay is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occurs the previous node in MIMO-NDCS, during 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
When exporting network decoupling and controlling system (TITO-NDCS) the present invention relates to the input of one kind two in MIMO-NDCS two The compensation and control prolonged, 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；τ1Represent that decoupler CD output signal nodes will be controlled u1(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 CD nodes.
2) the feedback network path signal y from close loop control circuit 22(s) letter, is transmitted by feedback decoupling cross aisle Number P12(s) close loop control circuit 1 is acted on, from input signal y2(s) output signal y is arrived1(s) closed loop transfer function, between For：
3) the output signal u from the actuator A2 nodes of close loop control circuit 22(s), passed by controlled device cross aisle Delivery function G12(s) the output signal y of close loop control circuit 1 is influenceed1(s), from input signal u2(s) output signal y is arrived1(s) between Closed loop transfer function, is：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, contain network delay τ1 And 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；τ3Represent that decoupler CD output signal nodes will be controlled u2(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 CD nodes.
2) the feedback network path signal y from close loop control circuit 11(s) letter, is transmitted by feedback decoupling cross aisle Number P21(s) close loop control circuit 2 is acted on, from input signal y1(s) output signal y is arrived2(s) closed loop transfer function, between For：
3) the output signal u from the actuator A1 nodes of close loop control circuit 11(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 u1(s) output signal y is arrived2(s) between Closed loop transfer function, is：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain network delay τ3 And 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 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.
It is an object of the invention to：
(1) measurement of network delay, estimation or recognized in order to exempt in each close loop control circuit, between node, and then Reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and whole control system control performance quality with The influence of the stability of a system, when 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 network 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 that the input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD nodes, an internal mode controller C is built first1IMC(s) it is used to replace control Device C1(s)；When meeting predictive compensation condition to realize, network is no longer included in the closed loop transform function of close loop control circuit 1 The exponential term of time delay, to realize to network delay τ1And τ2Compensation and control, use with control signal u1And u (s)2(s) conduct Input signal, controlled device prediction model G11mAnd G (s)12m(s) as controlled process, control is passed with process data by network Defeated Time-delay Prediction modelAndAround internal mode controller C1IMC(s) a positive feedback Prediction Control loop and one, is constructed Individual 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 are between control decoupler CD nodes, and from control decoupler CD nodes to actuator A1 nodes, use Real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus No matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network therebetween The predict-compensate model of time delay, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, estimation Or identification；When prediction model is equal to its true model, it can be achieved to its network delay τ1And τ2Compensation and control；It is same with this When, in the backfeed loop of control decoupler CD nodes, increase feedback filter F1(s)；When implementing the network of the inventive method Prolong two degrees of freedom IMC method structures as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In control decoupler CD nodes, an internal mode controller C is built first2IMC(s) it is used to replace control Device C2(s)；When meeting predictive compensation condition to realize, network is no longer included in the closed loop transform function of close loop control circuit 2 The exponential term of time delay, to realize to network delay τ3And τ4Compensation and control, use with control signal u1And u (s)2(s) conduct Input signal, controlled device prediction model G22mAnd G (s)21m(s) as controlled process, when control and process data are by network Pass on defeated prediction modelAndAround internal mode controller C2IMC(s) a positive feedback Prediction Control loop and one, is constructed Individual 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 are between control decoupler CD nodes, and from control decoupler CD nodes to actuator A2 nodes, use Real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndThus No matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network therebetween The predict-compensate model of time delay, so as to exempt in close loop control circuit 2, network delay τ between node3And τ4Measurement, estimation Or identification；When the prediction model of controlled device is equal to its true model, it can be achieved to its network delay τ3And τ4Compensation and control System；At the same time, in the backfeed loop of control decoupler CD nodes, feedback filter F is increased2(s)；Implement the inventive method Network delay two degrees of freedom IMC method structures it is as shown in Figure 5；
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：G11m(s) it is controlled device G11(s) prediction model；C1IMC(s) it is internal mode controller；F1(s) it is feedback Wave filter.
2) feedback network of close loop control circuit 2 is come fromThe output signal y of unit2b(s), intersected by feedback decoupling logical Road transmission function P12(s) close loop control circuit 1 is acted on, from input signal y2b(s) output signal y is arrived1(s) closed loop between is passed Delivery function is：
3) the internal mode controller C of close loop control circuit 2 is come from2IMC(s) output IMC signals u2(s), in control decoupler CD Pass through controlled device cross aisle transmission function prediction model G12m(s) close loop control circuit 1 is acted on；Returned from closed-loop control The IMC signals u of the actuator A2 nodes of road 22(s), while passing through controlled device cross aisle transmission function G12(s) mould is estimated with it Type G12m(s) close loop control circuit 1 is acted on；From input IMC signals u2(s) output signal y is arrived1(s) the closed loop transmission letter between Number is：
Using the inventive method, when controlled device prediction model is equal to its real 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 network delay and two degrees of freedom IMC；When close loop control circuit 1 is present compared with large disturbances and model During mismatch, feedback filter F1(s) presence can improve the tracing property and antijamming capability of system, and reduction network delay is to being The influence for stability of uniting, 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) feedback network of close loop control circuit 1 is come fromThe output signal y of unit1b(s), intersected by feedback decoupling logical Road transmission function P21(s) close loop control circuit 2 is acted on, from input signal y1b(s) output signal y is arrived2(s) closed loop between is passed Delivery function is：
3) the internal mode controller C from close loop control circuit 11IMC(s) output IMC signals u1(s), in control decoupler CD In pass through controlled device cross aisle transmission function prediction model G21m(s) close loop control circuit 2 is acted on；From closed-loop control The IMC signals u of the actuator A1 nodes of loop 11(s), while passing through controlled device cross aisle transmission function G21(s) estimated with it Model G21m(s) close loop control circuit 2 is acted on；From input IMC signals u1(s) output signal y is arrived2(s) the closed loop transmission between Function is：
Using the inventive method, when controlled device prediction model is equal to its real 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 time-varying 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 Ripple device time constant；n1And n2For the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively quilt Control object G11And G (s)22(s) order of denominator；n1bAnd n2bRespectively controlled device G11And G (s)22(s) order of molecule, leads to Normal 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 two of certain deviation Input two exports the compensation and two degrees of freedom IMC of network decoupling and controlling system (TITO-NDCS) network delay；Its Research Thinking with Method, can equally be well applied to controlled device prediction model and there may be the two of certain deviation equal to its true model, and model The compensation of constituted multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) network delay is inputted and exported more than individual With 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 CD nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by IMC signals u1(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD nodes are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device Channel transfer function G12(s) output signal y12(s), and 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 CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD sections are got to Point；
The step of mode B, includes：
B1：Control decoupler CD nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In control decoupler CD nodes, by feedback signal y1b(s) feedback decoupling cross aisle transmission function is acted on P21(s) obtain it and decouple output signal yp21(s)；By feedback signal y1b(s) estimated with controlled device cross aisle transmission function Model G12m(s) output valve y12ma(s) it is added and obtains itself and signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(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) with And from the feedback decoupling cross aisle transmission function P of close loop control circuit 212(s) output signal yp12(s) deviation signal, is obtained e1(s), i.e. e1(s)=x1(s)-yF1(s)-yp12(s)；
B4：To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B5：The IMC signals u of close loop control circuit 2 will be come from2(s) controlled device cross aisle transmission function is acted on Prediction model G12m(s) its output valve y is obtained12ma(s)；
B6：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to actuator A1 nodes Transmission, u1(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 IMC signals u1(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；In the future From in the feedforward network path of close loop control circuit 2The IMC signals u of unit2(s) controlled device cross aisle biography is acted on Delivery function prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：By IMC signals u1(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By IMC signals u1(s) Act on controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11(s) And G21(s) decoupling and two degrees of freedom IMC, while realizing to 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) enter Row sampling, and calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s) +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 CD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, control decoupler CD sections are got to Point；
The step of mode E, includes：
E1：Control decoupler CD nodes work in event driven manner, by feedback signal y2b(s) triggered；
E2：In control decoupler CD nodes, by feedback signal y2b(s) feedback decoupling cross aisle transmission function is acted on P12(s) obtain it and decouple output signal yp12(s)；By feedback signal y2b(s) estimated with controlled device cross aisle transmission function Model G21m(s) output valve y21ma(s) it is added and obtains itself and signal y2c(s), i.e. y2c(s)=y2b(s)+y21ma(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) with And from the feedback decoupling cross aisle transmission function P of close loop control circuit 121(s) output signal yp21(s) deviation signal, is obtained e2(s), i.e. e2(s)=x2(s)-yF2(s)-yp21(s)；
E4：To e2(s) IMC algorithms C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E5：The IMC signals u of close loop control circuit 1 will be come from1(s) controlled device cross aisle transmission function, is acted on Prediction model G21m(s) its output valve y is obtained21ma(s)；
E6：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 nodes Transmission, u2(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 IMC signals u2(s) triggered；
F2：By IMC signals u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；In the future From in the feedforward network path of close loop control circuit 1The IMC signals u of unit1(s) controlled device cross aisle biography is acted on Delivery function prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：By IMC signals u2(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By IMC signals u2(s) Act on controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22(s) And G12(s) decoupling and two degrees of freedom IMC, while realizing to network delay τ3And τ4Compensation.
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 The synchronous requirement of node clock signal can be exempted, it is to avoid time delay estimates 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, it is to avoid the compensation brought due to " sky sampling " or " many samplings " that time delay is caused Error.
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 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, shadow of the reduction network delay to the stability of a system Ring.
4th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to Its compensation function is realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：NCS typical structure
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables Show control signal；τcaRepresent the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions Tunnel time delay；τscRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
In Fig. 2, system 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, and system includes sensor S1 and S2 node, control decoupler CD sections Point, actuator A1 and A2 node, controlled device transmission function G11And G (s)22And controlled device cross aisle transmission function (s) G21And G (s)12(s), feedback decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unitWithWith And feedback network tunnel unitWithConstituted.
In Fig. 3：x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；yp21(s) And yp12(s) feedback decoupling multi-channel output signal is represented；C1And C (s)2(s) controller of control loop 1 and 2 is represented；u1(s) and u2(s) control signal is represented；τ1And τ3Represent control signal u1And u (s)2(s) from control decoupler CD nodes to actuator A1 The feedforward network tunnel time delay undergone with A2 node-node transmissions；τ2And τ4Represent to believe the detection of sensor S1 and S2 node Number y1And y (s)2(s) the feedback network tunnel time delay undergone to control decoupler CD node-node transmissions.
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：The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods
In Fig. 5：F1And F (s)2(s) it is feedback filter.
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 below, makes the ordinary skill of this area Personnel become apparent from the features described above and advantage of the present invention
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are 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 CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD is got to Node；
3rd step：Control decoupler CD nodes work in event driven manner, and control decoupler CD nodes are by feedback signal y1b(s) after triggering, by feedback signal y1b(s) feedback decoupling cross aisle transmission function P is acted on21(s) its decoupling is obtained defeated Go out signal yp21(s)；By feedback signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) it is added and obtains itself and signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)；By y1c(s) feedback filter F is acted on1 (s) its output signal y is obtainedF1(s)；
4th step：By the Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1(s) output signal yF1 (s) and from the feedback decoupling cross aisle transmission function P of close loop control circuit 212(s) output signal yp12(s) deviation, is obtained e1(s), i.e. e1(s)=x1(s)-yF1(s)-yp12(s)；To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
5th step：The IMC signals u of close loop control circuit 2 will be come from2(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 IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to actuator A1 Node-node transmission, u1(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
7th step：Actuator A1 nodes work in event driven manner, when actuator A1 nodes are by IMC signals u1(s) institute After triggering, by IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；It will come from The feedforward network path of close loop control circuit 2The IMC signals u of unit2(s) controlled device cross aisle transmission letter is acted on Number prediction model G12m(s) its output valve y is obtained12mb(s)；
8th step：By IMC signals u1(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By IMC signals u1 (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 G11 And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to network delay τ1And τ2Compensation；
9th 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 CD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, control decoupler CD is got to Node；
3rd step：Control decoupler CD nodes work in event driven manner, and control decoupler CD nodes are by feedback signal y2b(s) after triggering, by feedback signal y2b(s) feedback decoupling cross aisle transmission function P is acted on12(s) its decoupling is obtained defeated Go out signal yp12(s)；By feedback signal y2b(s) with controlled device cross aisle transmission function prediction model G21m(s) output valve y21ma(s) it is added and obtains itself and signal y2c(s), i.e. y2c(s)=y2b(s)+y21ma(s)；By y2c(s) feedback filter F is acted on2 (s) its output signal y is obtainedF2(s)；
4th step：By the Setting signal x of close loop control circuit 22(s) feedback filter F, is subtracted2(s) output signal yF2 (s) and from the feedback decoupling cross aisle transmission function P of close loop control circuit 121(s) output signal yp21(s) deviation, is obtained e2(s), i.e. e2(s)=x2(s)-yF2(s)-yp21(s)；To e2(s) IMC algorithms C is implemented2IMC(s) IMC signals u, is obtained2(s)；
5th step：The IMC signals u of close loop control circuit 1 will be come from1(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 IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 Node-node transmission, u2(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
7th step：Actuator A2 nodes work in event driven manner, by IMC signals u2(s) after triggering, IMC is believed Number u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；Close loop control circuit 1 will be come from Feedforward network pathThe IMC signals u of unit1(s) controlled device cross aisle transmission function prediction model G is acted on21m(s) Obtain its output valve y21mb(s)；
8th step：By IMC signals u2(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By IMC signals u2 (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 G22 And G (s)12(s) decoupling and two degrees of freedom IMC, while realizing to network delay τ3And τ4Compensation；
9th 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 time delay two degrees of freedom IMC methods, it is characterised in that this method bag Include following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when control decoupler CD nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by IMC signals u1(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD nodes are by feedback signal y2b(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle Transmission function G12(s) output signal y12(s), and 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 CD node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD nodes；
The step of mode B, includes：
B1：Control decoupler CD nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In control decoupler CD nodes, by feedback signal y1b(s) feedback decoupling cross aisle transmission function P is acted on21 (s) obtain it and decouple output signal yp21(s)；By feedback signal y1b(s) with controlled device cross aisle transmission function prediction model G12m(s) output valve y12ma(s) it is added and obtains itself and signal y1c(s), i.e. y1c(s)=y1b(s)+y12ma(s)；By y1c(s) make For feedback filter F1(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) and come from The feedback decoupling cross aisle transmission function P of close loop control circuit 212(s) output signal yp12(s) deviation signal e, is obtained1(s), That is e1(s)=x1(s)-yF1(s)-yp12(s)；
B4：To e1(s) IMC algorithms C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B5：The IMC signals u of close loop control circuit 2 will be come from2(s) act on controlled device cross aisle transmission function and estimate mould Type G12m(s) its output valve y is obtained12ma(s)；
B6：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to actuator A1 node-node transmissions, u1(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 IMC signals u1(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；It will come from The feedforward network path of close loop control circuit 2The IMC signals u of unit2(s) controlled device cross aisle transmission letter is acted on Number prediction model G12m(s) its output valve y is obtained12mb(s)；
C3：By IMC signals u1(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By IMC signals u1(s) act on In controlled device cross aisle transmission function G21(s) its output valve y is obtained21(s)；So as to realize to controlled device G11And G (s)21 (s) decoupling and two degrees of freedom IMC, while realizing to 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 CD node-node transmissions, feedback signal y2b(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD nodes；
The step of mode E, includes：
E1：Control decoupler CD nodes work in event driven manner, by feedback signal y2b(s) triggered；
E2：In control decoupler CD nodes, by feedback signal y2b(s) feedback decoupling cross aisle transmission function P is acted on12 (s) obtain it and decouple output signal yp12(s)；By feedback signal y2b(s) with controlled device cross aisle transmission function prediction model G21m(s) output valve y21ma(s) it is added and obtains itself and signal y2c(s), i.e. y2c(s)=y2b(s)+y21ma(s)；By y2c(s) make For feedback filter F2(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) it is and next self-closing The feedback decoupling cross aisle transmission function P of ring control loop 121(s) output signal yp21(s) deviation signal e, is obtained2(s), i.e., e2(s)=x2(s)-yF2(s)-yp21(s)；
E4：To e2(s) IMC algorithms C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E5：The IMC signals u of close loop control circuit 1 will be come from1(s) controlled device cross aisle transmission function, is acted on to estimate Model G21m(s) its output valve y is obtained21ma(s)；
E6：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to actuator A2 node-node transmissions, u2(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 IMC signals u2(s) triggered；
F2：By IMC signals u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；It will come from The feedforward network path of close loop control circuit 1The IMC signals u of unit1(s) controlled device cross aisle transmission letter is acted on Number prediction model G21m(s) its output valve y is obtained21mb(s)；
F3：By IMC signals u2(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By IMC signals u2(s) act on In controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12 (s) decoupling and two degrees of freedom IMC, while realizing to 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 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：Each closed-loop controls of TITO-NDCS with single-degree-of-freedom IMC are returned The adjustable parameter on road is 1 and compared, using two degrees of freedom IMC TITO-NDCS, and the adjustable parameter of its close loop control circuit is 2 It is individual, it can further improve stability, tracking performance and the antijamming capability of system；Especially when system is present compared with large disturbances and mould During type mismatch, feedback filter F1And F (s)2(s) presence can further improve the dynamic property quality of system, during reduction network Prolong the influence to the stability of a system.
CN201710091230.7A 2017-02-20 2017-02-20 The input of one kind two two exports network decoupling and controlling system time delay two degrees of freedom IMC methods Pending CN107065531A (en)

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