CN107065532A - A kind of dual input exports the IMC methods of network decoupling and controlling system long delay - Google Patents

Abstract

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

Description

A kind of dual input exports the IMC methods of network decoupling and controlling system long delay

Technical field

A kind of dual input exports the IMC (Internal Model Control, IMC) of network decoupling and controlling system long delay Method, is related to the crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to limited bandwidth resources Multiple-input and multiple-output network decoupling and controlling system technical field.

Background technology

In a network environment, sensor, controller and actuator pass through network media formation closed loop, network consisting control system Unite (Networked control systems, NCS), NCS typical structure is as shown in Figure 1.

NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along According to the presence of packet loss and other complicated phenomenon, especially network delays, it is possible to decrease NCS control performance 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 variable, network delay be less than one Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprises at least two inputs With the control system of two outputs (Two-input and two-output, TITO), the multiple-input and multiple-output constituted The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially The multiple-input and multiple-output network uneoupled control by decoupling processing is needed between input and output signal, there is coupling The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is 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 the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.

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

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

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

The content of the invention

The present invention relates in MIMO-NDCS a kind of dual input output network decoupling and controlling system (TITO-NDCS) it is long when 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；τ₁Representing will control decoupler CD1 node output letter Number u_1p(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) C in close loop control circuit 2 is come from₂(s) the output signal u of control unit₂(s), transmitted by cross decoupling passage Function P₁₂And its network path unit (s)After act on close loop control circuit 1, from input signal u₂(s) output signal y is arrived₁ (s) closed loop transfer function, between is：

3) the output signal u from the actuator A2 nodes of close loop control circuit 2_2p(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 u_2p(s) output signal y is arrived₁(s) it Between closed loop transfer function, be：

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；τ₃Representing will control decoupler CD2 node output letter Number u_2p(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) C in close loop control circuit 1 is come from₁(s) the output signal u of control unit₁(s), transmitted by cross decoupling passage Function P₂₁And its network path unit (s)After act on close loop control circuit 2, from input signal u₁(s) output signal y is arrived₂ (s) closed loop transfer function, between is：

3) the output signal u from the actuator A1 nodes of close loop control circuit 1_1p(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 u_1p(s) output signal y is arrived₂(s) it Between closed loop transfer function, be：

The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain 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 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.

Therefore, for the close loop control circuit 1 in Fig. 3 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 IMC, for exempting from The measurement of network delay, estimation or recognized except in each close loop control circuit, 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 prediction model is equal to its true model, it can be achieved not including network delay in the characteristic equation of respective close loop control circuit Exponential term, 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 TITO-NDCS long delays, 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 first_1IMC(s) it is used to replace control Device C processed₁(s)；When meeting predictive compensation condition to realize, net is no longer included in the closed loop transform function of close loop control circuit 1 The exponential term of network time delay, to realize to network delay τ₁And τ₂Compensation and control, use to control decoupling output signal u_1p(s) It is used as input signal, controlled device prediction model G_11m(s) as controlled process, when control and process data are by network transmission Prolong prediction modelAndAround internal mode controller C_1IMC(s) a positive feedback Prediction Control loop, is constructed, such as Fig. 4 institutes Show；

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 therebetweenAndCause Regardless of whether whether the prediction model of controlled device is equal to its true model, it can be realized from system architecture not comprising net therebetween The predict-compensate model of network time delay, so as to exempt in close loop control circuit 1, network delay τ between node₁And τ₂Measurement, estimate Meter is recognized；When prediction model is equal to its true model, it can be achieved to its long network delay, τ₁And τ₂Compensation and IMC；Implement The network delay compensation of 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；

3rd step：By internal mode controller C in Fig. 5_2IMC(s), by the further abbreviation of transmission function equivalence transformation rule, obtain The network delay compensation and IMC structures of implementation the inventive method shown in Fig. 6；Realize that system does not include network therebetween from structure The predict-compensate model of time delay, so as to exempt in close loop control circuit 2, long delay τ between node₃And τ₄Measurement, estimation or Identification, can be achieved to network delay τ₃And τ₄Compensation and IMC；

At this it should be strongly noted that in Fig. 6 control decoupler CD2 nodes, there is the given of close loop control circuit 2 Signal x₂(s), with feedback signal y₂(s) implement first " subtracting " afterwards " plus " operation rule, i.e. y₂(s) signal simultaneously by positive feedback and Negative-feedback is connected in CD2 nodes：

(1) this is due to by the internal mode controller C in Fig. 5 close loop control circuits 2_2IMC(s) unit, according to transmission function etc. The further abbreviation of valency transformation rule obtains the result shown in Fig. 6, and non-artificial setting；

(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing Storage and control function, in node to same signal carry out first " subtracting " afterwards " plus ", what this does not have not in algorithm Meet rule part；

(3) same signal is carried out in node " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and The signal y in the node is not indicated that₂(s) just it is not present, or does not obtain y₂(s) signal, or signal are not stored for；Or because of " phase Mutually offset " cause " zero " signal value to reform into be not present, or it is nonsensical；

(4) triggering of control decoupler CD2 nodes just comes from signal y₂(s) driving, if control decoupler CD2 sections Point is not received by the signal y come from feedback network tunnel₂(s), the then control in event-driven working method Decoupler CD2 nodes will not be triggered.

For the close loop control circuit 1 in Fig. 6：

1) from input signal x₁(s) output signal y is arrived₁(s) closed loop transfer function, between is：

In formula：C_1IMC(s) it is internal mode controller.

2) the deviation signal e from close loop control circuit 2₂(s) internal mode controller C, is passed through_2IMCAnd cross decoupling is logical (s) Road transmission function P₁₂And network transmission channels (s)The through path of close loop control circuit 1 is acted on, from input deviation signal e₂ (s) output signal y is arrived₁(s) closed loop transfer function, between is：

3) the control signal u from the actuator A2 nodes of close loop control circuit 2_2p(s), passed by controlled device cross aisle Delivery function G₁₂(s) close loop control circuit 1 is acted on, from input signal u_2p(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 true model, that is, work as G_11m(s)=G₁₁(s) When, the denominator of closed loop transfer function, is the network that the influence stability of a system has no longer been included in 1, the denominator of closed loop transfer function, Delay, τ₁And τ₂Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve the dynamic of system Control performance quality, realizes the dynamic compensation to long network delay and IMC.

For the close loop control circuit 2 in Fig. 6：

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

In formula：C_2IMC(s) it is internal mode controller.

2) controller C in close loop control circuit 1 is come from₁(s) output control signal u₁(s), transmitted by cross decoupling passage Function P₂₁(s) with its network transmission channelsThe through path of close loop control circuit 2 is acted on, from input control signal u₁(s) arrive Output signal y₂(s) closed loop transfer function, between is：

3) the control signal u from the actuator A1 nodes of close loop control circuit 1_1p(s), passed by controlled device cross aisle Delivery function G₂₁(s) close loop control circuit 2 is acted on, from input signal u_1p(s) output signal y is arrived₂(s) the closed loop transmission letter between Number is：

Using the inventive method, the denominator of closed loop transfer function, is 1, equivalent to one open loop of now close loop control circuit 2 The network delay τ of the influence stability of a system is no longer included in control system, the denominator of closed loop transfer function,₃And τ₄Index WithThe stability of system only with controlled device, cross decoupling path transmission function and internal mode controller in itself steady It is qualitative relevant；Influence of the network delay to the stability of a system can be reduced using the inventive method, improve the dynamic control of system Can quality, dynamic compensation and IMC of the realization to long network delay.

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- (s) and G_22m- (s) it is respectively the reversible part of minimum phase in controlled device prediction model.

Under normal circumstances, the feedforward controller C of close loop control circuit 1 and control loop 2₁₁And C (s)₂₂(s) it can select respectively It is taken as：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), 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 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=n_1a-n_1bAnd n₂=n_2a-n_2b；n_1aAnd n_2aRespectively quilt Control object G₁₁And G (s)₂₂(s) order of denominator；n_1bAnd n_2bRespectively controlled device G₁₁And G (s)₂₂(s) order of molecule, leads to Normal 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 (13) and (14)：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 during suitable for controlled device prediction model equal to its true model, and Using the IMC methods of close loop control circuit 2 when controlled device mathematical modeling is known or not exclusively knows, a kind of lose-lose constituted Enter to export the compensation and control of network decoupling and controlling system (TITO-NDCS) long delay；Its Research Thinking and method, it is equally applicable Using the IMC methods of close loop control circuit 1, and controlled device mathematics when controlled device prediction model is equal to its true model Using the IMC methods of close loop control circuit 2 when model is known or not exclusively knows, the multiple-input and multiple-output network decoupling constituted The compensation and control of control system (MIMO-NDCS) long delay.

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_1p(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 control decoupling signal u_2p(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) lead to controlled device intersection Road transmission function G₁₂(s) output signal y₁₂(s), and actuator A1 nodes output signal y_11mb(s) sampled, and counted 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)；

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) system deviation signal e, is obtained₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)；

B3：To e₁(s) Internal Model Control Algorithm C_1IMC(s) IMC signals u, is obtained₁(s)；

B4：By IMC signals u₁(s) cross decoupling channel transfer function P is acted on₂₁(s) its output signal y is obtained_p21(s)； By y_p21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, y_p21(s) will experience network transfer delay τ₂₁ Afterwards, get to control decoupler CD2 nodes；

B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P₁₂And network path (s)The signal y that unit is transmitted_p12(s) with control signal u₁(s) it is added, obtains control decoupling signal u_1p(s), i.e. u_1p(s) =y_p12(s)+u₁(s)；

B6：Will control decoupling signal u_1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to actuator A1 node-node transmissions, u_1p(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

The step of mode C, includes：

C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u_1p(s) triggered；

C2：Will control decoupling signal u_1p(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_1p(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；By control solution Coupling signal u_1p(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 IMC, while realizing to long 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) sampled, and calculate the system output signal of close loop control circuit 2 y₂, and y (s)₂(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 nodes, by the system Setting signal x of close loop control circuit 2₂(s) feedback, is subtracted Signal y₂(s) deviation signal e, is obtained₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；

E3：To e₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained_e(s)；

E4：By IMC signals u_e(s) cross decoupling channel transfer function P is acted on₁₂(s) its output signal y is obtained_p12(s)； By y_p12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, y_p12(s) network transfer delay will be undergone τ₁₂Afterwards, get to control decoupler CD1 nodes；

E5：By signal e₂(s) feedback signal y, is subtracted₂(s) deviation signal e is obtained₃(s), i.e. e₃(s)=e₂(s)-y₂(s)； To e₃(s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained₂(s)；

E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P₂₁And network path (s)The signal y that unit is transmitted_p21(s) with IMC signals u₂(s) it is added, obtains control decoupling signal u_2p(s), i.e. u_2p(s)= y_p21(s)+u₂(s)；

E7：Will control decoupling signal u_2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, u_2p(s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

The step of mode F, includes：

F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u_2p(s) triggered；

F2：Will control decoupling signal u_2p(s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂(s)；By control solution Coupling signal u_2p(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 IMC, while realizing to long 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 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, using IMC TITO-NDCS, its internal mode controller C_1IMCAnd C (s)_2IMC(s) adjustable parameter only has λ₁And λ₂, The regulation of its parameter is simple with selection, and explicit physical meaning；Stability, the tracing property of system can be not only improved using IMC Energy and interference free performance, but also the compensation to grid time delay and control 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 and control function are realized, hardware investment can be saved and be easy to be extended and applied.

Brief description of the drawings

Fig. 1：NCS typical structure

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 delayUnit, and r feedback network tunnel time delayUnit 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 Will control decoupling signal u_i(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 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_1pAnd u (s)_2p(s) control decoupling signal is represented；τ₁And τ₃Representing will control decoupling signal u_1p(s) and u_2p(s) from control decoupler CD1 and CD2 node undergone to actuator A1 and A2 node-node transmission feedforward network tunnel when Prolong；τ₂And τ₄Represent the detection signal y of sensor S1 and S2 node₁And y (s)₂(s) to control decoupler CD1 and CD2 node The undergone feedback network tunnel time delay of transmission；τ₂₁And τ₁₂Represent cross decoupling channel transfer function P₂₁And P (s)₁₂ (s) output signal y_p21And y (s)_p12(s) when the network path undergone to control decoupler CD2 and CD1 node-node transmission is transmitted Prolong.

Fig. 4：A kind of compensation of TITO-NDCS long delays comprising prediction model and control structure

In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is net Network propagation delay timeAndEstimate Time Delay Model；G_11m(s) it is controlled device transmission function G₁₁(s) prediction model, C_2mIMC(s) it is internal mode controller C_2IMC(s) predictor controller.

Fig. 5：Compensation and the control structure of the TITO-NDCS long delays of prediction model are replaced with true model

Fig. 6：A kind of dual input exports the IMC methods of network decoupling and controlling system long delay

Embodiment

The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 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) output Signal y₁₂(s), and actuator A1 nodes output signal y_11mb(s) sampled, and calculate close loop control circuit 1 be Output signal of uniting y₁(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 Remove feedback signal y_1b(s) deviation signal e, is obtained₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)；To e₁(s) Internal Model Control Algorithm is implemented C_1IMC(s) IMC signals u, is obtained₁(s)；

4th step：By IMC signals u₁(s) cross decoupling channel transfer function P is acted on₂₁(s) output signal y is obtained_p21 (s)；By y_p21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, y_p21(s) when will undergo network transmission Prolong τ₂₁, get to control decoupler CD2 nodes；

5th step：By decoupling signal y_p12(s) with control signal u₁(s) it is added, obtains control decoupling signal u_1p(s), i.e. u_1p (s)=y_p12(s)+u₁(s)；

6th step：Will control decoupling signal u_1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to holding Row device A1 node-node transmissions, u_1p(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

7th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u_1p(s) after triggering, it will control Decoupling signal u processed_1p(s) controlled device prediction model G is acted on_11m(s) its output valve y is obtained_11mb(s)；

8th step：Will control decoupling signal u_1p(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；Will control Decoupling signal u processed_1p(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 IMC, while realizing to long 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) sampled, and calculate the system output signal y of close loop control circuit 2₂, and y (s)₂(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), Subtract feedback signal y₂(s) deviation signal e, is obtained₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；

4th step：To e₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained_e(s)；By IMC signals u_e(s) Act on cross decoupling channel transfer function P₁₂(s) its output signal y is obtained_p12(s)；By y_p12(s) network path is passed throughIt is single Member to control decoupler CD1 node-node transmissions, y_p12(s) will experience network transfer delay τ₁₂Afterwards, control decoupler CD1 is got to Node；

5th step：By signal e₂(s) feedback signal y, is subtracted₂(s) deviation signal e is obtained₃(s), i.e. e₃(s)=e₂(s)-y₂ (s)；To e₃(s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained₂(s)；

6th step：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P₂₁And network (s) PathThe signal y that unit is transmitted_p21(s) with IMC signals u₂(s) it is added, obtains control decoupling signal u_2p(s), i.e. u_2p (s)=y_p21(s)+u₂(s)；

7th step：Will control decoupling signal u_2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to holding Row device A2 node-node transmissions, u_2p(s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

8th step：Will control decoupling signal u_2p(s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂(s)；Will control Decoupling signal u processed_2p(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 IMC, while realizing to long 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. a kind of dual input exports the IMC methods of network decoupling and controlling system long delay, 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_1p(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 control decoupling signal u_2p(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) passed with controlled device cross aisle Delivery function G₁₂(s) output signal y₁₂(s), and actuator A1 nodes output signal y_11mb(s) sampled, and calculated 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) system deviation signal e, is obtained₁(s), i.e. e₁(s)=x₁(s)-y_1b(s)；

B3：To e₁(s) Internal Model Control Algorithm C_1IMC(s) IMC signals u, is obtained₁(s)；

B4：By IMC signals u₁(s) cross decoupling channel transfer function P is acted on₂₁(s) its output signal y is obtained_p21(s)；Will y_p21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, y_p21(s) will experience network transfer delay τ₂₁ Afterwards, get to control decoupler CD2 nodes；

B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P₁₂And network path (s)It is single The signal y that member is transmitted_p12(s) with control signal u₁(s) it is added, obtains control decoupling signal u_1p(s), i.e. u_1p(s)=y_p12 (s)+u₁(s)；

B6：Will control decoupling signal u_1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is saved to actuator A1 Point transmission, u_1p(s) will experience network transfer delay τ₁Afterwards, actuator A1 nodes are got to；

The step of mode C, includes：

C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u_1p(s) triggered；

C2：Will control decoupling signal u_1p(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_1p(s) controlled device G is acted on₁₁(s) its output valve y is obtained₁₁(s)；By control decoupling letter Number u_1p(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 IMC, while realizing to long 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) sampled, and calculate the system output signal y of close loop control circuit 2₂ , and y (s)₂(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 nodes, by the system Setting signal x of close loop control circuit 2₂(s) feedback signal y, is subtracted₂ (s) deviation signal e, is obtained₂(s), i.e. e₂(s)=x₂(s)-y₂(s)；

E3：To e₂(s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained_e(s)；

E4：By IMC signals u_e(s) cross decoupling channel transfer function P is acted on₁₂(s) its output signal y is obtained_p12(s)；Will y_p12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, y_p12(s) will experience network transfer delay τ₁₂ Afterwards, get to control decoupler CD1 nodes；

E5：By signal e₂(s) feedback signal y, is subtracted₂(s) deviation signal e is obtained₃(s), i.e. e₃(s)=e₂(s)-y₂(s)；To e₃ (s) Internal Model Control Algorithm C is implemented_2IMC(s) IMC signals u, is obtained₂(s)；

E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P₂₁And network path (s)It is single The signal y that member is transmitted_p21(s) with IMC signals u₂(s) it is added, obtains control decoupling signal u_2p(s), i.e. u_2p(s)=y_p21 (s)+u₂(s)；

E7：Will control decoupling signal u_2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, u_2p(s) will experience network transfer delay τ₃Afterwards, actuator A2 nodes are got to；

The step of mode F, includes：

F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u_2p(s) triggered；

F2：Will control decoupling signal u_2p(s) controlled device G is acted on₂₂(s) its output valve y is obtained₂₂(s)；By control decoupling letter Number u_2p(s) controlled device cross aisle transmission function G is acted on₁₂(s) its output valve y is obtained₁₂(s)；So as to realize to controlled pair As G₂₂And G (s)₁₂(s) decoupling and IMC, while realizing to long 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, long network delay is mended The implementation of compensation method, the selection with specific network communication protocol is unrelated.

4. according to the method described in claim 1, it is characterised in that：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 to long network delay and control can be realized.