CN107065535A - The input of one kind two two exports network control system time-vary delay system mixed control method - Google Patents

The input of one kind two two exports network control system time-vary delay system mixed control method Download PDF

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CN107065535A
CN107065535A CN201710091546.6A CN201710091546A CN107065535A CN 107065535 A CN107065535 A CN 107065535A CN 201710091546 A CN201710091546 A CN 201710091546A CN 107065535 A CN107065535 A CN 107065535A
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杜锋
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Hainan University
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Abstract

TITO NCS time-vary delay system mixed control methods, belong to the MIMO NCS technical fields of limited bandwidth resources.For in a kind of TITO NCS, influenced each other between two two output signals of input, because network data transmits produced network delay among the nodes, not only influence its own close loop control circuit stability, but also another close loop control circuit stability will be influenceed, the problem of even resulting in TITO NCS loss of stability, propose with the network data transmission process between all real nodes in TITO NCS, instead of network delay compensation model therebetween, and dynamic Feedforward plus IMC and SPC are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimation is recognized, exempt the requirement synchronous to node clock signal, time-varying network time delay is reduced to TITO NCS stability influences, improve system control performance quality.

Description

The input of one kind two two exports network control system time-vary delay system mixed control method
Technical field
The present invention relates to automatic control technology, the crossing domain of the network communications technology and computer technology, more particularly to band The MIMO Networked Control Systems technical field of wide resource-constrained.
Background technology
With the development of network service, computer and control technology, and production process control increasingly maximization, wide area The development of change, complication and networking, increasing application of net is in control system.Network control system (Networked control systems, NCS) refers to network real-time closed-loop feedback control system, NCS typical case's knot Structure is as shown in Figure 1.
NCS can realize complex large system and remote control, and node resource is shared, and increases the flexibility and reliability of system, closely Nian Laiyi is widely used in complex industrial process control, power system, petrochemical industry, track traffic, Aero-Space, environment prison The multiple fields such as survey.
In NCS, when sensor, controller and actuator are by network exchange data, network there may be many bags and pass Defeated, multi-path transmission, data collision, the network congestion even phenomenon such as disconnecting so that NCS faces many new challenges.Especially It is the presence of time-varying network time delay, it is possible to decrease NCS control quality, or even makes system loss of stability, may be led when serious Cause system breaks down.
At present, research both at home and abroad for NCS, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, constant, unknown or random in network delay respectively, network delay is 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 comprise at least two it is defeated Enter the multiple-input and multiple-output (Multiple-input constituted with output (Two-input and two-output, TITO) And multiple-output, MIMO) network control system research it is then relatively fewer, in particular for based on its system knot The achievement in research of the delay compensation method of structure is then relatively less.
MIMO-NCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NCS has the characteristics that：
(1) affected one another between input signal and output signal and there may be coupling
In MIMO-NCS, the change of an input signal can cause multiple output signals to change, and each is defeated Go out signal is also not only influenceed by an input signal.Even if being matched between input and output signal by selection meticulously, respectively Also exist and influence each other unavoidably between control loop, thus output signal is independently tracked respective input signal is to have Difficult.
(2) internal structure is more much more complex than SISO-NCS
(3) to there is probabilistic factor more for controlled device
In MIMO-NCS, the parameter being related to is more, and the contact between each control loop is more, object parameters change pair The influence of overall control performance can become complex.
(4) possibility of control unit failure is larger
In MIMO-NCS, including at least there is two or more close loop control circuits, and including at least having two Individual or more than two sensors and actuator.The failure of each element may influence the performance matter of whole control system Amount, can make system unstable, or even cause a serious accident when serious.
Due to MIMO-NCS above-mentioned particularity so that be designed the method with controlling based on SISO-NCS, can not Meet MIMO-NCS control performance and the requirement of control quality, prevent its from or be not directly applicable MIMO-NCS design With in control, the design and analysis to MIMO-NCS bring difficulty.
For MIMO-NCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size It is relevant etc. factor, controlled to more than several or even the dozens of sampling period time-varying network time delay, to set up each in MIMO-NCS The mathematical modeling that the time-varying network time delay in loop processed is accurately predicted, estimates or recognized, is currently what is had any problem.
(2) occur in MIMO-NCS, 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 The exact value of network time delay.Time delay causes systematic function to decline or even causes system unstable, while also giving the analysis of control system Difficulty is brought with design.
(3) to meet in MIMO-NCS, all node clock signal Complete Synchronizations in different distributions place are unpractical.
(4) due in MIMO-NCS, being affected one another between input and output signal, and there may be coupling, system Internal structure is more complicated than SISO-NCS, and the uncertain factor existed is more, the control performance quality good or not of each control loop The performance quality of whole system and stability, which will be produced, with its stability problem influences and restricts, and it implements delay compensation and control System is more much more difficult than SISO-NCS.
The content of the invention
Network control system (TITO-NCS) time-varying network is exported the present invention relates to the input of one kind two in MIMO-NCS two The compensation and control of time delay, its TITO-NCS 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 controller, G11(s) it is controlled device；τ1Represent control signal u1(s) from C1(s) controller The C1 nodes at place, to network path the time-varying network time delay that actuator A1 nodes are undergone is transferred to through preceding；τ2Expression will be defeated Go out signal y1(s) from sensor S1 nodes, through feedback network tunnel to C1(s) the C1 nodes where controller are undergone Time-varying network time delay.
2) the drive signal u exported from the actuator A2 nodes of close loop control circuit 22(s), intersected by controlled device logical Road transmission 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, be：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (2)In, when containing time-varying network Prolong τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely It is qualitative.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller, G22(s) it is controlled device；τ3Represent control signal u2(s) from C2(s) controller The C2 nodes at place, to network path the time-varying network time delay that actuator A2 nodes are undergone is transferred to through preceding；τ4Expression will be defeated Go out signal y2(s) from sensor S2 nodes, through feedback network tunnel to C2(s) the C2 nodes where controller are undergone Time-varying network time delay.
2) the drive signal u exported from the actuator A1 nodes of close loop control circuit 11(s), intersected by controlled device logical Road transmission 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, be：
Above-mentioned closed loop transfer function, equation (3) and the denominator of (4)In, when containing time-varying network Prolong τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely It is qualitative.
Goal of the invention：
For Fig. 3 TITO-NCS, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (2), wrap Time-varying network delay, τ is contained1And τ2Exponential termWithAnd the transmission function equation (3) of close loop control circuit 2 and (4) Denominator in, contain time-varying network delay, τ3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11(s) not only by its input signal x1(s) influence, at the same also by To the input signal x of close loop control circuit 22(s) influence；At the same time, the output signal y of close loop control circuit 22(s) not only By its input signal x2(s) influence, while also by the input signal x of close loop control circuit 11(s) influence.During network The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious Go stability.
Therefore, for the close loop control circuit 1 in Fig. 3：The present invention proposes that one kind adds IMC based on dynamic Feedforward The delay compensation method of (Internal Model Control, IMC)；For close loop control circuit 2：The present invention proposes a kind of dynamic State feedforward plus SPC (Smith Predictor Control, SPC) delay compensation method；Constitute two close loop control circuit nets The compensation of network time delay and mix control, for exempting in each close loop control circuit, the measurement of time-varying network time delay between node, Estimation is recognized, and then reduces network delay τ1And τ2, and τ3And τ4It is to respective close loop control circuit and to whole control The influence of control performance quality of uniting and the stability of a system；When prediction model is equal to its true model, respective closed loop control can be achieved Do not include the exponential term of network delay in the characteristic equation in loop processed, and then network delay can be reduced to whole system stability Influence, improves the dynamic property quality of system, realizes being segmented, in real time, online and dynamically to TITO-NCS time-varying network time delays Predictive compensation and IMC and SPC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；In order to When realization meets predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1, To realize to network delay τ1And τ2Compensation and control, use with control signal u1(s) as input signal, controlled device is pre- Estimate model G11m(s) as controlled process, control passes through network transfer delay prediction model with process dataAndEnclose Around internal mode controller C1IMC(s) a positive feedback Prediction Control loop, is constructed；At the same time, in controlled device G11(s) hold, structure Build a dynamic Feedforward controller D12(s), for reducing the interference signal u from close loop control circuit 22p(s) it is dry by intersecting Disturb passage G12(s) to the influence of the dynamic property of close loop control circuit 1, while D12(s) uneoupled control effect is had concurrently；Implement this step Rapid structure is as shown in Figure 4；
Second step：For in actual TITO-NCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4 Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to Meet time-varying network Time-delay Prediction modelAndTo be equal to its true modelAndCondition.Therefore, from biography Sensor S1 nodes are between controller C1 nodes, and from controller C1 nodes to actuator A1 nodes, using real Network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus no matter by Whether the prediction model for controlling object is equal to its true model, can be realized from system architecture not comprising network delay therebetween Predict-compensate model, so as to exempt in close loop control circuit 1, time-varying network delay, τ between node1And τ2Measurement, estimation or Identification；When prediction model is equal to its true model, it can be achieved to its time-varying network delay τ1And τ2Compensation and IMC；Implement this The network delay compensation of inventive method is as shown in Figure 5 with IMC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：When meeting predictive compensation condition to realize, the closed loop transform function of close loop control circuit 2 is no longer included Network delay exponential term, to realize to network delay τ3And τ4Compensation and control, around controlled device G22(s), with closed loop control Loop 2 processed exports y2(s) as input signal, by y2(s) predictor controller C is passed through2m(s) a negative-feedback Prediction Control is constructed Loop；By y2(s) network transfer delay prediction model is passed throughWith predictor controller C2mAnd network transfer delay is estimated (s) ModelConstruct a positive feedback Prediction Control loop；At the same time, in controlled device G22(s) hold, build before a dynamic Present controller D21(s), for reducing the interference signal u from close loop control circuit 11p(s) cross jamming passage G is passed through21(s) Influence to the dynamic property of close loop control circuit 2, while D21(s) uneoupled control effect is had concurrently；Implement structure such as Fig. 4 of this step It is shown；
Second step：For in actual TITO-NCS, 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 predictor controller C2m(s) it is equal to its real controllers C2(s) condition is (due to controller C2(s) It is artificial design and selection, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to controller C2 nodes, And from controller C2 nodes to actuator A2 nodes, using real network data transmission processWithInstead of it Between network delay predict-compensate modelWithObtain the network delay collocation structure shown in Fig. 5；
3rd step：By controller C in Fig. 52(s), by the further abbreviation of transmission function equivalence transformation rule, Fig. 6 institutes are obtained The network delay collocation structure of the implementation the inventive method shown；System estimating not comprising network delay therebetween is realized from structure Compensation model, so as to exempt in close loop control circuit 2, network delay τ between node3And τ4Measurement, estimation or recognize, can Realize to time-varying network delay, τ3And τ4Compensation and SPC；Implement network delay compensation and SPC structures such as Fig. 6 of the inventive method It is shown.
At this it should be strongly noted that in Fig. 6 controller C2 nodes, occurring in that the given of close loop control circuit 2 Signal x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2(s) believe Number it is connected to simultaneously by positive feedback and negative-feedback in controller C2 nodes：
(1) this is due to by the controller C in Fig. 52(s), according to transmission function equivalence transformation rule, further abbreviation is obtained To the result shown in Fig. 6, and non-artificial set；
(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing Storage with control etc. function, in node to same signal carry out first " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method What does not have on then and is not inconsistent normally 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 controller C2 nodes just comes from signal y2(s) driving, if controller C2 nodes are not received The signal y that arrival self feed back network path is transmitted2(s), then the controller C2 nodes in event-driven working method will It 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：G11m(s) it is controlled device G11(s) prediction model；C1IMC(s) it is internal mode controller.
2) the signal u of actuator A2 nodes in close loop control circuit 2 is come from2p(s) dynamic Feedforward controller D, is passed through12 (s) close loop control circuit 1 is acted on；At the same time, signal u2p(s) cross jamming passage G is passed through12(s) closed-loop control is acted on Loop 1；From input signal u2p(s) output signal y is arrived1(s) closed loop transfer function, between is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s) when, The closed loop transfer function, denominator of close loop control circuit 1 byIt is turned into 1.
Now, in equivalent to one open-loop control system of close loop control circuit 1, the denominator of closed loop transfer function, no longer Include the network delay τ of the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device, dynamic Stability of the state feedforward controller with internal mode controller in itself is relevant；Network delay can be reduced using the inventive method steady to system Qualitatively influence, improve the dynamic control performance quality of system, realize the dynamic compensation to time-varying network time 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：C2(s) it is controller.
2) the signal u of actuator A1 nodes in close loop control circuit 1 is come from1p(s) dynamic Feedforward controller D, is passed through21 (s) close loop control circuit 2 is acted on；At the same time, signal u1p(s) cross jamming passage G is passed through21(s) closed-loop control is acted on Loop 2；From input signal u1p(s) output signal y is arrived2(s) closed loop transfer function, between is：
Using the inventive method, the denominator of transmission function equation (7) and (8) is 1+C2(s)G22(s), close loop control circuit 2 Closed loop transform function be 1+C2(s)G22(s) when=0, in closed loop transform function no longer comprising the network for influenceing the stability of a system Prolong τ3And τ4Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve system dynamic control Performance quality, realizes the dynamic pre-estimating compensation to time-varying network time delay and SPC.
In close loop control circuit 1, internal mode controller C1IMC(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 model11(s)；Second step is that certain order is added in feedforward controller Feedforward filter f1(s) a complete internal mode controller C, is constituted1IMC(s)。
(1) feedforward controller C11(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, controlled device prediction model is equal to its true model, i.e.,：G11m(s)=G11 (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-(s), wherein：G11m+(s) it is controlled device prediction model G11m(s) pure lag system and s RHPs are included in The irreversible part of zero pole point；G11m- (s) is the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 111(s) it can be chosen for：
(2) feedforward filter f1(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), It has ignored G11m+(s)；There is error due to possible Incomplete matching between controlled device and controlled device prediction model, system In there is likely to be interference signal, these factors are likely to make system to lose stabilization.Therefore, adding one in feedforward controller Determine the feedforward filter of order, for reducing influence of the factors above to the stability of a system, improve the robustness of system.
Generally the feedforward filter f of close loop control circuit 11(s), it is chosen for fairly simple n1Rank wave filterWherein：λ1For feedforward filter time constant；n1For the order of feedforward filter, and n1=n1a-n1b；n1a For controlled device G11(s) order of denominator；n1bFor controlled device G11(s) order of molecule, usual n1＞ 0.
(3) internal mode controller C1IMC(s)
The internal mode controller C of close loop control circuit 11IMC(s) it can be chosen for:
It can be seen that from equation (9)：The internal mode controller C of one degree of freedom1IMC(s) in, the adjustable ginseng of only one of which Number λ1；Due to λ1The change of parameter and the tracking performance of system and antijamming capability suffer from direct relation, therefore are adjusting filter The customized parameter λ of ripple device1When, the tracing property generally required in system is traded off between the two with antijamming capability.
In close loop control circuit 2, controller C2(s) selection：
Controller C2(s) can be according to controlled device G22(s) mathematical modeling, and model parameter change, both may be selected Conventional control strategy, also may be selected intelligent control or complex control strategy；Close loop control circuit 2 uses SPC methods, from TITO- Realized and specific controller C in NCS structures2(s) selection of control strategy is unrelated.
In close loop control circuit 1 and loop 2, dynamic Feedforward controller D12And D (s)21(s) selection：
Influence the interference signal u of close loop control circuit 1 and the control performance quality of loop 22pAnd u (s)1p(s), by intersecting Interfering channel G12And G (s)21(s) close loop control circuit 1 and loop 2 are acted on, using dynamic Feedforward controller D12And D (s)21 (s) reduction interference signal is to close loop control circuit 1 and the influence of the dynamic property of loop 2.Under normal circumstances, D may be selected12(s)= G12(s)/G11(s), D21(s)=G21(s)/G22(s)。
The scope of application of the present invention：
Controlled device prediction model is equal in its true model, and control loop 2 controlled pair suitable for control loop 1 As known to mathematical modeling or the input of one kind two two that is uncertain of exports network control system (TITO-NCS) time-varying network time delays Compensate and mix IMC and SPC；Its Research Thinking and method, can equally be well applied to controlled device prediction model etc. in control loop Adopted using the IMC of the present invention when its true model, and when controlled device mathematical modeling is known in control loop or is uncertain of With the present invention SPC, the compensation of the MIMO Networked Control Systems constituted (MIMO-NCS) time-varying network time delay and Mix IMC and SPC.
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 controller C1 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 controller C2 nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by signal e2(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 y11mb(s) sampled, and Calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12(s) and y1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions, Feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback signal y, is subtracted1b (s) deviation signal e is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)；
B3：To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) 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：In actuator A1 nodes, by IMC signals u1(s) controlled device prediction model G is acted on11m(s) it is obtained Output valve y11mb(s)；The signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2p(s) dynamic Feedforward control is acted on Device D12(s) its output valve u is obtainedd12(s)；By IMC signals u1And u (s)d12(s) actuator A1 output signal nodes u is subtracted each other to obtain1p (s), i.e. u1p(s)=u1(s)-ud12(s)；
C3：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(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 G11And G (s)21 (s) dynamic Feedforward control and IMC, while realizing to time-varying network delay, τ1And τ2Compensation and control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, controlled device G22(s) output signal y22(s) lead to controlled device intersection Road 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：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions, Feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase After adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is passed to actuator A2 nodes It is defeated, e2(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 signal e2(s) triggered；
F2：In actuator A2 nodes, by signal e2(s) with feedback signal y2(s) subtract each other and obtain signal e3(s), i.e. e3 (s)=e2(s)-y2(s)；To e3(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
F3：By control signal u2(s) with coming from the output signal u of the actuator A1 nodes of close loop control circuit 11p(s) lead to Cross dynamic Feedforward controller D21(s) output signal ud21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)-ud21 (s)；
F4：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(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 G22And G (s)12 (s) dynamic Feedforward control and SPC, while realizing to time-varying network delay, τ3And τ4Compensation and control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NCS, the measurement of time-varying network time delay, observation, estimation or recognize, together When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused The compensation error that sampling " is brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NCS structures, realizing, thus be both applicable In the TITO-NCS using wired network protocol, also suitable for the TITO-NCS using wireless network protocol；It is not only suitable for determining Property procotol, also suitable for the procotol of uncertainty；The TITO-NCS of heterogeneous network composition is not only suitable for, while also fitting The TITO-NCS constituted for heterogeneous network.
3rd, the control loop 1 in TITO-NCS：Using dynamic Feedforward control plus IMC, its internal mode controller C1IMC(s) can Adjust parameter only one of which λ1Parameter, the regulation and selection of its parameter is simple, and explicit physical meaning；It can not only be carried using IMC Stability, tracking performance and the interference free performance of high system, but also the compensation to time-varying network time delay and IMC can be realized；Adopt With dynamic Feedforward controller D12(s) the interference signal u from close loop control circuit 2 can, be reduced2p(s) it is logical by cross jamming Road G12(s) to the influence of the dynamic property of close loop control circuit 1, while D12(s) uneoupled control effect is had concurrently.
4th, the control loop 2 in TITO-NCS：Using dynamic Feedforward control plus SPC, due to real from TITO-NCS structures Now with specific controller C2(s) selection of control strategy is unrelated, thus can be not only used for the TITO-NCS using conventional control, also may be used For using intelligent control or using the TITO-NCS of complex control strategy；Using dynamic Feedforward controller D21(s), it can reduce Interference signal u from close loop control circuit 11p(s) cross jamming passage G is passed through21(s) to the dynamic property of close loop control circuit 2 Influence, while D21(s) uneoupled control effect is had concurrently.
5th, because the present invention uses compensation and control method that " software " changes TITO-NCS structures, thus in fact Any hardware device need not be further added by during existing, the software resource carried using existing TITO-NCS intelligent nodes, it is sufficient to real Its existing compensation and control function, can save hardware investment and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：NCS typical structure
Fig. 1 is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network tunnel list MemberAnd 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-NCS typical structure
Fig. 2 is by r sensor S node, controller C nodes, m actuator A node, controlled device G, m feedforward network Tunnel time delayUnit, and r feedback network tunnel time delayUnit institute group Into.
In Fig. 2：yj(s) j-th of output signal of system is represented；ui(s) i-th of control signal is represented；Representing will control Signal ui(s) the feedforward network tunnel time delay undergone from controller C nodes to i-th of actuator A node-node transmission；Table Show the detection signal y of j-th of sensor S nodej(s) the feedback network tunnel undergone to controller C node-node transmissions Time delay；G represents controlled device transmission function.
Fig. 3：TITO-NCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, controller C1 and C2 section 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), feedforward network tunnel unitWithAnd feedback network tunnel unitWithInstitute Composition.
In Fig. 3：x1And x (s)2(s) input signal of system is represented；y1And y (s)2(s) output signal of system is represented；C1 And C (s)2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；τ1And τ3Represent to believe control Number u1And u (s)2(s) the feedforward network tunnel undergone from controller C1 and C2 node to actuator A1 and A2 node-node transmission Time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to controller C1 and C2 node-node transmission The feedback network tunnel time delay undergone.
Fig. 4：A kind of TITO-NCS delay compensations and control structure comprising prediction model
In Fig. 4：C1IMC(s) be control loop 1 internal mode controller；C2m(s) it is the controller C of control loop 22(s) pre- Estimate controller model；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is Network transfer delayAndEstimate Time Delay Model；G11m(s) it is controlled device transmission function G11(s) prediction model； D12And D (s)21(s) it is dynamic Feedforward controller.
Fig. 5：The delay compensation and control structure of prediction model are replaced with true model
Fig. 6：The input of one kind two two exports network control system time-vary delay system mixed control method
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 below, makes the ordinary skill people of this area Member becomes 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 , will be to controlled device G after signal triggering11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s) Output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculate close loop control circuit 1 System output signal y1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-y11mb (s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to Controller C1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) after triggering, by closed loop The system Setting signal x of control loop 11(s) feedback signal y, is subtracted1b(s) deviation signal e is obtained1(s), i.e. e1(s)=x1 (s)-y1b(s)；To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) 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；
5th step：Actuator A1 nodes work in event driven manner, by IMC signals u1(s) after triggering, IMC is believed Number u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Close loop control circuit 2 will be come to hold The signal u of row device A2 nodes2p(s) dynamic Feedforward controller D is acted on12(s) its output valve u is obtainedd12(s)；By IMC signals u1 And u (s)d12(s) actuator A1 output signal nodes u is subtracted each other to obtain1p(s), i.e. u1p(s)=u1(s)-ud12(s)；
6th step：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) make For 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) dynamic Feedforward control and IMC, while realizing to time-varying network delay, τ1And τ2Compensation and control；
7th 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 , will be to controlled device G after signal triggering22(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)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to Controller C2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
3rd step：Controller C2 nodes work in event driven manner, by feedback signal y2(s) after triggering, by closed loop The system Setting signal x of control loop 22(s), with feedback signal y2(s) phase adduction obtains signal e after subtracting each other2(s), i.e. e2(s)=x2 (s)+y2(s)-y2(s)=x2(s)；
4th step：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2 Point transmission, e2(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
5th step：Actuator A2 nodes work in event driven manner, by signal e2(s) after triggering, by signal e2(s) With feedback signal y2(s) subtract each other and obtain signal e3(s), i.e. e3(s)=e2(s)-y2(s)；To e3(s) control algolithm C is implemented2(s), Obtain control signal u2(s)；By control signal u2(s) with coming from the output signals of the actuator A1 nodes of close loop control circuit 1 u1p(s) dynamic Feedforward controller D is passed through21(s) output signal ud21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2 (s)-ud21(s)；
6th step：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) make For 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) dynamic Feedforward control and SPC, while realizing to time-varying network delay, τ3And τ4Compensation and control；
7th 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 (5)

1. one kind two input two export network control system time-vary delay system mixed control methods, it is characterised in that this method include with Lower 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 controller C1 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 controller C2 nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by signal e2(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 y11mb(s) sampled, and calculated Go out 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)；
A3：By feedback signal y1b(s), fed back by the feedback network path of close loop control circuit 1 to controller C1 node-node transmissions Signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
The step of mode B, includes：
B1：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C1 nodes, by the system Setting signal x of close loop control circuit 11(s) feedback signal y, is subtracted1b(s) Obtain deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)；
B3：To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) 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：In actuator A1 nodes, by IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve is obtained y11mb(s)；The signal u of the actuator A2 nodes of close loop control circuit 2 will be come from2p(s) dynamic Feedforward controller D is acted on12(s) Obtain its output valve ud12(s)；By IMC signals u1And u (s)d12(s) actuator A1 output signal nodes u is subtracted each other to obtain1p(s), i.e. u1p (s)=u1(s)-ud12(s)；
C3：By signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By signal u1p(s) act on controlled Object 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) Dynamic Feedforward is controlled and IMC, while realizing to time-varying network delay, τ1And τ2Compensation and control；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, controlled device G22(s) output signal y22(s) passed with controlled device cross aisle Delivery function G21(s) output signal y21(s) sampled, and calculate the system output signal y of close loop control circuit 22(s), And y2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), fed back by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions Signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) phase adduction After subtracting each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator A2 node-node transmissions, e2 (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 signal e2(s) triggered；
F2：In actuator A2 nodes, by signal e2(s) with feedback signal y2(s) subtract each other and obtain signal e3(s), i.e. e3(s)=e2 (s)-y2(s)；To e3(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
F3：By control signal u2(s) with coming from the output signal u of the actuator A1 nodes of close loop control circuit 11p(s) by dynamic State feedforward controller D21(s) output signal ud21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)-ud21(s)；
F4：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By signal u2p(s) act on controlled Object 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) Dynamic Feedforward is controlled and SPC, while realizing to time-varying network delay, τ3And τ4Compensation and control.
2. according to the method described in claim 1, it is characterised in that：From TITO-NCS 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-NCS structures, to time-varying network time delay The implementation of compensation method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：IMC is used for control loop 1, system can be improved steady Qualitative and tracking performance, realizes the compensation and control to time-varying network time delay；Using dynamic Feedforward controller D12(s), it can drop The low interference signal u from close loop control circuit 22p(s) cross jamming passage G is passed through12(s) to the dynamic of close loop control circuit 1 The influence of energy, while D12(s) uneoupled control effect is had concurrently.
5. according to the method described in claim 1, it is characterised in that：SPC is used for control loop 2, can be from TITO-NCS Realized and specific controller C in structure2(s) selection of control strategy is unrelated, thus can be not only used for the TITO- using conventional control NCS, also available for using intelligent control or using the TITO-NCS of complex control strategy；Using dynamic Feedforward controller D21(s), The interference signal u from close loop control circuit 1 can be reduced1p(s) cross jamming passage G is passed through21(s) to close loop control circuit 2 The influence of dynamic property, while D21(s) uneoupled control effect is had concurrently.
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Application publication date: 20170818