CN107065536A - A kind of TITO NDCS delay compensation methods based on IMC - Google Patents

A kind of TITO NDCS delay compensation methods based on IMC Download PDF

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CN107065536A
CN107065536A CN201710091547.0A CN201710091547A CN107065536A CN 107065536 A CN107065536 A CN 107065536A CN 201710091547 A CN201710091547 A CN 201710091547A CN 107065536 A CN107065536 A CN 107065536A
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杜锋
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Hainan University
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Abstract

TITO NDCS delay compensation methods based on IMC, belong to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of two 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 network delay compensation model therebetween, two degrees of freedom IMC and single-degree-of-freedom IMC are implemented respectively to two loops, the measurement to network delay between node can be exempted, estimation is recognized, reduce clock signal synchronization requirement, reduce influence of the network delay to TITO NDCS stability, improve quality of system control.

Description

A kind of TITO-NDCS delay compensation methods based on IMC
Technical field
One kind is based on IMC (Internal Model Control, IMC) TITO (Two-input and two- Output, TITO)-NDCS (Networked decoupling control systems, NDCS) delay compensation method, it is related to The crossing domain of automatic control technology, the network communications technology and computer technology, more particularly to limited bandwidth resources multi input Multi output network control system technical field.
Background technology
In dcs, sensor and controller between controller and actuator, pass through Real Time Communication Network The closed-loop feedback control system of composition, referred to as network control system (Networked control systems, NCS), NCS's Typical structure is as shown in Figure 1.
Resource-sharing, remote operation and control, tool can be achieved compared with the control system of traditional point-to-point structure in NCS There is high diagnosis capability, I＆M is easy, many advantages, such as adding flexibility and the reliability of system.Long-range distant behaviour Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether Control system based on net belongs to NCS category, in addition, NCS is in aerospace field, and complicated, dangerous industry Control field also has wide application, and it is studied turns into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many New challenge.When between NCS sensor, controller and actuator by network exchange data, when inevitably resulting in network Prolong, so that the performance of system can be reduced or even cause system unstable.Because the information source in network is a lot, transmitting data stream warp Numerous computers and communication equipment and path is not exclusive；Or limitation and the influence of transmission mechanism due to the network bandwidth, network The reason such as congestion or disconnecting, causes sequential entanglement and the loss of packet of network packet.Although point of time-delay system Analysis and modeling obtained in recent years there may be in remarkable progress, but NCS a variety of time delays of different nature (constant, bounded, with Machine, time-varying etc.) so that existing method typically can not be applied directly.Traditional control theory is being analyzed system and set Timing, has often done many Utopian it is assumed that transmitting and adjusting such as single rate sampling, Synchronization Control, without time delay.But in NCS In, because control loop has network, above-mentioned hypothesis is typically invalid, therefore Traditional control theory will reappraise It can be applied in NCS.
At present, research both at home and abroad on NCS, primarily directed to single-input single-output (Single-input and Single-output, SISO) network control system, respectively known to network delay, it is unknown or random, network delay be less than one Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprises at least two inputs Export the control system of (Two-input and two-output, TITO), the multiple-input and multiple-output (Multiple- constituted Input and multiple-output, MIMO) network control system research it is then relatively fewer, in particular for input with Between output signal, there is coupling needs the multiple-input and multiple-output network decoupling and controlling system by decoupling processing The achievement in research of (Networked decoupling control systems, NDCS) delay compensation and control is then relatively more It is few.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal Also exist and influence each other unavoidably between selection pairing, each control loop, thus it is respective output signal is independently tracked Input signal is had any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal Cooperation is used.
(2) internal structure is more more complex than SISO-NCS and MIMO-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 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-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, to MIMO-NDCS implement Delay compensation and control are more much more difficult than MIMO-NCS and SISO-NCS.
The content of the invention
Network decoupling and controlling system (TITO-NDCS) net is exported the present invention relates to the input of one kind two in MIMO-NDCS two The compensation and control of network time delay, its TITO-NDCS typical structure are as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：C1(s) it is controller；G11(s) it is controlled device；τ1Represent the output signal u of controller C nodes1(s), The network delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；τ2Represent sensor S1 nodes Output signal y1(s) network delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA2 nodes is decoupled from close loop control circuit 2p2(s) cross decoupling, is passed through Path transmission function P12(s) with controlled device line passing transmission function G12(s) close loop control circuit 1 is acted on, from input letter Number up2(s) output signal y is arrived1(s) closed loop transfer function, between is：
The denominator of above-mentioned closed loop transfer function, equation (1) to (2)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 controller, G22(s) it is controlled device；τ3Represent the control output signal u of controller C nodes2 (s), the network delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；τ4Expression saves sensor S2 The output signal y of point2(s) network delay, undergone through feedback network tunnel to controller C nodes.
2) the uneoupled control signal u of actuator DA1 nodes is decoupled from close loop control circuit 1p1(s) cross decoupling, is passed through Path transmission function P21(s) with controlled device line passing transmission function G21(s) close loop control circuit 2 is acted on, from input letter Number up1(s) output signal y is arrived2(s) closed loop transfer function, between is：
The denominator of above-mentioned closed loop transfer function, equation (3) to (4)In, contain network delay τ3 And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization Property.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the denominator of the closed loop transfer function, equation (1) to (2) of its close loop control circuit 1, Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (3) of close loop control circuit 2 Into the denominator of (4), 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：The present invention proposes a kind of delay compensation based on two degrees of freedom IMC Method；For the close loop control circuit 2 in Fig. 3：Propose a kind of delay compensation method based on single-degree-of-freedom IMC；Two are constituted to close The compensation and control of ring control loop network delay, for exempting in each close loop control circuit, network delay between node Measurement, estimation are recognized, and then reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole The influence of control system control performance quality and the stability of a system；When prediction model is equal to its true model, it can be achieved respectively to close Do not include the exponential term of network delay in the characteristic equation of ring control loop, and then it is stable to whole system to reduce network delay Property influence, improve the dynamic property quality of system, realize to being segmented of TITO-NDCS network delays, in real time, online and dynamically Predictive compensation and control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；For reality When now meeting 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, with Realize to network delay τ1And τ2Compensation and control, use with control signal u1(s) as input signal, controlled device is estimated Model G11m(s) as controlled process, control passes through network transfer delay prediction model with process dataAndSurround Internal mode controller C1IMC(s) a positive feedback Prediction Control loop, is constructed；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 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 network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from sensor S1 nodes are between controller C nodes, and from controller C nodes to decoupling actuator DA1 nodes, using real net Network data transmission procedureAndInstead of network delay predict-compensate model therebetweenAndThus no matter it is controlled Whether the prediction model of object is equal to its true model, can be realized from system architecture not comprising the pre- of network delay therebetween Compensation model is estimated, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, estimation or recognize； When prediction model is equal to its true model, it can be achieved to its network delay τ1And τ2Compensation and control；At the same time, in control In the backfeed loop of the close loop control circuit 1 of device C nodes processed, increase feedback filter F1(s)；Implement the network of the inventive method Delay compensation and two degrees of freedom IMC method structures are as shown in Figure 5；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；For reality When now meeting predictive compensation condition, 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 defeated Enter signal, by y2(s) network transfer delay prediction model is passed throughWith estimate internal mode controller C2mIMCAnd network transmission (s) Time-delay 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 C2mIMC(s) it is equal to its internal mode controller C2IMC(s) condition is (due to internal model Controller C2IMC(s) it is artificial design and selection, C is met naturally2mIMC(s)=C2IMC(s)).Therefore, from sensor S2 nodes to Between controller C nodes, and from controller C nodes to decoupling actuator DA2 nodes, passed using real network data Defeated processWithInstead of the predict-compensate model of network delay therebetweenWithThe network delay shown in Fig. 5 is obtained to mend Compensation structure；
3rd step：By internal mode controller C in Fig. 52IMC(s), by the further abbreviation of transmission function equivalence transformation rule, obtain The network delay collocation structure of implementation the inventive method shown in Fig. 6；Realize that system does not include network delay therebetween from structure Predict-compensate model, so as to exempt in close loop control circuit 2, network delay τ between node3And τ4Measurement, estimate or distinguish Know, can be achieved to network delay τ3And τ4Compensation and single-degree-of-freedom IMC；Implement the network delay compensation and one of the inventive method Free degree IMC structures are as shown in Figure 6.
At this it should be strongly noted that in Fig. 6 controller C nodes, occurring in that the given letter of close loop control circuit 2 Number 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) signal It is connected to simultaneously by positive feedback and negative-feedback in controller C nodes：
(1) this is due to by the internal mode controller C in Fig. 52IMC(s), according to transmission function equivalence transformation rule further Abbreviation 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 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 C nodes just comes from signal y2(s) driving, if controller C nodes are not received by The signal y come from feedback network tunnel2(s), then the controller C nodes in event-driven working method will not It is 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；F1(s) it is feedback Wave filter.
2) the signal u that actuator DA2 nodes are decoupled in close loop control circuit 2 is come from2p(s) cross decoupling path, is passed through Transmission function P12(s) close loop control circuit 1 is acted on；At the same time, signal u2p(s) transmitted by controlled device line passing Function G12(s) close loop control circuit 1 is acted on；From input signal u2p(s) output signal y is arrived1(s) closed loop transfer function, between For：
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 and The stability of internal mode controller in itself is relevant；So as to reduce influence of the network delay to the stability of a system, improve the dynamic of system State control performance quality, realizes the dynamic compensation to network delay and two degrees of freedom IMC；When system is present compared with large disturbances and model During mismatch, feedback filter F1(s) presence can improve the tracing property and antijamming capability of system, and reduction network delay is to being The influence for stability of uniting, further improves the dynamic property quality of system.
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2IMC(s) it is internal mode controller.
2) the signal u that actuator DA1 nodes are decoupled in close loop control circuit 1 is come from1p(s) cross decoupling path, is passed through Transmission function P21(s) close loop control circuit 2 is acted on；At the same time, signal u1p(s) transmitted by controlled device line passing Function G21(s) close loop control circuit 2 is acted on；From input signal u1p(s) output signal y is arrived2(s) closed loop transfer function, between For：
Using the inventive method, the denominator of transmission function equation (7) and (8) is 1, and close loop control circuit 2 is equivalent to one The network delay τ of the influence stability of a system is no longer included in open-loop control system, the denominator of closed loop transfer function,3And τ4's Exponential termWithThe stability of system only with controlled device, cross decoupling path transmission function and internal mode controller in itself Stability it is 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 Performance quality processed, realizes the dynamic compensation to network delay and single-degree-of-freedom IMC.
(1) in close loop control circuit 1 and control loop 2, internal mode controller C1IMCAnd C (s)2IMC(s) design and choosing Select：
Design internal mode controller and typically use pole-zero cancellation method, i.e. two step design methods：The first step is that design one takes it Feedforward controller C is used as the inversion model of plant model11And C (s)22(s)；Second step is added in feedforward controller The feedforward filter f of certain order1And f (s)2(s) a complete internal mode controller C, is constituted1IMCAnd C (s)2IMC(s)。
1) feedforward controller C11And C (s)22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and it is other it is various about The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m (s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)= G11m+(s)G11m-And G (s)22m(s)=G22m+(s)G22m-(s), wherein：G11m+And G (s)22m+(s) it is respectively that controlled device is estimated Model G11mAnd G (s)22m(s) the irreversible part comprising pure lag system and s RHP zero pole points in；G11m- (s) and G22m- (s) it is respectively the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C in close loop control circuit 1 and loop 211And C (s)22(s) it can be chosen for respectively：With
2) feedforward filter f1And f (s)2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs Reason is realisation, thus has only taken in the design process of feedforward controller the reversible part G of controlled device minimum phase11m-(s) And G22m-(s) it, have ignored G11m+And G (s)22m+(s)；Due to possible incomplete between controlled device and controlled device prediction model Match and there is error, interference signal is there is likely to be in system, these factors are likely to make system lose stabilization.Therefore, The feedforward filter of certain order is added in feedforward controller, for reducing influence of the factors above to the stability of a system, is carried The robustness of high system.
Generally the feedforward filter f of close loop control circuit 11(s), and control loop 2 feedforward filter f2(s), divide Fairly simple n is not chosen for1And n2Rank wave filterWithWherein：λ1And λ2For feedforward Filter time constant；n1And n2For the order of feedforward filter, and n1=n1a-n1bAnd n2=n2a-n2b；n1aAnd n2aRespectively Controlled device G11And G (s)22(s) order of denominator；n1bAnd n2bRespectively controlled device G11And G (s)22(s) order of molecule, Usual n1＞ 0 and n2＞ 0.
3) internal mode controller C1IMCAnd C (s)2IMC(s)
Close loop control circuit 1 and the internal mode controller C in loop 21IMCAnd C (s)2IMC(s) it can be chosen for respectively:
With
It can be seen that from equation (9) and (10)：The internal mode controller C of one degree of freedom1IMCAnd C (s)2IMC(s) in, all Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have Direct relation, therefore is adjusting the customized parameter λ of wave filter1And λ2When, the tracing property generally required in system is done with anti- Ability is disturbed to trade off between the two.
(2) feedback filter F1(s) design and selection：
The feedback filter F of close loop control circuit 11(s) fairly simple firstorder filter F can, be chosen1(s)=(λ1s+ 1)/(λ1fS+1), wherein：λ1For feedforward filter f1(s) time constant in, and it is consistent with the selection of its parameter；λ1fFor feedback filter Ripple device regulation parameter.
Under normal circumstances, in feedback filter regulation parameter λ1fIn the case of immobilizing, the tracking performance of system can be with Feedforward filter regulation parameter λ1Reduction and improve；In feedforward filter regulation parameter λ1In the case of immobilizing, system Tracing property it is almost unchanged, and antijamming capability then can be with λ1fReduction and become strong.
Therefore, the TITO-NDCS based on two degrees of freedom IMC, can pass through reasonable selection feedforward filter f1(s) with feedback Wave filter F1(s) parameter, improves system tracing property and antijamming capability, and reduction network delay influences on the stability of a system, changed Kind dynamic performance quality.
The scope of application of the present invention：
Being equal to its true model or controlled device prediction model suitable for controlled device prediction model can with its true model Using the two degrees of freedom IMC methods of control loop 1 when can have certain deviation, and controlled device mathematical modeling is known or not true Using the single-degree-of-freedom IMC methods of control loop 2 when knowing, the input of one kind two two constituted exports network decoupling and controlling system (TITO-NDCS) compensation and control of network delay；Its Research Thinking and method, can equally be well applied to controlled device prediction model Using control loop 1 when there may be certain deviation equal to its true model or controlled device prediction model and its true model Two degrees of freedom IMC methods, and the single-degree-of-freedom IMC known to controlled device mathematical modeling or when being uncertain of using control loop 2 Method, the compensation and control of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) network delay constituted.
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 C nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 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 C nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) intersect with controlled device Channel transfer function G12(s) output signal y12(s), and decoupling actuator DA1 nodes output signal y11mb(s) adopted Sample, and calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12 And y (s)1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to controller C node-node transmissions, Feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C nodes, by feedback signal y1b(s) feedback filter F is acted on1(s) its output valve y is obtainedF1 (s), i.e. yF1(s)=y1b(s)F1(s)；By the system Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1 (s) output signal yF1(s) deviation signal e is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
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 decoupling actuator DA1 Node-node transmission, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) triggered；
C2：In decoupling actuator DA1 nodes, by IMC signals u1(s) controlled device prediction model G is acted on11m(s) To its output valve y11mb(s)；Close loop control circuit 2 will be come from decouple the signal u of actuator DA2 nodes2p(s) intersection is acted on Decouple path transmission function P12(s) its output valve y is obtainedp12(s)；By IMC signals u1And y (s)p12(s) execution must be decoupled by subtracting each other Device DA1 output signal nodes u1p(s), i.e. u1p(s)=u1(s)-yp12(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) uneoupled control and two degrees of freedom IMC, while realizing to 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 C node-node transmissions, Feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C 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)；To e2(s) internal model control is implemented Algorithm C2IMC(s) IMC signals u, is obtained2(s)；
E3：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：By IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p (s) cross decoupling path transmission function P is passed through21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)= u2(s)-yp21(s)；
F3：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) uneoupled control and single-degree-of-freedom IMC, while realizing to network delay τ3And τ4Compensation and control.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimation or recognize, also simultaneously The synchronous requirement of node clock signal can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid pair when The waste of consuming node storage resources needed for prolonging identification, while can also avoid due to " the sky sampling " or " many samplings " that time delay is caused The compensation error brought.
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 one degree of freedom IMC close loop control circuit 2, the adjustable parameter of its control loop only has 1, its parameter Regulation and selection it is simple, and explicit physical meaning；Using two degrees of freedom IMC close loop control circuit 1, its control loop can Adjust parameter have 2, can further improve stability, tracking performance and the antijamming capability of system, especially when system exist compared with When large disturbances and model mismatch, feedback filter F1(s) presence can further improve the dynamic property quality of system, reduce net Influence of the network time delay to the stability of a system.
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
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-NDCS typical structure
Fig. 2 is by r sensor S node, controller C nodes, m decoupling actuator DA node, controlled device G, m forward direction Network path propagation delay timeUnit, and r feedback network tunnel time delayUnit Constituted.
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) during the feedforward network tunnel undergone from controller C nodes to i-th of decoupling actuator DA node-node transmission Prolong；Represent the detection signal y of j-th of sensor S nodej(s) feedback network undergone to controller C node-node transmissions leads to Road propagation delay time；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, and its system includes sensor S1 and S2 node, controller C nodes, solution Coupling actuator DA1 and DA2 node, controlled device transmission function G11And G (s)22(s) and controlled device line passing transmission letter Number G21And G (s)12(s), cross decoupling path transmission function P21And P (s)12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithConstituted.
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 path undergone from controller C nodes to decoupling actuator DA1 and DA2 node-node transmission is passed Defeated time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) passed through to controller C node-node transmissions The feedback network tunnel time delay gone through.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4：C1IMC(s) be control loop 1 internal mode controller；C2mIMC(s) be control loop 2 internal mode controller C2IMC(s) prediction 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) pre- Estimate model.
Fig. 5：The TITO-NDCS delay compensations and control structure of prediction model are replaced with true model
In Fig. 5：F1(s) it is feedback filter.
Fig. 6：A kind of TITO-NDCS delay compensation methods based on IMC
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 decoupling actuator DA1 nodes output signal y11mb(s) sampled, and calculate closed-loop control The system output signal y in loop 11(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 C node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y1b(s) after triggering, by feedback letter Number y1b(s) feedback filter F is acted on1(s) its output valve y is obtainedF1(s), i.e. yF1(s)=y1b(s)F1(s)；By closed-loop control The system Setting signal x in loop 11(s) feedback filter F, is subtracted1(s) output signal yF1(s) deviation signal e is obtained1(s), That is e1(s)=x1(s)-yF1(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 performed to decoupling Device DA1 node-node transmissions, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s), will after triggering IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；Closed-loop control will be come to return Road 2 decouples the signal u of actuator DA2 nodes2p(s) cross decoupling path transmission function P is acted on12(s) its output valve is obtained yp12(s)；By IMC signals u1And y (s)p12(s) actuator DA1 output signal nodes u must be decoupled by subtracting each other1p(s), i.e. u1p(s)=u1 (s)-yp12(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) uneoupled control adds two degrees of freedom IMC, while realizing to 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 C node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
3rd step：Controller C nodes work in event driven manner, by feedback signal y2(s) after triggering, by closed loop control The system Setting signal x of loop 2 processed2(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)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
4th step：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is performed to decoupling Device DA2 node-node transmissions, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s), will after triggering IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p(s) cross decoupling is passed through Path transmission function P21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)-yp21(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) uneoupled control adds single-degree-of-freedom IMC, while realizing to 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 (4)

1. a kind of TITO-NDCS delay compensation methods based on IMC, it is characterised in 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 C nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 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 C nodes are by feedback signal y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by IMC signals u2(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle Transmission function G12(s) output signal y12(s), and decoupling actuator DA1 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), fed back by the feedback network path of close loop control circuit 1 to controller C node-node transmissions Signal y1b(s) will experience network transfer delay τ2Afterwards, controller C nodes are got to；
The step of mode B, includes：
B1：Controller C nodes work in event driven manner, by feedback signal y1b(s) triggered；
B2：In controller C nodes, by feedback signal y1b(s) feedback filter F is acted on1(s) its output valve y is obtainedF1(s), That is yF1(s)=y1b(s)F1(s)；By the system Setting signal x of close loop control circuit 11(s) feedback filter F, is subtracted1(s) Output signal yF1(s) deviation signal e is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
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 decoupling actuator DA1 nodes Transmission, u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) triggered；
C2：In decoupling actuator DA1 nodes, by IMC signals u1(s) controlled device prediction model G is acted on11m(s) it is obtained Output valve y11mb(s)；Close loop control circuit 2 will be come from decouple the signal u of actuator DA2 nodes2p(s) cross decoupling is acted on Path transmission function P12(s) its output valve y is obtainedp12(s)；By IMC signals u1And y (s)p12(s) actuator DA1 must be decoupled by subtracting each other Output signal node u1p(s), i.e. u1p(s)=u1(s)-yp12(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) Uneoupled control and two degrees of freedom IMC, while realizing to 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), by the feedback network path of close loop control circuit 2 to controller C node-node transmissions, feedback letter Number y2(s) will experience network transfer delay τ4Afterwards, controller C nodes are got to；
The step of mode E, includes：
E1：Controller C nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C 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)；To e2(s) Internal Model Control Algorithm is implemented C2IMC(s) IMC signals u, is obtained2(s)；
E3：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 nodes Transmission, u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) triggered；
F2：By IMC signals u2(s) the output signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11p(s) lead to Cross cross decoupling path transmission function P21(s) output signal yp21(s) subtract each other and obtain signal u2p(s), i.e. u2p(s)=u2(s)- yp21(s)；
F3：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) Uneoupled control and single-degree-of-freedom IMC, while realizing to network delay τ3And τ4Compensation and control.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2, And τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated The implementation of method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：Using one degree of freedom IMC close loop control circuit 2, its The adjustable parameter of control loop only has 1, and the regulation and selection of its parameter are simple, and explicit physical meaning；Using two degrees of freedom IMC close loop control circuit 1, the adjustable parameter of its control loop has 2, can further improve stability, the tracing property of system Energy and antijamming capability, especially when system is present compared with large disturbances and model mismatch, feedback filter F1(s) presence can enter One step improves the dynamic property quality of system, influence of the reduction network delay to the stability of a system.
CN201710091547.0A 2017-02-20 2017-02-20 A kind of TITO NDCS delay compensation methods based on IMC Pending CN107065536A (en)

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Application publication date: 20170818