CN107065574A - A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods - Google Patents
A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods Download PDFInfo
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Abstract
Two-output impulse generator NDCS unpredictable time-delay SPC methods, belong to the multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.For affecting one another and coupling between a kind of two-output impulse generator signal, need the TITO NDCS by decoupling processing, due to network delay produced in network data among the nodes transmitting procedure, 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 live network data transmission procedure between all nodes in TITO NDCS, instead of the method for network delay compensation model therebetween, and SPC is implemented to its loop, the measurement to network delay between node can be exempted, estimation is recognized, reduce the requirement of clock signal synchronization, reduce influence of the network unpredictable time-delay to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
A kind of two-output impulse generator NDCS (Networked decoupling control systems, NDCS) does not know
SPC (Smith Predictor Control, SPC) method of time delay, is related to automatic control technology, the network communications technology and meter
Calculation machine technology crossing domain, more particularly to limited bandwidth resources multiple-input and multiple-output network decoupling and controlling system technical field.
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 breaks through limitation of the traditional control system on space physics position, uses system unit instead network connection, makes intelligence
The integration of energy field devices integration, business management network, realize structural network, node intelligent, control scene, function
Decentralized, open system and Products integration.Compared with traditional point-to-point control model, the control model of networking is reduced
Wiring cost, facilitate plant maintenance, the interference free performance of strengthening system, the reliability for improving data transfer, the shared network information
Resource etc..It had been widely used in process automation, automated manufacturing, Aero-Space, robot, intelligent transportation etc. in recent years
Multiple fields.
In NCS, because the network bandwidth is limited, the factor such as network inducement delay and parameter uncertainty is to systematic function
With the influence of stability so that NCS analysis and synthesis becomes more difficult, NCS faces many new challenges, especially unknown
The presence of network delay, it is possible to decrease NCS control quality, or even make system loss of stability, system may be caused to go out when serious
Existing failure.
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, uncertain or random in network delay respectively, network delay is less than
One sampling period or more than one sampling period, single bag transmission or many bag transmission, when whetheing there is data-bag lost, to it
Carry out mathematical modeling or stability analysis and controlling.But, in actual industrial process, generally existing comprises at least two
Multiple-input and multiple-output (the Multiple- that input is constituted with two outputs (Two-input and two-output, TITO)
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 is then relatively less.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Also exist and influence each other unavoidably between selection pairing, each control loop, thus to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled,
MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO-
In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size
It is relevant etc. factor, to more than several or even the dozens of sampling period uncertain network-induced delay, to set up each in MIMO-NDCS
The mathematical modeling that the network delay of control loop is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The present invention relates to a kind of compensation of two-output impulse generator NDCS (TITO-NDCS) unpredictable time-delay in MIMO-NCS
With control, its TITO-NDCS typical structure is 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, the network delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；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
Network delay.
2) the control signal u in the decoupling actuator DA2 nodes from close loop control circuit 22(s) intersection solution, is acted on
Coupling passage P12(s) unit and cross decoupling network transmission channelsUnit, its output signal yp12(s) remake for closed loop control
Loop 1 processed, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA2 nodes output is decoupled from close loop control circuit 22p(s) controlled device, is passed through
Cross aisle transmission function G12(s) the output signal y of close loop control circuit 1 is acted on1(s), from input signal u2p(s) to output
Signal y1(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (3)In, contain network and do not know
Delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses
Stability.
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, the network delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；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
Network delay.
2) the control signal u in the decoupling actuator DA1 nodes from close loop control circuit 11(s) intersection solution, is acted on
Coupling passage P21(s) unit and cross decoupling network transmission channelsUnit, its output signal yp21(s) remake for closed loop control
Loop 2 processed, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA1 nodes output is decoupled from close loop control circuit 11p(s) controlled device, is passed through
Cross aisle transmission function G21(s) the output signal y of close loop control circuit 2 is acted on2(s), from input signal u1p(s) to output
Signal y2(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (4) and the denominator of (6)In, contain network and do not know
Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses
Stability.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (3), wrap
Network unpredictable time-delay τ is contained1And τ2Exponential termWithAnd close loop control circuit 2 transmission function equation (4) and
(6) in denominator, network unpredictable time-delay τ is contained3And 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 and loop 2：The present invention proposes a kind of SPC methods, constitutes two closed loops
The compensation of control loop network delay and SPC, for exempting in each close loop control circuit, uncertain network-induced delay between node
Measurement, estimation or recognize, and then reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole
The influence of individual control system control performance quality and the stability of a system；The dynamic property quality of improvement system, is realized to TITO-
Being segmented of NDCS random network time delays, in real time, online and dynamic predictive compensation and SPC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：When meeting predictive compensation condition to realize, no longer wrapped in the closed loop transform function of close loop control circuit 1
Exponential term containing network delay, to realize to network delay τ1And τ2Compensation and control, use with control signal u1(s) conduct
Input signal, controlled device prediction model G11m(s) as controlled process, control pre- by network transfer delay with process data
Estimate modelAndController C is surrounded in controller C1 nodes1(s) a positive feedback Prediction Control loop, is constructed
With a negative-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 SPC 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 uncertain network-induced delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from
Sensor S1 nodes are used between controller C1 nodes, and from controller C1 nodes to decoupling actuator DA1 nodes
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus
No matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network therebetween
The predict-compensate model of time delay, so as to exempt in close loop control circuit 1, uncertain network-induced delay τ between node1And τ2Survey
Amount, estimation are recognized；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：When meeting predictive compensation condition to realize, no longer wrapped in the closed loop transform function of close loop control circuit 2
Exponential term containing network delay, to realize to network delay τ3And τ4Compensation and control, use with control signal u2(s) conduct
Input signal, controlled device prediction model G22m(s) as controlled process, control pre- by network transfer delay with process data
Estimate modelWithController C is surrounded in controller C2 nodes2(s), construct positive feedback Prediction Control loop and
One negative-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 SPC 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 uncertain network-induced delay prediction modelWithTo be equal to its true modelWithCondition.Therefore, from sensing
Device S2 nodes are between controller C2 nodes, and from controller C2 nodes to decoupling actuator DA2 nodes, using true
Network data transmission processWithInstead of network delay predict-compensate model therebetweenWithThus 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 2, uncertain network-induced delay τ between node3And τ4Measurement, estimation or
Identification；The network delay compensation for implementing the inventive method is as shown in Figure 5 with SPC structures.
For the close loop control circuit 1 in Fig. 5：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：G11m(s) it is controlled device G11(s) prediction model, C1(s) it is controller.
2) the control signal u in the decoupling actuator DA2 nodes from close loop control circuit 22(s) intersection solution, is acted on
Coupling passage P12(s) unit and cross decoupling network transmission channelsUnit, its output signal yp12(s) remake for closed loop control
Loop 1 processed, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA2 nodes output is decoupled from close loop control circuit 22p(s) controlled device, is passed through
Cross aisle transmission function G12(s) the output signal y of close loop control circuit 1 is acted on1(s), from input signal u2p(s) to output
Signal y1(s) closed loop transfer function, is between：
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 transform function of close loop control circuit 1 byBecome 1+C1(s)
G11(s)=0；The network unpredictable time-delay τ of the influence stability of a system is no longer included in its closed loop transform function1And τ2Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve system dynamic control performance quality, realization pair
The dynamic compensation of uncertain network-induced delay and SPC.
For the close loop control circuit 2 in Fig. 5：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：G22m(s) it is controlled device G22(s) prediction model, C2(s) it is controller.
2) the control signal u in the decoupling actuator DA1 nodes from close loop control circuit 11(s) intersection solution, is acted on
Coupling passage P21(s) unit and cross decoupling network transmission channelsUnit, its output signal yp21(s) remake for closed loop control
Loop 2 processed, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA1 nodes output is decoupled from close loop control circuit 11p(s) controlled device, is passed through
Cross aisle transmission function G21(s) the output signal y of close loop control circuit 2 is acted on2(s), from input signal u1p(s) to output
Signal y2(s) closed loop transfer function, is between：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G22m(s)=G22(s) when,
The closed loop transform function of close loop control circuit 2 byBecome 1+C2(s)
G22(s)=0；The network unpredictable time-delay τ of the influence stability of a system is no longer included in its closed loop transform function3And τ4Exponential termWithSo as to reduce influence of the network delay to the stability of a system, improve system dynamic control performance quality, realization pair
The dynamic compensation of uncertain network-induced delay and SPC.
In close loop control circuit 1 and loop 2, controller C1And C (s)2(s) selection：
Controller C1And C (s)2(s) can be according to controlled device G11And G (s)22And G (s)21And G (s)12(s) mathematical modulo
Type, and its model parameter change, conventional control strategy both may be selected, intelligent control or complex control strategy also may be selected；
It can be realized from TITO-NDCS structures and specific controller C1And C (s)2(s) selection of control strategy is unrelated.
The scope of application of the present invention：
It is equal to suitable for controlled device prediction model between its true model, or prediction model and its true model and has one
During fixed deviation, a kind of two-output impulse generator network decoupling and controlling system (TITO-NDCS) uncertain network-induced delay constituted
Compensation and control；Its Research Thinking and method, can equally be well applied to controlled device prediction model equal to its true model, or in advance
Estimate when there is certain deviation between model and its true model, the multiple-input and multiple-output network decoupling and controlling system constituted
(MIMO-NDCS) compensation and control of uncertain network-induced delay.
It is a feature of the present invention that this method comprises the following steps：
For close loop control circuit 1：
(1) is h when the sensor S1 nodes cycle1Sampled signal triggering when, employing mode A is operated；
(2) is when controller C1 nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by signal u1(s) or by from cross decoupling network transmission channelsIt is single
The output signal y of memberp12(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 y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2(s) or by from cross decoupling network transmission channelsIt is single
The output signal y of memberp21(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 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) with controlled device prediction model G11m(s) output valve y11ma(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b
(s)-y11ma(s)；
B3：To e1(s) control algolithm C is implemented1(s) control signal u, is obtained1(s)；
B4：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator
DA1 node-node transmissions, signal 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 signal u1(s) or by from cross decoupling
Network transmission channelsThe output signal y of unitp12(s) triggered；
C2：By signal u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By signal u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
C4：By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling of close loop control circuit 2
Actuator DA2 node-node transmissions；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
C5：By signal u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) by handing over
Fork decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain signal
u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
C6：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) decoupling and control, while realizing to network unpredictable time-delay τ1And τ2Compensation and SPC；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) intersect with controlled device
Channel transfer function G21(s) output signal y21(s), and decoupling actuator DA2 nodes output signal y22mb(s) adopted
Sample, and calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21
And y (s)2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions,
Feedback signal y2b(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 y2b(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2b
(s) with controlled device prediction model G22m(s) output valve y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b
(s)-y22ma(s)；
E3：To e2(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
E4：By control signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator
DA2 node-node transmissions, signal 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 signal u2(s) or by from cross decoupling
Network transmission channelsThe output signal y of unitp21(s) triggered；
F2：By signal u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；
F3：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F4：By signal yp12(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling of close loop control circuit 1
Actuator DA1 node-node transmissions；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
F5：By signal u2(s) the signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) by handing over
Fork decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain signal
u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
F6：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained11(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) decoupling and control, while realizing to network unpredictable time-delay τ3And τ4Compensation and SPC.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of uncertain network-induced delay, observation, estimation or recognize,
The synchronous requirement of node clock signal can also be exempted simultaneously, time delay can be avoided to estimate the inaccurate evaluated error caused of model, kept away
Exempt to expending the waste of node storage resources needed for time-delay identification, at the same can also avoid " sky sampling " that is caused due to time delay or
The compensation error that " many samplings " is 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, due to from TITO-NDCS structures, realizing and specific controller C1And C (s)2(s) the selection nothing of control strategy
Close, thus can be not only used for the TITO-NDCS using conventional control, also available for using intelligent control or using complex control strategy
TITO-NDCS.
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 C1 and C2 section
Point, decouples actuator DA1 and DA2 node, controlled device transmission function G11And G (s)22(s) and controlled device cross aisle pass
Delivery function G21And G (s)12(s), feedforward network tunnel unitWithAnd feedback network tunnel unitWithCross decoupling channel transfer function P21And P (s)12, and cross decoupling network path transmission unit (s)WithInstitute
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；yp21And y (s)p12(s) represent
Cross decoupling multi-channel output signal；u1pAnd u (s)2p(s) be decouple actuator DA1 and DA2 node output drive signal；τ21With
τ12Represent cross decoupling channel transfer function P21And P (s)12(s) output signal yp21And y (s)p12(s) to decoupling actuator
The network path propagation delay time that DA2 and DA1 node-node transmissions are undergone；τ1And τ3Represent control signal u1And u (s)2(s) from control
The feedforward network tunnel time delay that device C1 and C2 nodes processed are undergone to decoupling actuator DA1 and DA2 node-node transmission；τ2And τ4
Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) feedback undergone to controller C1 and C2 node-node transmission
Network path propagation delay time.
Fig. 4：A kind of TITO-NDCS delay compensations and control structure comprising prediction model
In Fig. 4：G11m(s) it is controlled device G11(s) prediction model；G22m(s) it is controlled device G22(s) estimate mould
Type；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer delayAndEstimate Time Delay Model.
Fig. 5：A kind of SPC methods of two-output impulse generator NDCS unpredictable time-delays
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 5 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 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) with controlled device prediction model G11m(s) output
Value y11ma(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)-y11ma(s)；To e1(s) control algolithm C is implemented1
(s) control signal u, is obtained1(s)；
4th step：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is performed to decoupling
Device DA1 node-node transmissions, signal 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 signal u1(s) or Self-crossover is carried out
Decoupling network transmission channelThe output signal y of unitp12(s) triggered；
6th step：After decoupling actuator DA1 nodes are triggered, by signal u1(s) controlled device prediction model is acted on
G11m(s) its output valve y is obtained11mb(s)；
7th step：By signal u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；Will
Signal yp21(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling actuator DA2 nodes of close loop control circuit 2
Transmission；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
8th step：By signal u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) lead to
Cross cross decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain
Signal u1p(s), i.e. u1p(s)=u1(s)-yp12(s)；
9th 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) decoupling and control, while realizing to uncertain network-induced delay τ1And τ2Compensation and SPC；
Tenth 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), and decoupling actuator DA2 nodes output signal y22mb(s) sampled, and calculate closed-loop control
The system output signal y in loop 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21And y (s)2b(s)=y2(s)-
y22mb(s)；
Second step：Sensor S2 nodes are by feedback signal y2b(s), by the feedback network path of close loop control circuit 2 to
Controller C2 node-node transmissions, feedback signal y2b(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 y2b(s) after triggering, by closed loop
The system Setting signal x of control loop 22(s) feedback signal y, is subtracted2b(s) with controlled device prediction model G22m(s) output
Value y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b(s)-y22ma(s)；To e2(s) control algolithm C is implemented2
(s) control signal u, is obtained2(s)；
4th step：By control signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is held to decoupling
Row device DA2 node-node transmissions, signal 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 signal u2(s) or Self-crossover is carried out
Decoupling network transmission channelThe output signal y of unitp21(s) triggered；
6th step：After decoupling actuator DA2 nodes are triggered, by signal u2(s) controlled device prediction model is acted on
G22m(s) its output valve y is obtained22mb(s)；
7th step：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；Will
Signal yp12(s) cross decoupling network transmission channels are passed throughUnit, to the decoupling actuator DA1 nodes of close loop control circuit 1
Transmission；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
8th step：By signal u2(s) the signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) lead to
Cross cross decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain
Signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
9th 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) decoupling and control, while realizing to uncertain network-induced delay τ3And τ4Compensation and SPC；
Tenth 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 (3)
1. a kind of two-output impulse generator NDCS unpredictable time-delays SPC methods, 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 C1 nodes are by feedback signal y1b(s) when triggering, employing mode B is operated；
(3) is when decoupling actuator DA1 nodes are by signal u1(s) or by from cross decoupling network transmission channelsUnit
Output signal yp12(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 y2b(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal u2(s) or by from cross decoupling network transmission channelsUnit
Output signal yp21(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 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)
With controlled device prediction model G11m(s) output valve y11ma(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b
(s)-y11ma(s)；
B3：To e1(s) control algolithm C is implemented1(s) control signal u, is obtained1(s)；
B4：By control signal u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is saved to decoupling actuator DA1
Point transmission, signal 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 signal u1(s) or passed from cross decoupling network
Defeated passageThe output signal y of unitp12(s) triggered；
C2：By signal u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By signal u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
C4：By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, is performed to the decoupling of close loop control circuit 2
Device DA2 node-node transmissions；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
C5：By signal u1(s) the signal u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) solved by intersecting
Coupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain signal u1p
(s), i.e. u1p(s)=u1(s)-yp12(s)；
C6：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)
Decoupling and control, while realizing to network unpredictable time-delay τ1And τ2Compensation and SPC；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) with controlled device cross aisle
Transmission function G21(s) output signal y21(s), and decoupling actuator DA2 nodes output signal y22mb(s) sampled,
And calculate the system output signal y of close loop control circuit 22(s) with feedback signal y2b, and y (s)2(s)=y22(s)+y21(s)
And y2b(s)=y2(s)-y22mb(s)；
D3：By feedback signal y2b(s), fed back by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions
Signal y2b(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 y2b(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2b(s)
With controlled device prediction model G22m(s) output valve y22ma(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2b
(s)-y22ma(s)；
E3：To e2(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；
E4：By control signal u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to decoupling actuator DA2
Point transmission, signal 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 signal u2(s) or passed from cross decoupling network
Defeated passageThe output signal y of unitp21(s) triggered；
F2：By signal u2(s) controlled device prediction model G is acted on22m(s) its output valve y is obtained22mb(s)；
F3：By signal u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F4：By signal yp12(s) cross decoupling network transmission channels are passed throughUnit, is performed to the decoupling of close loop control circuit 1
Device DA1 node-node transmissions；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
F5：By signal u2(s) the signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) solved by intersecting
Coupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain signal u2p
(s), i.e. u2p(s)=u2(s)-yp21(s)；
F6：By signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained11(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)
Decoupling and control, while realizing to network unpredictable time-delay τ3And τ4Compensation and SPC.
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 uncertain network-induced delay between node
τ1And 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, with specific control strategy C1And C (s)2(s) selection is unrelated；Selection with specific network communication protocol is unrelated.
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