CN107168040A - A kind of IMC methods of the long network delays of TITO NDCS - Google Patents
A kind of IMC methods of the long network delays of TITO NDCS Download PDFInfo
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Abstract
A kind of IMC methods of the long network delays of TITO NDCS, belong to the MIMO NDCS technical fields of limited bandwidth resources.For affecting one another and coupling between a kind of TITO signals, need the TITO NDCS by decoupling processing, because network data transmits produced network delay among the nodes, not only influence respective close loop control circuit stability, but also whole system stability 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 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, long network delay is reduced to TITO NDCS stability influences, improve quality of system control.
Description
Technical field
A kind of TITO (Two-input and two-output, TITO)-NDCS (Networked decoupling
Control systems, NDCS) long network delay IMC (Internal Model Control, IMC) method, be related to automatic
How defeated the crossing domain of control technology, the network communications technology and computer technology, more particularly to the multi input of limited bandwidth resources be
Go out network decoupling and controlling system technical field.
Background technology
In a network environment, sensor, controller and actuator pass through network media formation closed loop, network consisting control system
Unite (Networked control systems, NCS), NCS typical structure is as shown in Figure 1.
NCS is filled with new vitality for classical and modern control theory, while also being proposed to the design of its system new
Challenge：On the one hand, the introducing of network can bring reduce investment outlay, it is easy to maintain the advantages of；On the other hand, time delay, number are also brought along
According to the presence of packet loss and other complicated phenomenon, especially network delays, it is possible to decrease NCS control performance quality, or even make system
Loss of stability, may cause system to break down when serious.
At present, research both at home and abroad on NCS, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, respectively known to network delay, it is unknown or variable, network delay be less than one
Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered
Row mathematical modeling or stability analysis and controlling.But in actual industrial process, generally existing comprises at least two inputs
With the control system of two outputs (Two-input and two-output, TITO), the multiple-input and multiple-output constituted
The research of (Multiple-input and multiple-output, MIMO) network control system is then relatively fewer, especially
The multiple-input and multiple-output network uneoupled control by decoupling processing is needed between input and output signal, there is coupling
The achievement in research of system (Networked decoupling control systems, NDCS) delay compensation is then relatively less.
MIMO-NDCS typical structure is as shown in Figure 2.
Compared with SISO-NCS, MIMO-NDCS has the characteristics that：
(1) affected one another between input signal and output signal and there is coupling
In it there is the MIMO-NCS of coupling, the change of an input signal will become multiple output signals
Change, and each output signal is also not only influenceed by an input signal.Even if by meticulous between input and output signal
Also exist and influence each other unavoidably between selection pairing, each control loop, thus to make output signal independently tracked respective defeated
Enter signal to have any problem.Decoupler in MIMO-NDCS, for releasing or reducing the coupling between MIMO signal
Effect.
(2) internal structure is more more complex than SISO-NCS
(3) controlled device there may be uncertain factor
In MIMO-NDCS, the parameter being related to is more, and the contact between each control loop is more, and parameter variations are to overall control
The influence of effect processed can become very complicated.
(4) control unit fails
In MIMO-NDCS, including at least there is two or more close loop control circuits, including at least have two or
More than two sensors and actuator.The failure of each element may influence the performance of whole control system, when serious
Control system can be made unstable, or even caused a serious accident.
Due to MIMO-NDCS above-mentioned particularity so that be mostly based on the method that SISO-NCS is designed and controlled,
MIMO-NDCS control performance and the requirement of control quality can not have been met, prevent its from or be not directly applicable MIMO-
In NDCS design and analysis, control and design to MIMO-NDCS bring certain difficulty.
For MIMO-NDCS, network delay compensation is essentially consisted in the difficult point controlled：
(1) due to network delay and network topology structure, communication protocol, network load, the network bandwidth and data package size
It is relevant etc. factor, to more than several or even the dozens of sampling period network delay, to set up each in MIMO-NDCS and control back
The mathematical modeling that the network delay on road is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
It is long that network decoupling and controlling system (TITO-NDCS) is exported the present invention relates to the input of one kind two in MIMO-NDCS two
The compensation and control of network 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 control unit, G11(s) it is controlled device；τ1Representing will control decoupler CD1 node output letter
Number u1p(s), to network path it is transferred to the network delay that actuator A1 nodes are undergone through preceding；τ2Represent output signal y1
(s) from sensor S1 nodes, the network delay undergone through feedback network tunnel to control decoupler CD1 nodes.
2) C in close loop control circuit 2 is come from2(s) the output signal u of control unit2(s), transmitted by cross decoupling passage
Function P12And its network path unit (s)After act on close loop control circuit 1, from input signal u2(s) output signal y is arrived1
(s) closed loop transfer function, between is：
3) the output signal u from the actuator A2 nodes of close loop control circuit 22p(s), passed by controlled device cross aisle
Delivery function G12(s) the output signal y of close loop control circuit 1 is influenceed1(s), from input signal u2p(s) output signal y is arrived1(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (1) to (3)In, contain network delay τ1
And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is control unit, G22(s) it is controlled device；τ3Representing will control decoupler CD2 node output letter
Number u2p(s), to network path it is transferred to the network delay that actuator A2 nodes are undergone through preceding；τ4Represent output signal y2
(s) from sensor S2 nodes, the network delay undergone through feedback network tunnel to control decoupler CD2 nodes.
2) C in close loop control circuit 1 is come from1(s) the output signal u of control unit1(s), transmitted by cross decoupling passage
Function P21And its network path unit (s)After act on close loop control circuit 2, from input signal u1(s) output signal y is arrived2
(s) closed loop transfer function, between is：
3) the output signal u from the actuator A1 nodes of close loop control circuit 11p(s), passed by controlled device cross aisle
Delivery function G21(s) the output signal y of close loop control circuit 2 is influenceed2(s), from input signal u1p(s) output signal y is arrived2(s) it
Between closed loop transfer function, be：
The denominator of above-mentioned closed loop transfer function, equation (4) to (6)In, contain network delay
τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses stabilization
Property.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the denominator of the closed loop transfer function, equation (1) to (3) of its close loop control circuit 1,
Contain network delay τ1And τ2Exponential termWithAnd the closed loop transfer function, equation (4) of close loop control circuit 2
Into the denominator of (6), network delay τ is contained3And τ4Exponential termWithThe presence of time delay can reduce respective closed loop
The control performance quality of control loop simultaneously influences the stability of respective close loop control circuit, while will also decrease the control of whole system
Performance quality processed and the stability for influenceing whole system, will cause whole system loss of stability when serious.
Therefore, for the close loop control circuit 1 in Fig. 3：Propose a kind of delay compensation method based on two degrees of freedom IMC；
For the close loop control circuit 2 in Fig. 3：Propose a kind of delay compensation method based on single-degree-of-freedom IMC；Constitute two closed-loop controls
The compensation and control of loop network time delay, for exempting in each close loop control circuit, the measurement of network delay between node, estimate
Meter is recognized, and then reduces network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole control system
The influence of control performance quality and the stability of a system；When prediction model is equal to its true model, respective closed-loop control can be achieved
Do not include the exponential term of network delay in the characteristic equation in loop, and then shadow of the network delay to whole system stability can be reduced
Ring, improve the dynamic property quality of system, realize to being segmented of TITO-NDCS long delays, in real time, online and dynamically estimate benefit
Repay and control.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In control decoupler CD1 nodes, an internal mode controller C is built first1IMC(s) it is used to replace control
Device C processed1(s)；When meeting predictive compensation condition to realize, net is no longer included in the closed loop transform function of close loop control circuit 1
The exponential term of network time delay, to realize to network delay τ1And τ2Compensation and control, use to control decoupling output signal u1p(s)
It is used as input signal, controlled device prediction model G11m(s) as controlled process, when control and process data are by network transmission
Prolong prediction modelAndAround internal mode controller C1IMC(s) a positive feedback Prediction Control loop, is constructed, such as Fig. 4 institutes
Show；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and control to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, must also
Network delay prediction model must be metAndTo be equal to its true modelAndCondition.Therefore, from sensing
Device S1 nodes to control decoupler CD1 nodes between, and from control decoupler CD1 nodes to actuator A1 nodes, adopt
With real network data transmission processAndInstead of the predict-compensate model of network delay therebetweenAndCause
Regardless of whether whether the prediction model of controlled device is equal to its true model, it can be realized from system architecture not comprising net therebetween
The predict-compensate model of network time delay, so as to exempt in close loop control circuit 1, network delay τ between node1And τ2Measurement, estimate
Meter is recognized；When prediction model is equal to its true model, it can be achieved to its long network delay, τ1And τ2Compensation and control；With
This in the backfeed loop of control decoupler CD1 nodes, increases feedback filter F simultaneously1(s)；Implement the net of the inventive method
Network time delay 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 control decoupler CD2 nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；
When meeting predictive compensation condition to realize, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term,
To realize to network delay τ3And τ4Compensation and control, around controlled device G22(s) y, is exported with close loop control circuit 22(s)
As input signal, by y2(s) network transfer delay prediction model is passed throughWith estimate internal mode controller C2mIMCAnd net (s)
Network propagation delay time prediction modelConstruct a positive feedback Prediction Control loop；The structure for implementing this step is as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet estimate internal mode controller 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 control decoupler CD2 nodes, and from control decoupler CD2 nodes to actuator A2 nodes, using real net
Network data transmission procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain the net shown in Fig. 5
Network delay compensation and control structure；
3rd step：By internal mode controller C in Fig. 52IMC(s), by the further abbreviation of transmission function equivalence transformation rule, obtain
The network delay compensation and single-degree-of-freedom IMC structures of implementation the inventive method shown in Fig. 6；Realize that system does not include from structure
The predict-compensate model of network delay therebetween, so as to exempt in close loop control circuit 2, long delay τ between node3And τ4Survey
Amount, estimation are recognized, and can be achieved to network delay τ3And τ4Compensation and control；
At this it should be strongly noted that in Fig. 6 control decoupler CD2 nodes, there is the given of close loop control circuit 2
Signal x2(s), with feedback signal y2(s) implement first " subtracting " afterwards " plus " operation rule, i.e. y2(s) signal simultaneously by positive feedback and
Negative-feedback is connected in CD2 nodes：
(1) this is due to by the internal mode controller C in Fig. 5 close loop control circuits 22IMC(s) unit, according to transmission function etc.
The further abbreviation of valency transformation rule obtains the result shown in Fig. 6, and non-artificial setting；
(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage and control function, in node to same signal carry out first " subtracting " afterwards " plus ", what this does not have not in algorithm
Meet rule part；
(3) same signal is carried out in node " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that2(s) just it is not present, or does not obtain y2(s) signal, or signal are not stored for；Or because of " phase
Mutually offset " cause " zero " signal value to reform into be not present, or it is nonsensical；
(4) triggering of control decoupler CD2 nodes just comes from signal y2(s) driving, if control decoupler CD2 sections
Point is not received by the signal y come from feedback network tunnel2(s), the then control in event-driven working method
Decoupler CD2 nodes will not be triggered.
For the close loop control circuit 1 in Fig. 6：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：C1IMC(s) it is internal mode controller；F1(s) it is feedback filter.
2) the deviation signal e from close loop control circuit 22(s) internal mode controller C, is passed through2IMCAnd cross decoupling is logical (s)
Road transmission function P12And network transmission channels (s)The through path of close loop control circuit 1 is acted on, from input deviation signal e2
(s) output signal y is arrived1(s) closed loop transfer function, between is：
3) the control signal u from the actuator A2 nodes of close loop control circuit 22p(s), passed by controlled device cross aisle
Delivery function G12(s) close loop control circuit 1 is acted on, from input signal u2p(s) output signal y is arrived1(s) the closed loop transmission letter between
Number is：
Using the inventive method, when controlled device prediction model is equal to its true model, that is, work as G11m(s)=G11(s)
When, the denominator of closed loop transfer function, is 1；Now, equivalent to one open-loop control system of close loop control circuit 1, closed loop transmission letter
The network delay τ of the influence stability of a system is no longer included in several denominators1And τ2Exponential termWithSystem it is steady
The qualitative stability only with controlled device and internal mode controller in itself is relevant；So as to reduce network delay to the stability of a system
Influence, improves the dynamic control performance quality of system, realizes the dynamic compensation to network delay and two degrees of freedom IMC；Work as system
During in the presence of compared with large disturbances and model mismatch, feedback filter F1(s) presence can improve the tracing property and anti-interference energy of system
Power, influence of the reduction network delay to the stability of a system, 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) controller C in close loop control circuit 1 is come from1(s) output control signal u1(s), transmitted by cross decoupling passage
Function P21(s) with its network transmission channelsThe through path of close loop control circuit 2 is acted on, from input control signal u1(s) arrive
Output signal y2(s) closed loop transfer function, between is：
3) the control signal u from the actuator A1 nodes of close loop control circuit 11p(s), passed by controlled device cross aisle
Delivery function G21(s) close loop control circuit 2 is acted on, from input signal u1p(s) output signal y is arrived2(s) the closed loop transmission letter between
Number is：
Using the inventive method, the denominator of closed loop transfer function, is 1, equivalent to one open loop of now close loop control circuit 2
The network delay τ of the influence stability of a system is no longer included in control system, the denominator of closed loop transfer function,3And τ4Index
WithThe stability of system only with controlled device, cross decoupling path transmission function and internal mode controller in itself steady
It is qualitative relevant；Influence of the network delay to the stability of a system can be reduced using the inventive method, improve the dynamic control of system
Can quality, dynamic compensation and single-degree-of-freedom IMC of the realization to network delay.
(1) internal mode controller C1IMCAnd C (s)2IMC(s) design and selection：
Design internal mode controller and typically use pole-zero cancellation method, i.e. two step design methods：
The first step is to design an inversion model for plant model taken as feedforward controller C11And C (s)22
(s)；
Second step is the feedforward filter f that certain order is added in feedforward controller1And f (s)2(s), composition one is complete
Whole internal mode controller C1IMCAnd C (s)2IMC(s)。
1) feedforward controller C11And C (s)22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and it is other it is various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-And G (s)22m(s)=G22m+(s)G22m-(s), wherein：G11m+And G (s)22m+(s) it is respectively that controlled device is estimated
Model G11mAnd G (s)22m(s) the irreversible part comprising pure lag system and s RHP zero pole points in；G11m-And G (s)22m-
(s) it is respectively the reversible part of minimum phase in controlled device prediction model.
Under normal circumstances, the feedforward controller C of close loop control circuit 1 and control loop 211And C (s)22(s) it can select respectively
It is taken as：With
2) feedforward filter f1And f (s)2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus has only taken in the design process of feedforward controller the reversible part G of controlled device minimum 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 (13) and (14)：The internal mode controller C of one degree of freedom1IMCAnd C (s)2IMC(s) in, all
Only one of which customized parameter λ1And λ2；Due to λ1And λ2The change of parameter and the tracking performance of system and antijamming capability have
Direct relation, therefore is adjusting the customized parameter λ of wave filter1And λ2When, the tracing property generally required in system is done with anti-
Ability is disturbed to trade off between the two.
(2) feedback filter 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, to improve the tracing property and antijamming capability of system, shadow of the reduction network delay to the stability of a system
Ring, improve the dynamic property quality of system.
The scope of application of the present invention：
Being equal to suitable for controlled device prediction model may deposit between its true model or prediction model and its true model
In certain deviation using the two degrees of freedom IMC of control loop 1, and known to controlled device mathematical modeling or when not exclusively knowing
Using the single-degree-of-freedom IMC methods of close loop control circuit 2, a kind of dual input output network decoupling and controlling system constituted
(TITO-NDCS) compensation and control of long delay；Its Research Thinking and method, are equally applicable to controlled device prediction model and are equal to
Using the two degrees of freedom of control loop 1 when there may be certain deviation between its true model or prediction model and its true model
IMC, and controlled device mathematical modeling is known or single-degree-of-freedom IMC methods when not exclusively knowing using close loop control circuit 2,
The compensation and control of multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) long 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 control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathUnit
Output signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2(s) or by cross decoupling network pathUnit
Output signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) lead to controlled device intersection
Road transmission function G12(s) output signal y12(s), and actuator A1 nodes output signal 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：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to control
Decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, control decoupler CD1 sections are got to
Point；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling
Network pathThe output signal y of unitp12(s) triggered；
B2：In control decoupler CD1 nodes, by feedback signal y1b(s) feedback filter F is acted on1(s) its is obtained defeated
Go out signal yF1(s), i.e. yF1(s)=y1b(s)F1(s)；By system Setting signal x1(s) feedback filter F is subtracted1(s) output
Signal yF1(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1(s) Internal Model Control Algorithm C1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) cross decoupling channel transfer function P is acted on21(s) its output signal y is obtainedp21(s)；
By yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21
Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P12And network path (s)The signal y that unit is transmittedp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p(s)
=yp12(s)+u1(s)；
B6：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to actuator
A1 node-node transmissions, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb
(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control solution
Coupling signal u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to quilt
Control object G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to long delay τ1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) intersect with controlled device
Channel transfer function G21(s) output signal y21(s) sampled, and calculate the system output letter of close loop control circuit 2
Number y2, and y (s)2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control
Decoupler CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, control decoupler CD2 sections are got to
Point；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or by cross decoupling
Network pathThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback, is subtracted
Signal y2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；
E4：By IMC signals ue(s) cross decoupling channel transfer function P is acted on12(s) its output signal y is obtainedp12(s)；
By yp12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12
Afterwards, get to control decoupler CD1 nodes；
E5：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2(s)；
To e3(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network path (s)The signal y that unit is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p(s)=
yp21(s)+u2(s)；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to actuator
A2 node-node transmissions, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control solution
Coupling signal u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to quilt
Control object G22And G (s)12(s) decoupling and single-degree-of-freedom IMC, while realizing to long delay τ3And τ4Compensation.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of network delay, observation, estimation or recognize, also simultaneously
Node clock signal synchronously requirement can be exempted, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid to time delay
The waste of node storage resources is expended needed for identification, while can also avoid due to " sky sampling " or " many samplings " band that time delay is caused
The compensation error come.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS using wireless network protocol；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, simultaneously
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, using IMC TITO-NDCS, its internal mode controller C1IMCAnd C (s)2IMC(s) adjustable parameter only has λ1And λ2,
The regulation of its parameter is simple with selection, and explicit physical meaning.
4th, in TITO-NDCS, compared with using the single-degree-of-freedom IMC adjustable parameter of close loop control circuit 2 for 1, adopt
Adjustable parameter with two degrees of freedom IMC close loop control circuit 1 is 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.
5th, because the present invention uses compensation and control method that " software " changes TITO-NDCS structures, thus at it
Any hardware device need not be further added by implementation process, the software resource carried using existing TITO-NDCS intelligent nodes, it is sufficient to
Its compensation and control function are realized, hardware investment can be saved and be easy to be extended and applied.
Brief description of the drawings
Fig. 1：NCS typical structure
In Fig. 1, system is by sensor S nodes, controller C nodes, actuator A nodes, controlled device, feedforward network path
Transmission unitAnd feedback network tunnel unitConstituted.
In Fig. 1：X (s) represents system input signal；Y (s) represents system output signal；C (s) represents controller；U (s) tables
Show control signal；τcaRepresent the feedforward network for being undergone control signal u (s) from controller C nodes to actuator A node-node transmissions
Tunnel time delay；τscRepresent the feedback net for being undergone the detection signal y (s) of sensor S nodes to controller C node-node transmissions
Network tunnel time delay；G (s) represents controlled device transmission function.
Fig. 2：MIMO-NDCS typical structure
In Fig. 2, system controls decoupler CD nodes by r sensor S node, m actuator A node, controlled device G,
M feedforward network tunnel time delay(i=1,2 ..., m) unit, and r feedback network tunnel time delay(j=
1,2 ..., r) unit is constituted.In Fig. 2：yj(s) j-th of output signal of system is represented；ui(s) i-th of control of system is represented
Signal processed；Representing will control decoupling signal ui(s) passed through from control decoupler CD nodes to i-th of actuator A node-node transmission
The feedforward network tunnel time delay gone through；Represent the detection signal y of j-th of sensor S node of systemj(s) to control
The feedback network tunnel time delay that decoupler CD node-node transmissions are undergone；G represents controlled device transmission function.
Fig. 3：TITO-NDCS typical structure
Fig. 3 is made up of close loop control circuit 1 and 2, system include sensor S1 and S2 node, control decoupler CD1 and
CD2 nodes, actuator A1 and A2 node, controlled device transmission function G11And G (s)22(s) and controlled device cross aisle pass
Delivery function G21And G (s)12(s), cross decoupling channel transfer function P21And P (s)12(s), feedforward network tunnel unit
WithAnd feedback network tunnel unitWithAnd cross decoupling network path transmission unitWithInstitute
Composition；
In Fig. 3：x1And x (s)2(s) system input signal is represented；y1And y (s)2(s) system output signal is represented；C1(s) and
C2(s) controller of control loop 1 and 2 is represented；u1And u (s)2(s) control signal is represented；yp21And y (s)p12(s) represent to intersect
Decouple path output signal；u1pAnd u (s)2p(s) control decoupling signal is represented；τ1And τ3Representing will control decoupling signal u1p(s)
And u2p(s) the feedforward network tunnel undergone from control decoupler CD1 and CD2 node to actuator A1 and A2 node-node transmission
Time delay；τ2And τ4Represent the detection signal y of sensor S1 and S2 node1And y (s)2(s) to control decoupler CD1 and CD2 section
The undergone feedback network tunnel time delay of point transmission；τ21And τ12Represent cross decoupling channel transfer function P21And P (s)12
(s) output signal yp21And y (s)p12(s) when the network path undergone to control decoupler CD2 and CD1 node-node transmission is transmitted
Prolong.
Fig. 4：A kind of compensation of TITO-NDCS long delays comprising prediction model and control structure
In Fig. 4,AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is
Network transfer delayAndEstimate Time Delay Model；G11m(s) it is controlled device transmission function G11(s) estimate mould
Type, C2mIMC(s) it is internal mode controller C2IMC(s) predictor controller.
Fig. 5：Compensation and the control structure of the TITO-NDCS long delays of prediction model are replaced with true model
In Fig. 5：F1(s) it is feedback filter.
Fig. 6：A kind of IMC methods of the long network delays of TITO-NDCS
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 below, makes the ordinary skill of this area
Personnel become apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
After signal triggering, to controlled device G11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s) output
Signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculate close loop control circuit 1
System output signal y1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-y11mb(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Control decoupler CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler
CD1 nodes；
3rd step：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or intersected
Decoupling network pathThe output signal y of unitp12(s) after triggering, by feedback signal y1b(s) feedback filter F is acted on1
(s) its output signal y is obtainedF1(s), i.e. yF1(s)=y1b(s)F1(s)；By system Setting signal x1(s) feedback filter is subtracted
F1(s) output signal yF1(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；To e1(s) in implementing
Mould control algolithm C1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) cross decoupling channel transfer function P is acted on21(s) output signal y is obtainedp21
(s)；By yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) when will undergo network transmission
Prolong τ21, get to control decoupler CD2 nodes；
5th step：By decoupling signal yp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p
(s)=yp12(s)+u1(s)；
6th step：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is to holding
Row device A1 node-node transmissions, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
7th step：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) after triggering, it will control
Decoupling signal u processed1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
8th step：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；Will control
Decoupling signal u processed1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize
To controlled device G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to long delay τ1And τ2Compensation；
9th step：Return to the first step；
For close loop control circuit 2：
The first step：Sensor S2 nodes work in time type of drive, are h when the sensor S2 nodes cycle2Sampling
After signal triggering, to controlled device G22(s) output signal y22(s) with controlled device cross aisle transmission function G21(s) defeated
Go out signal y21(s) sampled, and calculate the system output signal y of close loop control circuit 22, and y (s)2(s)=y22(s)+
y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Control decoupler CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler
CD2 nodes；
3rd step：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or intersected
Decoupling network pathThe output signal y of unitp21(s) after triggering, by the system Setting signal x of close loop control circuit 22(s),
Subtract feedback signal y2(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
4th step：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；By IMC signals ue(s)
Act on cross decoupling channel transfer function P12(s) its output signal y is obtainedp12(s)；By yp12(s) network path is passed throughIt is single
Member to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12Afterwards, control decoupler CD1 is got to
Node；
5th step：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2
(s)；To e3(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
6th step：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network (s)
PathThe signal y that unit is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p
(s)=yp21(s)+u2(s)；
7th step：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is to holding
Row device A2 node-node transmissions, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
8th step：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；Will control
Decoupling signal u processed2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize
To controlled device G22And G (s)12(s) decoupling and single-degree-of-freedom IMC, while realizing to long delay τ3And τ4Compensation；
9th step：Return to the first step；
It the foregoing is only presently preferred embodiments of the present invention and oneself, be not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of IMC methods of the long network delays of TITO-NDCS, 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 control decoupler CD1 nodes are by feedback signal y1b(s) or by cross decoupling network pathThe output of unit
Signal yp12(s) when triggering, employing mode B is operated；
(3) is when actuator A1 nodes are by control decoupling signal u1p(s) when triggering, employing mode C is operated；
For close loop control circuit 2：
(4) is h when the sensor S2 nodes cycle2Sampled signal triggering when, employing mode D is operated；
(5) is when control decoupler CD2 nodes are by feedback signal y2(s) or by cross decoupling network pathThe output of unit
Signal yp21(s) when triggering, employing mode E is operated；
(6) is when actuator A2 nodes are by control decoupling signal u2p(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) passed with controlled device cross aisle
Delivery function G12(s) output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculated
The system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)
=y1(s)-y11mb(s)；
A3：Sensor S1 nodes are by feedback signal y1b(s), decoupled by the feedback network path of close loop control circuit 1 to control
Device CD1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, get to control decoupler CD1 nodes；
The step of mode B, includes：
B1：Control decoupler CD1 nodes work in event driven manner, by feedback signal y1b(s) or by cross decoupling network
PathThe output signal y of unitp12(s) triggered；
B2：In control decoupler CD1 nodes, by feedback signal y1b(s) feedback filter F is acted on1(s) its output letter is obtained
Number yF1(s), i.e. yF1(s)=y1b(s)F1(s)；By system Setting signal x1(s) feedback filter F is subtracted1(s) output signal
yF1(s) system deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-yF1(s)；
B3：To e1(s) Internal Model Control Algorithm C1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) cross decoupling channel transfer function P is acted on21(s) its output signal y is obtainedp21(s)；Will
yp21(s) network path is passed throughUnit to control decoupler CD2 node-node transmissions, yp21(s) will experience network transfer delay τ21
Afterwards, get to control decoupler CD2 nodes；
B5：Control decoupler CD2 nodes will be come from, pass through cross decoupling channel transfer function P12And network path (s)It is single
The signal y that member is transmittedp12(s) with control signal u1(s) it is added, obtains control decoupling signal u1p(s), i.e. u1p(s)=yp12
(s)+u1(s)；
B6：Will control decoupling signal u1p(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is saved to actuator A1
Point transmission, u1p(s) will experience network transfer delay τ1Afterwards, actuator A1 nodes are got to；
The step of mode C, includes：
C1：Actuator A1 nodes work in event driven manner, by control decoupling signal u1p(s) triggered；
C2：Will control decoupling signal u1p(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：Will control decoupling signal u1p(s) controlled device G is acted on11(s) its output valve y is obtained11(s)；By control decoupling letter
Number u1p(s) controlled device cross aisle transmission function G is acted on21(s) its output valve y is obtained21(s)；So as to realize to controlled pair
As G11And G (s)21(s) decoupling and two degrees of freedom IMC, while realizing to long delay τ1And τ2Compensation；
The step of mode D, includes：
D1：Sensor S2 nodes work in time type of drive, and its trigger signal is cycle h2Sampled signal；
D2：After sensor S2 nodes are triggered, to controlled device G22(s) output signal y22(s) with controlled device cross aisle
Transmission function G21(s) output signal y21(s) sampled, and calculate the system output signal y of close loop control circuit 22
, and y (s)2(s)=y22(s)+y21(s)；
D3：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to control decoupler
CD2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, get to control decoupler CD2 nodes；
The step of mode E, includes：
E1：Control decoupler CD2 nodes work in event driven manner, by feedback signal y2(s) or by cross decoupling network lead to
RoadThe output signal y of unitp21(s) triggered；
E2：In control decoupler CD2 nodes, by the system Setting signal x of close loop control circuit 22(s) feedback signal y, is subtracted2
(s) deviation signal e, is obtained2(s), i.e. e2(s)=x2(s)-y2(s)；
E3：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtainede(s)；
E4：By IMC signals ue(s) cross decoupling channel transfer function P is acted on12(s) its output signal y is obtainedp12(s)；Will
yp12(s) network path is passed throughUnit to control decoupler CD1 node-node transmissions, yp12(s) will experience network transfer delay τ12
Afterwards, get to control decoupler CD1 nodes；
E5：By signal e2(s) feedback signal y, is subtracted2(s) deviation signal e is obtained3(s), i.e. e3(s)=e2(s)-y2(s)；To e3
(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E6：Control decoupler CD1 nodes will be come from, pass through cross decoupling channel transfer function P21And network path (s)It is single
The signal y that member is transmittedp21(s) with IMC signals u2(s) it is added, obtains control decoupling signal u2p(s), i.e. u2p(s)=yp21
(s)+u2(s)；
E7：Will control decoupling signal u2p(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to actuator A2
Point transmission, u2p(s) will experience network transfer delay τ3Afterwards, actuator A2 nodes are got to；
The step of mode F, includes：
F1：Actuator A2 nodes work in event driven manner, by control decoupling signal u2p(s) triggered；
F2：Will control decoupling signal u2p(s) controlled device G is acted on22(s) its output valve y is obtained22(s)；By control decoupling letter
Number u2p(s) controlled device cross aisle transmission function G is acted on12(s) its output valve y is obtained12(s)；So as to realize to controlled pair
As G22And G (s)12(s) decoupling and single-degree-of-freedom IMC, while realizing to long delay τ3And τ4Compensation.
2. according to the method described in claim 1, it is characterised in that：From TITO-NDCS structures, realize that system does not include control
The predict-compensate model of all-network time delay in loop 1 and control loop 2, so as to exempt to network delay τ between node1And τ2,
And τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, 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：With using single-degree-of-freedom IMC close loop control circuit 2 can
Adjust parameter to be 1 to compare, use the two degrees of freedom IMC adjustable parameter of close loop control circuit 1 for 2, can further improve and be
Stability, tracking performance and the antijamming capability of system；Especially when system is present compared with large disturbances and model mismatch, feedback filtering
Device F1(s) presence can further improve the dynamic property quality of system, influence of the reduction network delay to the stability of a system.
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