CN107168041A - A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS - Google Patents
A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS Download PDFInfo
- Publication number
- CN107168041A CN107168041A CN201710422027.3A CN201710422027A CN107168041A CN 107168041 A CN107168041 A CN 107168041A CN 201710422027 A CN201710422027 A CN 201710422027A CN 107168041 A CN107168041 A CN 107168041A
- Authority
- CN
- China
- Prior art keywords
- signal
- nodes
- network
- decoupling
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The SPC methods of the unknown time delays of two-output impulse generator NDCS, 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 unknown time delay of network to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
When a kind of two-output impulse generator NDCS (Networked decoupling control systems, NDCS) is unknown
SPC (Smith Predictor Control, the SPC) method prolonged, is related to automatic control technology, the network communications technology and calculating
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.
Resource-sharing, remote operation and control, tool can be achieved compared with the control system of traditional point-to-point structure in NCS
There is high diagnosis capability, I＆M is easy, many advantages, such as adding flexibility and the reliability of system.Long-range distant behaviour
Work, telemedicine, remote teaching, wireless network robot, some Weapon Systems and emerging with fieldbus and industrial ether
Control system based on net belongs to NCS category, in addition, NCS is in aerospace field, and complicated, dangerous industry
Control field also has wide application, and it is studied turns into a hot subject of international academic community.
In NCS, due to the presence of the phenomenons such as network delay, data packetloss and network congestion so that NCS faces many
New challenge.When between NCS sensor, controller and actuator by network exchange data, when inevitably resulting in network
Prolong, so that the performance of system can be reduced or even cause system unstable.
At present, research both at home and abroad for NCS, primarily directed to single-input single-output (Single-input and
Single-output, SISO) network control system, constant, unknown or random in network delay respectively, network delay is less than one
Individual sampling period or more than one sampling period, single bag transmission or many bag transmission, whether there is when data-bag lost, it are entered
Row mathematical modeling or stability analysis and controlling.But, in actual industrial process, generally existing comprise at least two it is defeated
Enter the multiple-input and multiple-output (Multiple- 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, controlled to more than several or even the dozens of sampling period unknown network time delay, to set up each in MIMO-NDCS
The mathematical modeling that the network delay in loop processed 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 the unknown time delay of two-output impulse generator NDCS (TITO-NDCS) 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, 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 it is unknown when
Prolong τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely
It is qualitative.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller, G22(s) it is controlled device；τ3Represent control signal u2(s) from C2(s) controller
The C2 nodes at place, 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 it is unknown when
Prolong τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses surely
It is qualitative.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (3), wrap
The unknown delay, τ of network is contained1And τ2Exponential termWithAnd the transmission function equation (4) of close loop control circuit 2 and (6)
Denominator in, contain the unknown delay, τ of network3And 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 two kinds of SPC methods, constitutes two closed loops
The compensation of control loop network delay and SPC, for exempting in each close loop control circuit, unknown network time delay between node
Measurement, estimation are recognized, and then reduce network delay τ1And τ2, and τ3And τ4To respective close loop control circuit and to whole
The influence of control system control performance quality and the stability of a system, improves the dynamic property quality of system, realizes to TITO-NDCS
Being segmented of unknown network time delay, 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 unknown network Time-delay Prediction modelAndTo be equal to its true modelAndCondition.Therefore, from biography
Sensor S1 nodes are between controller C1 nodes, and from controller C1 nodes to decoupling actuator DA1 nodes, using true
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus nothing
Whether it is equal to its true model by the prediction model of controlled device, when can be realized from system architecture not comprising network therebetween
The predict-compensate model prolonged, so as to exempt in close loop control circuit 1, unknown network time delay r between node1And τ2Measurement, estimate
Meter is 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, the closed loop transform function of close loop control circuit 2 is no longer included
Network delay exponential term, to realize to the unknown delay, τ of network3And τ4Compensation and control, around controlled device G22(s), to close
Ring control loop 2 exports y2(s) as input signal, by y2(s) network transfer delay prediction model is passed throughAnd Prediction Control
Device C2mAnd network transfer delay prediction model (s)Construct a positive feedback Prediction Control loop；At the same time, by y2
(s) predictor controller C is passed through2m(s) a negative-feedback Prediction Control loop is constructed, the structure for implementing this step is as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and control to network delay, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet predictor controller C2m(s) it is equal to its controller C2(s) condition is (due to controller C2(s) it is people
To design and selecting, C is met naturally2m(s)=C2(s)).Therefore, from sensor S2 nodes to controller C2 nodes, and
From controller C2 nodes to decoupling actuator DA2 nodes, using real network data transmission processWithInstead of
The predict-compensate model of network delay therebetweenWithObtain the unknown delay compensation of network and the control structure shown in Fig. 5；
3rd step：By controller C in Fig. 52(s), by the further abbreviation of transmission function equivalence transformation rule, Fig. 6 institutes are obtained
The network delay compensation and SPC control structures of the implementation the inventive method shown.
At this it should be strongly noted that in Fig. 6 controller C2 nodes, occurring in that the given of close loop control circuit 2
Signal x2(s), with its feedback signal y2(s) implement first " subtracting " afterwards " plus ", or first " plus " operation rule that " subtracts " afterwards, i.e. y2(s) believe
Number it is connected to simultaneously by positive feedback and negative-feedback in controller C2 nodes：
(1) this is due to by the controller C in Fig. 52(s), according to transmission function equivalence transformation rule, further abbreviation is obtained
To the result shown in Fig. 6, and non-artificial set；
(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage with control etc. function, in node to same signal carry out first " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method
What does not have on then and is not inconsistent normally part；
(3) same signal is carried out in node " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that2(s) just it is not present, or does not obtain y2(s) signal, or signal are not stored for；Or because of " phase
Mutually offset " cause " zero " signal value to reform into be not present, or it is nonsensical；
(4) triggering of controller C2 nodes, just comes from signal y2(s) driving, if controller C2 nodes do not connect
Receive the signal y come from feedback network tunnel2(s), then controller C2 nodes in event-driven working method
It will not be triggered.
For the close loop control circuit 1 in Fig. 6：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：G11m(s) it is controlled device G11(s) prediction model, 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 unknown delay, τ of network 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 unknown network time delay and SPC.
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller.
2) the 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, the closed loop transform function of close loop control circuit 2 is 1+C2(s)G22(s)=0, closed loop feature
The unknown network delay, τ of the influence stability of a system is no longer included in equation3And τ4Exponential termWithSo as to reduce net
Influence of the network time delay to the stability of a system, improves system dynamic control performance quality, realizes and the dynamic of unknown network time delay is mended
Repay 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
Using the SPC of control loop 1 during fixed deviation；And control loop 2 is used known to controlled device mathematical modeling or when being uncertain of
SPC；A kind of compensation of two-output impulse generator network decoupling and controlling system (TITO-NDCS) the unknown network time delay constituted with
Control；Its Research Thinking and method, can equally be well applied to controlled device prediction model equal to its true model, or prediction model with
Using the SPC of control loop 1 when there is certain deviation between its true model；And known to controlled device mathematical modeling or not
Using the SPC of control loop 2 when knowing；The multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) constituted is unknown
The compensation and control of network 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 y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal e2(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 A1 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 the unknown delay, τ of network1And 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) sampled, and calculate the system output signal of close loop control circuit 2
y2, and y (s)2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions,
Feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s)
After phase adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is saved to decoupling actuator DA2
Point transmission, e2(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 e2(s) or by from cross decoupling
Network transmission channelsThe output signal y of unitp21(s) triggered；
F2：By signal e2(s) with feedback signal y2(s) subtract each other and obtain signal e3(s), i.e. e3(s)=e2(s)-y2(s)；It is right
e3(s) control algolithm C is implemented2(s) control signal u, is obtained2(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 obtained22(s)；By signal u2p(s) act on
Controlled device cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12
(s) decoupling and control, while realizing to the unknown delay, τ of network3And τ4Compensation and SPC.
The present invention has following features：
1st, due to from exempting in structure in TITO-NDCS, the measurement of unknown network time delay, observation, estimation or recognize, together
When can also exempt the synchronous requirement of node clock signal, time delay can be avoided to estimate the inaccurate evaluated error caused of model, it is to avoid
To expending the waste of node storage resources needed for time-delay identification, while can also avoid due to " sky sampling " or " many that time delay is caused
The compensation error that sampling " is brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-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；C2m(s) it is the controller C of control loop 22(s) pre-
Estimate model；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is that network is passed
Defeated time delayAndEstimate Time Delay Model.
Fig. 5：The delay compensation and control structure of prediction model are replaced with true model
Fig. 6：A kind of SPC methods of the unknown time delays of two-output impulse generator 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 people of this area
Member becomes apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
, will be to controlled device G after signal triggering11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s)
Output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculate close loop control circuit 1
System output signal y1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-y11mb
(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) after triggering, by closed loop
The system Setting signal x of control loop 11(s) feedback signal y, is subtracted1b(s) 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 unknown network 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) sampled, and calculate the system output signal y of close loop control circuit 22, and y (s)2(s)=y22(s)
+y21(s)；
Second step：Sensor S2 nodes are by feedback signal y2(s), by the feedback network path of close loop control circuit 2 to
Controller C2 node-node transmissions, feedback signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
3rd step：Controller C2 nodes work in event driven manner, by feedback signal y2(s) after triggering, by closed loop
The system Setting signal x of control loop 22(s), with feedback signal y2(s) after phase adduction subtracts each other, signal e is obtained2(s), i.e. e2(s)
=x2(s)+y2(s)-y2(s)=x2(s)；
4th step：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator
DA2 node-node transmissions, e2(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 e2(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 e2(s) with feedback signal y2(s) subtract each other and obtain
Signal e3(s), i.e. e3(s)=e2(s)-y2(s)；To e3(s) control algolithm C is implemented2(s) control signal u, is obtained2(s)；Will letter
Number u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；By signal yp12(s) solved by intersecting
Coupling network transmission channelsUnit, to the decoupling actuator DA1 node-node transmissions of close loop control circuit 1；Signal yp12(s) will experience
Network transfer delay τ12Afterwards, get to decouple actuator DA1 nodes；
7th step：By control signal u2(s) the signal u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11
(s) cross decoupling passage P is passed through21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) phase
Subtract and obtain signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
8th 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 unknown network delay, τ3And τ4Compensation and SPC；
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 (3)
1. a kind of SPC methods of the unknown time delays of two-output impulse generator 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 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 y2(s) when triggering, employing mode E is operated；
(6) is when decoupling actuator DA2 nodes are by signal e2(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 A1 nodes output signal y11mb(s) sampled, and
Calculate the system output signal y of close loop control circuit 11(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12(s) and
y1b(s)=y1(s)-y11mb(s)；
A3：By feedback signal y1b(s), 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 the unknown delay, τ of network1And 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) sampled, and calculate the system output signal y of close loop control circuit 22
, and y (s)2(s)=y22(s)+y21(s)；
D3：By feedback signal y2(s), fed back by the feedback network path of close loop control circuit 2 to controller C2 node-node transmissions
Signal y2(s) will experience network transfer delay τ4Afterwards, controller C2 nodes are got to；
The step of mode E, includes：
E1：Controller C2 nodes work in event driven manner, by feedback signal y2(s) triggered；
E2：In controller C2 nodes, by the system Setting signal x of close loop control circuit 22(s), with feedback signal y2(s) it is added
And after subtracting each other, obtain signal e2(s), i.e. e2(s)=x2(s)+y2(s)-y2(s)=x2(s)；
E3：By signal e2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is passed to decoupling actuator DA2 nodes
It is defeated, e2(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 e2(s) or passed from cross decoupling network
Defeated passageThe output signal y of unitp21(s) triggered；
F2：By signal e2(s) with feedback signal y2(s) subtract each other and obtain signal e3(s), i.e. e3(s)=e2(s)-y2(s)；To e3(s)
Implement control algolithm C2(s) control signal u, is obtained2(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 obtained22(s)；By signal u2p(s) act on controlled
Object cross aisle transmission function G12(s) its output valve y is obtained12(s)；So as to realize to controlled device G22And G (s)12(s)
Decoupling and control, while realizing to the unknown delay, τ of network3And 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 the unknown delay, τ of network between node1
And 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422027.3A CN107168041A (en) | 2017-06-07 | 2017-06-07 | A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422027.3A CN107168041A (en) | 2017-06-07 | 2017-06-07 | A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107168041A true CN107168041A (en) | 2017-09-15 |
Family
ID=59824827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422027.3A Pending CN107168041A (en) | 2017-06-07 | 2017-06-07 | A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107168041A (en) |
-
2017
- 2017-06-07 CN CN201710422027.3A patent/CN107168041A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107065572A (en) | A kind of mixed control method of the unknown time delays of two-output impulse generator NDCS | |
| CN106802561A (en) | A kind of compensation method of TITO NDCS variable network time delays | |
| CN106802558A (en) | A kind of two-output impulse generator network decoupling and controlling system method for compensating network delay | |
| CN106802562A (en) | A kind of two input two exports network decoupling and controlling system long delay compensation method | |
| CN106773730A (en) | A kind of two input two exports network decoupling and controlling system time-vary delay system compensation method | |
| CN106773726A (en) | A kind of two input two exports network decoupling and controlling system random delay compensation method | |
| CN106773733A (en) | A kind of dual input output network decoupling and controlling system does not determine the compensation method of time delay | |
| CN107168041A (en) | A kind of SPC methods of the unknown time delays of two-output impulse generator NDCS | |
| CN106842943A (en) | Two inputs two based on SPC export network decoupling and controlling system delay compensation method | |
| CN107168043A (en) | The input of one kind two two exports the unknown delay compensations of NDCS and IMC methods | |
| CN106773737A (en) | A kind of two input and output network decoupling and controlling system time-vary delay system mixed control methods | |
| CN106814621A (en) | A kind of two input two exports network decoupling and controlling system random network time delay IMC methods | |
| CN106773738A (en) | A kind of IMC methods of two input and output network decoupling and controlling system time-varying network time delay | |
| CN107045338A (en) | A kind of two input two exports the SPC methods of NDCS random delay | |
| CN107102628A (en) | The input of one kind two two exports the compensation of NDCS time-vary delay systems and control method | |
| CN106873368A (en) | A kind of dual input exports the compensation method of network decoupling and controlling system non-determined time delay | |
| CN106802557A (en) | A kind of SPC and IMC methods of TITO NDCS random network time delays | |
| CN106773731A (en) | A kind of dual input exports the unknown time delay mixed control method of network decoupling and controlling system | |
| CN106802555A (en) | A kind of two-output impulse generator Delays In Networked Control System compensation method | |
| CN106773734A (en) | A kind of two input two exports network decoupling and controlling system variable network time delay IMC methods | |
| CN106990713A (en) | The input of one kind two two exports NDCS and is uncertain of network delay compensating control method | |
| CN106773729A (en) | A kind of two input and output network decoupling and controlling system time-varying network delay compensation methods | |
| CN107065574A (en) | A kind of two-output impulse generator NDCS unpredictable time-delays SPC methods | |
| CN106970525A (en) | The two input and output network decoupling and controlling system delay compensation methods based on SPC and IMC | |
| CN107219762A (en) | The input of one kind two two exports NDCS time-vary delay system mixed control methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |