CN107247410A - A kind of two input two exports the IMC methods that NDCS does not know time delay - Google Patents
A kind of two input two exports the IMC methods that NDCS does not know time delay Download PDFInfo
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Abstract
Two inputs two export the IMC methods that NDCS does not know time delay, belong to the multiple-input and multiple-output network decoupling and controlling system technical field of limited bandwidth resources.Inputted for one kind two between two output signals and affect one another and couple, 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 IMC 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, reduction network does not know influence of the time delay to TITO NDCS stability, the control performance quality of improvement system.
Description
Technical field
The input of one kind two two exports NDCS (Networked decoupling control systems, NDCS) and not known
IMC (Internal Model Control, IMC) method of time delay, 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.
In NCS, due to the introducing of network, control system complexity and cost are reduced, will be numerous long-range by network
Node (or equipment) organically combines, and collaboration completes the work that individual node (or equipment) can not be completed.In addition, passing through net
Information of the network synthesis from different nodes, the state to network system estimate in real time, analyze and monitor, by different
Equipment carries out networking, can further lifting system allomeric function and riding quality.On the other hand, also one is brought to NCS
A little new the problem of, such as communication network makes data in the transmission inevitably by noise, communication delay, quantization error sum
According to the influence of the factors such as packet loss, do not know the presence of network delay especially, it is possible to decrease NCS control quality, in addition make be
System loss of stability, may cause system to break down when serious.
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, to not knowing network delay more than several or even the dozens of sampling period, to set up each in MIMO-NDCS
The mathematical modeling that the network delay of control loop is accurately predicted, estimates or recognized, is nearly impossible at present.
(2) occur in MIMO-NDCS, when previous node is to network during latter node-node transmission network data
Prolong, no matter using which kind of prediction or method of estimation in previous node, be impossible to know the net produced thereafter in advance in advance
Network time delay exact value.Time delay cause systematic function decline in addition cause system unstable, while also to control system analysis with
Design brings difficulty.
(3) to meet in MIMO-NDCS, all node clock signal Complete Synchronizations in different distributions place are unrealistic
's.
(4) due in MIMO-NCS, being affected one another between input and output, and there is coupling, its MIMO-NDCS's
Internal structure is more complicated than MIMO-NCS and SISO-NCS, it is understood that there may be uncertain factor it is more, implement time delay benefit to it
Repay more much more difficult than MIMO-NCS and SISO-NCS with control.
The content of the invention
The compensation that NDCS (TITO-NDCS) does not know time delay is exported the present invention relates to the input of one kind two in MIMO-NCS two
With control, its TITO-NDCS typical structure is as shown in Figure 3.
For the close loop control circuit 1 in Fig. 3：
1) from input signal x1(s) output signal y is arrived1(s) closed loop transfer function, between is：
In formula：C1(s) it is controller, G11(s) it is controlled device；τ1Represent control signal u1(s) from C1(s) controller
The C1 nodes at place, the network delay that actuator DA1 nodes are undergone is decoupled through preceding be transferred to network path；τ2Expression will be defeated
Go out signal y1(s) from sensor S1 nodes, through feedback network tunnel to C1(s) the C1 nodes where controller are undergone
Network delay.
2) the control signal u in the decoupling actuator DA2 nodes from close loop control circuit 22(s) intersection solution, is acted on
Coupling passage P12(s) unit and cross decoupling network transmission channelsUnit, its output signal yp12(s) remake for closed loop control
Loop 1 processed, from input signal u2(s) output signal y is arrived1(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA2 nodes output is decoupled from close loop control circuit 22p(s) controlled device, is passed through
Cross aisle transmission function G12(s) the output signal y of close loop control circuit 1 is acted on1(s), from input signal u2p(s) to output
Signal y1(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (1) and the denominator of (3)In, contain network and do not know
Delay, τ1And τ2Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses
Stability.
For the close loop control circuit 2 in Fig. 3：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2(s) it is controller, G22(s) it is controlled device；τ3Represent control signal u2(s) from C2(s) controller
The C2 nodes at place, the network delay that actuator DA2 nodes are undergone is decoupled through preceding be transferred to network path；τ4Expression will be defeated
Go out signal y2(s) from sensor S2 nodes, through feedback network tunnel to C2(s) the C2 nodes where controller are undergone
Network delay.
2) the control signal u in the decoupling actuator DA1 nodes from close loop control circuit 11(s) intersection solution, is acted on
Coupling passage P21(s) unit and cross decoupling network transmission channelsUnit, its output signal yp21(s) remake for closed loop control
Loop 2 processed, from input signal u1(s) output signal y is arrived2(s) closed loop transfer function, is between：
3) the drive signal u of actuator DA1 nodes output is decoupled from close loop control circuit 11p(s) controlled device, is passed through
Cross aisle transmission function G21(s) the output signal y of close loop control circuit 2 is acted on2(s), from input signal u1p(s) to output
Signal y2(s) closed loop transfer function, is between：
Above-mentioned closed loop transfer function, equation (4) and the denominator of (6)In, contain network and do not know
Delay, τ3And τ4Exponential termWithThe presence of time delay will deteriorate the performance quality of control system, and the system of even resulting in loses
Stability.
Goal of the invention：
For Fig. 3 TITO-NDCS, in the transmission function equation (1) of its close loop control circuit 1 and the denominator of (3), wrap
Contain network and do not know delay, τ1And τ2Exponential termWithAnd close loop control circuit 2 transmission function equation (4) and
(6) in denominator, contain network and do not know delay, τ3And τ4Exponential termWith
Due to the output signal y of close loop control circuit 11(s) not only by its input signal x1(s) influence, at the same also by
To the input signal x of close loop control circuit 22(s) influence；At the same time, the output signal y of close loop control circuit 22(s) not only
By its input signal x2(s) influence, while also by the input signal x of close loop control circuit 11(s) influence；During network
The presence prolonged can reduce the control performance quality of respective close loop control circuit and influence the stability of respective close loop control circuit, together
When will also decrease the control performance quality of whole system and influence the stability of whole system, whole system will be caused to lose when serious
Go stability.
Therefore, for the close loop control circuit 1 in Fig. 3 and control loop 2, the present invention proposes two kinds of time delays based on IMC
Compensation and control method, for exempt to network delay in each close loop control circuit, is not known between node measurement, estimation or
Identification, and then reduce network delay τ1And τ2, and τ3And τ4Controlled to respective close loop control circuit and to whole control system
The influence of performance quality and the stability of a system；The dynamic property quality of improvement system, when realization does not know network to TITO-NDCS
That prolongs is segmented, in real time, online and dynamically compensates and IMC.
Using method：
For the close loop control circuit 1 in Fig. 3：
The first step：In controller C1 nodes, an internal mode controller C is built1IMC(s) substitution controller C1(s)；In order to
When realization meets predictive compensation condition, the exponential term of network delay is no longer included in the closed loop transform function of close loop control circuit 1,
To realize to network delay τ1And τ2Compensation and control, use with control signal u1(s) as input signal, controlled device is pre-
Estimate model G11m(s) as controlled process, control passes through network transfer delay prediction model with process dataAndEnclose
Around internal mode controller C1IMC(s) a positive feedback Prediction Control loop, is constructed；The structure for implementing this step is as shown in Figure 4；
Second step：For in actual TITO-NDCS, it is difficult to the problem of obtaining network delay exact value, to realize in Fig. 4
Compensation and IMC to network delay, in addition to the condition that controlled device prediction model to be met is equal to its true model, it is necessary to
Satisfaction does not know network delay prediction modelAndTo be equal to its true modelAndCondition.Therefore, from
Sensor S1 nodes are used between controller C1 nodes, and from controller C1 nodes to decoupling actuator DA1 nodes
Real network data transmission processAndInstead of network delay predict-compensate model therebetweenAndThus
No matter whether the prediction model of controlled device is equal to its true model, can be realized from system architecture not comprising network therebetween
The predict-compensate model of time delay, so as to exempt in close loop control circuit 1, not knowing network delay τ between node1And τ2Survey
Amount, estimation are recognized；The network delay compensation for implementing the inventive method is as shown in Figure 5 with IMC structures；
For the close loop control circuit 2 in Fig. 3：
The first step：In controller C2 nodes, an internal mode controller C is built2IMC(s) substitution controller C2(s)；In order to
When realization meets predictive compensation condition, the closed loop transform function of close loop control circuit 2 no longer includes network delay exponential term, with reality
Now delay, τ is not known to network3And 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 C2mIMC(s) with
And network transfer delay prediction modelConstruct a positive feedback Prediction Control loop；Implement structure such as Fig. 4 institutes of this step
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, it is necessary to meet network delay prediction modelWithTo be equal to its true modelWithCondition, and meet estimate internal mode controller C2mIMC(s) it is equal to its internal mode controller C2IMC(s) condition is (due to internal model
Controller C2IMC(s) it is artificial design and selection, C is met naturally2mIMC(s)=C2IMC(s)).Therefore, from sensor S2 nodes to
Between controller C2 nodes, and from controller C2 nodes to decoupling actuator DA2 nodes, using real network data
Transmitting procedureWithInstead of the predict-compensate model of network delay therebetweenWithObtain not knowing 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 IMC structures of implementation the inventive method shown in Fig. 6.
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 internal mode controller C in Fig. 52IMC(s), according to transmission function equivalence transformation rule further
Abbreviation obtains the result shown in Fig. 6, and non-artificial setting；
(2) because NCS node is nearly all intelligent node, not only with communication and calculation function, but also with depositing
Storage with control etc. function, in node to same signal carry out first " subtracting " afterwards " plus ", or first " plus " " subtract " afterwards, this is in operation method
What does not have on then and is not inconsistent normally part；
(3) same signal is carried out in node " plus " with " subtracting " computing its end value it is " zero ", this " zero " value, and
The signal y in the node is not indicated that2(s) just it is not present, or does not obtain y2(s) signal, or signal are not stored for；Or because of " phase
Mutually offset " cause " zero " signal value to reform into be not present, or it is nonsensical；
(4) triggering of controller 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, C1IMC(s) it is internal mode 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 byIt is turned into 1.
Now, in equivalent to one open-loop control system of close loop control circuit 1, the denominator of closed loop transfer function, no longer
Include the network delay τ of the influence stability of a system1And τ2Exponential termWithThe stability of system only with controlled device, interior
Stability of the mould controller with cross decoupling channel transfer function in itself is relevant；Network delay pair can be reduced using the inventive method
The influence of the stability of a system, improve system dynamic control performance quality, realize to do not know network delay dynamic compensation with
IMC。
For the close loop control circuit 2 in Fig. 6：
1) from input signal x2(s) output signal y is arrived2(s) closed loop transfer function, between is：
In formula：C2IMC(s) it is internal mode 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, 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 denominator of close loop control circuit 2 is no longer to include influence system in 1, closed loop transform function
The unknown network delay, τ of stability3And τ4Exponential termWithSo as to reduce shadow of the network delay to the stability of a system
Ring, improve system dynamic control performance quality, realize the dynamic compensation to not knowing network delay and IMC.
In close loop control circuit 1 and loop 2, 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 that design one takes it
Feedforward controller C is used as the inversion model of plant model11And C (s)22(s)；Second step is added in feedforward controller
The feedforward filter f of certain order1And f (s)2(s) a complete internal mode controller C, is constituted1IMCAnd C (s)2IMC(s)。
(1) feedforward controller C11And C (s)22(s)
Error, the interference of system when first ignoring controlled device and plant model Incomplete matching and it is other it is various about
The factors such as beam condition, in selection close loop control circuit 1 and loop 2, controlled device prediction model is equal to its true model, i.e.,：G11m
(s)=G11(s), G22m(s)=G22(s)。
Now, controlled device prediction model can be divided into according to the poles and zeros assignment situation of controlled device：G11m(s)=
G11m+(s)G11m-And G (s)22m(s)=G22m+(s)G22m-(s), wherein：G11m+And G (s)22m+(s) it is respectively that controlled device is estimated
Model G11mAnd G (s)22m(s) the irreversible part comprising pure lag system and s RHP zero pole points in；G11m-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 in close loop control circuit 1 and loop 211And C (s)22(s) it can be chosen for respectively：With
(2) feedforward filter f1And f (s)2(s)
The thing of feedforward controller can be influenceed due to the pure lag system in controlled device and positioned at the zero pole point of s RHPs
Reason is realisation, thus has only taken in the design process of feedforward controller the reversible part G of controlled device minimum phase11m-(s)
And G22m- (s), 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.
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 IMC of control loop 1 during fixed deviation；And control loop 2 is used known to controlled device mathematical modeling or when being uncertain of
IMC；The input of one kind two two constituted exports the compensation that network decoupling and controlling system (TITO-NDCS) does not know network delay
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
Using the IMC of control loop 1 when there is certain deviation between its true model；And controlled device mathematical modeling it is known or
Using the IMC of control loop 2 when being uncertain of；The multiple-input and multiple-output network decoupling and controlling system (MIMO-NDCS) constituted is not
Know 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 IMC signals u1(s) or by from cross decoupling network transmission channelsThe output signal y of unitp12(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 IMC signals u2(s) or by from cross decoupling network transmission channelsThe output signal y of unitp21(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) deviation signal e, is obtained1(s), i.e. e1(s)=x1(s)-y1b(s)；
B3：To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator DA1
Node-node transmission, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or Self-crossover solution is carried out
Coupling network transmission channelsThe output signal y of unitp12(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By IMC signals 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 IMC signals u1(s) the IMC signals u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s)
Pass through cross decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other
To 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, delay, τ is not known while realizing to network1And τ2Compensation and IMC；
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：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator
DA2 node-node transmissions, IMC signals u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) or Self-crossover solution is carried out
Coupling network transmission channelsThe output signal y of unitp21(s) triggered；
F2：By IMC signals u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F3：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；
F4：By IMC signals u2(s) the IMC signals u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s)
Pass through cross decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other
To signal u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
F5：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, delay, τ is not known while realizing to network3And τ4Compensation and IMC.
The present invention has following features：
1st, due to from exempt in structure to the measurement in TITO-NDCS, not knowing network delay, observation, estimation or recognize,
The synchronous requirement of node clock signal can also be exempted simultaneously, time delay can be avoided to estimate the inaccurate evaluated error caused of model, kept away
Exempt to expending the waste of node storage resources needed for time-delay identification, at the same can also avoid " sky sampling " that is caused due to time delay or
The compensation error that " many samplings " is brought.
2nd, it is unrelated with the selection of specific network communication protocol due to from TITO-NDCS structures, realizing, thus be both applicable
In the TITO-NDCS using wired network protocol, also suitable for the TITO-NDCS using wireless network protocol；It is not only suitable for really
Qualitative procotol, also suitable for the procotol of uncertainty；The TITO-NDCS of heterogeneous network composition is not only suitable for, simultaneously
Also it is applied to the TITO-NDCS that heterogeneous network is constituted.
3rd, the control loop 1 and control loop 2 in TITO-NDCS use IMC, its internal mode controller C1IMCAnd C (s)2IMC
(s) adjustable parameter only one of which parameter1And λ2, the regulation and selection of its parameter are simple, and explicit physical meaning；Using IMC not
Stability, tracking performance and the interference free performance of system can be only improved, but also the benefit to not knowing network delay can be realized
Repay and IMC.
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；C2mIMC(s) it is the internal mode controller of control loop 2
C2IMC(s) predictor controller；AndIt is network transfer delayAndEstimate Time Delay Model；AndIt is network transfer 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 two input two exports the IMC methods that NDCS does not know time delay
Embodiment
The exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing 6 below, makes the ordinary skill people of this area
Member becomes apparent from the features described above and advantage of the present invention.
Specific implementation step is as described below：
For close loop control circuit 1：
The first step：Sensor S1 nodes work in time type of drive, are h when the sensor S1 nodes cycle1Sampling
, will be to controlled device G after signal triggering11(s) output signal y11(s) with controlled device cross aisle transmission function G12(s)
Output signal y12(s), and actuator A1 nodes output signal y11mb(s) sampled, and calculate close loop control circuit 1
System output signal y1(s) with feedback signal y1b, and y (s)1(s)=y11(s)+y12And y (s)1b(s)=y1(s)-y11mb
(s)；
Second step：Sensor S1 nodes are by feedback signal y1b(s), by the feedback network path of close loop control circuit 1 to
Controller C1 node-node transmissions, feedback signal y1b(s) will experience network transfer delay τ2Afterwards, controller C1 nodes are got to；
3rd step：Controller C1 nodes work in event driven manner, by feedback signal y1b(s) after triggering, by closed loop
The system Setting signal x of control loop 11(s) feedback signal y, is subtracted1b(s) deviation signal e, is obtained1(s), i.e. e1(s)=x1
(s)-y1b(s)；To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
4th step：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit is performed to decoupling
Device DA1 node-node transmissions, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
5th step：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or selfing is carried out
Pitch Decoupling network transmission channelThe output signal y of unitp12(s) triggered；
6th step：After decoupling actuator DA1 nodes are triggered, by IMC signals u1(s) act on controlled device and estimate mould
Type G11m(s) its output valve y is obtained11mb(s)；
7th step：By IMC signals u1(s) cross decoupling passage P is acted on21(s) unit obtains its output signal yp21(s)；
By signal yp21(s) cross decoupling network transmission channels are passed throughUnit, is saved to the decoupling actuator DA2 of close loop control circuit 2
Point transmission；Signal yp21(s) will experience network transfer delay τ21Afterwards, get to decouple actuator DA2 nodes；
8th step：By IMC signals u1(s) the IMC signals u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22
(s) cross decoupling passage P is passed through12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) phase
Subtract 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 not knowing network delay τ1And τ2Compensation and IMC；
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)；To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
4th step：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit is performed to decoupling
Device DA2 node-node transmissions, IMC signals u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
5th step：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) or selfing is carried out
Pitch Decoupling network transmission channelThe output signal y of unitp21(s) triggered；
6th step：After decoupling actuator DA2 nodes are triggered, by IMC signals u2(s) cross decoupling passage P is acted on12
(s) unit obtains its output signal yp12(s)；By signal yp12(s) cross decoupling network transmission channels are passed throughUnit, to closing
The decoupling actuator DA1 node-node transmissions of ring control loop 1；Signal yp12(s) will experience network transfer delay τ12Afterwards, get to
Decouple actuator DA1 nodes；
7th step：By IMC signals u2(s) the IMC signals 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 not knowing network delay τ3And τ4Compensation and IMC；
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 two input two exports the IMC methods that NDCS does not know time delay, 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 IMC signals 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 IMC signals u2(s) or by from cross decoupling network transmission channelsUnit
Output signal yp21(s) when triggering, employing mode F is operated；
The step of mode A, includes：
A1：Sensor S1 nodes work in time type of drive, and its trigger signal is cycle h1Sampled signal；
A2：After sensor S1 nodes are triggered, to controlled device G11(s) output signal y11(s) with controlled device cross aisle
Transmission function G12(s) output signal y12(s), and decoupling actuator 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),
Obtain deviation signal e1(s), i.e. e1(s)=x1(s)-y1b(s)；
B3：To e1(s) Internal Model Control Algorithm C is implemented1IMC(s) IMC signals u, is obtained1(s)；
B4：By IMC signals u1(s) the feedforward network path of close loop control circuit 1 is passed throughUnit to decoupling actuator DA1 nodes
Transmission, IMC signals u1(s) will experience network transfer delay τ1Afterwards, get to decouple actuator DA1 nodes；
The step of mode C, includes：
C1：Decoupling actuator DA1 nodes work in event driven manner, by IMC signals u1(s) or by from cross decoupling net
Network transmission channelThe output signal y of unitp12(s) triggered；
C2：By IMC signals u1(s) controlled device prediction model G is acted on11m(s) its output valve y is obtained11mb(s)；
C3：By IMC signals 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 IMC signals u1(s) the IMC signals u of actuator DA2 nodes is decoupled with coming from close loop control circuit 22(s) pass through
Cross decoupling passage P12(s) unit and cross decoupling network transmission channelsThe output signal y of unitp12(s) subtract each other and obtain letter
Number 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, delay, τ is not known while realizing to network1And τ2Compensation and IMC；
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：To e2(s) Internal Model Control Algorithm C is implemented2IMC(s) IMC signals u, is obtained2(s)；
E4：By IMC signals u2(s) the feedforward network path of close loop control circuit 2 is passed throughUnit to decoupling actuator DA2 nodes
Transmission, IMC signals u2(s) will experience network transfer delay τ3Afterwards, get to decouple actuator DA2 nodes；
The step of mode F, includes：
F1：Decoupling actuator DA2 nodes work in event driven manner, by IMC signals u2(s) or by from cross decoupling net
Network transmission channelThe output signal y of unitp21(s) triggered；
F2：By IMC signals u2(s) cross decoupling passage P is acted on12(s) unit obtains its output signal yp12(s)；
F3：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；
F4：By IMC signals u2(s) the IMC signals u of actuator DA1 nodes is decoupled with coming from close loop control circuit 11(s) pass through
Cross decoupling passage P21(s) unit and cross decoupling network transmission channelsThe output signal y of unitp21(s) subtract each other and obtain letter
Number u2p(s), i.e. u2p(s)=u2(s)-yp21(s)；
F5：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, delay, τ is not known while realizing to network3And τ4Compensation and IMC.
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 not knowing network delay between node
τ1And τ2, and τ3And τ4Measurement, estimation or recognize, exempt the requirement synchronous to node clock signal.
3. according to the method described in claim 1, it is characterised in that：Realized from TITO-NDCS structures, network delay is compensated
The implementation of method, the selection with specific network communication protocol is unrelated.
4. according to the method described in claim 1, it is characterised in that：For the close loop control circuit 1 in TITO-NDCS and control
Loop 2 uses IMC, its internal mode controller C1IMCAnd C (s)2IMC(s) parameter regulation is simple with selection, and explicit physical meaning；
The stability of a system and tracing property and interference free performance can be improved using IMC, realize to do not know the compensation of network delay with
IMC。
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Application publication date: 20171013 |