网络控制系统同步控制性能研究
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摘要
网络控制系统NCS（Networked Control System）是当前自动控制领域的研究热点之一。在实际应用中，很多控制系统都有同步控制设计要求。将网络控制技术引入这些控制系统，可使其具有NCS的优点。但因NCS存在网络时延，故控制系统的同步控制性能会有所下降，而且网络时延的不确定性也会加大NCS同步控制的难度。提高NCS的同步控制性能对保证NCS分布式网络节点工作的协调一致性、NCS控制决策的准确性以及系统的整体性能是非常重要的。因此，对NCS同步控制性能的研究具有重要的理论意义及应用价值。
本文针对实际应用中存在的主要的两类同步控制要求，研究NCS的同步控制特性：一类是对NCS不同网络节点响应相同控制命令的时间同步要求，另一类是对NCS多个被控对象在相同时刻输出响应满足一定函数关系的量值同步要求。在对国内外关于NCS同步控制性能研究现状及进展进行分析和综述的基础上，从建立NCS同步控制性能评价指标入手，首先对NCS信息传输特性进行了分析和研究，然后在此基础上从网络节点工作方式、智能控制器设计等方面提出了提高NCS同步控制性能的多种控制策略，并进一步对NCS同步控制性能进行了仿真研究。
目前虽然已有一些关于控制网络的性能评价指标，但还没有明确的针对NCS同步控制性能的评价指标。为解决NCS应用设计中不同类型的同步控制要求下的同步控制性能的评价问题，提出了NCS同步控制性能评价指标，包括输入同步、输出同步、被控对象输出响应同步等同步控制性能评价指标，讨论了控制系统、网络性能评价指标；充分考虑NCS同步控制性能评价指标、NCS稳定性要求及动态、稳态性能指标以及网络性能指标，提出了NCS同步控制性能的综合评价方法；对影响NCS同步控制性能的网络节点时钟、网络信息传输时延、网络节点工作方式、网络调度等主要因素进行了分析和研究。
NCS的网络信息传输时间是影响其同步控制性能的重要因素之一。为研究NCS的网络信息传输时间特性，建立了包括一般意义上的NCS传输时间分析模型、时间补偿同步控制时间分析模型和等时同步模式下的时间模型在内的NCS网络信息传输时间分析模型。针对PROFIBUS NCS，在研究其令牌环网络访问机制的基础上，建立了相应的信息传输时间分析模型，搭建了PROFIBUS-DPNCS的实验平台，给出了网络信息传输时间实验测量方法，进行了NCS的网络信息传输时间特性实验研究，为研究NCS传输性能、计算节点同步控制误差、实现NCS网络时延预测补偿同步控制提供了参考数据。
为实现NCS网络节点的同步输入或同步输出控制，对NCS网络节点工作方式提出了分组同步控制思想、改进的网络节点组合驱动方式、节点数据缓冲区时间补偿控制与设置节点的全局状态观测器等控制策略。研究表明，分组同步控制可以更有效地提高节点的同步控制性能；所提出的改进的网络节点组合驱动方式是一种兼顾了最小同步误差和最少网络时延的同步控制节点驱动方式；所提出的利用数据缓冲区对节点的同步控制信号响应时间补偿策略，可以减小因网络传输时间差异而造成的同步误差；建立在NCS控制器节点的全局状态观测器根据监测网络节点运行状态信息，计算出同步控制变量决定NCS节点的同步控制行为，从而提供了一种可行的、有实用价值的实现网络节点同步控制的应用程序设计思路。
以对NCS信息传输特性的分析为基础，按照NCS的控制任务连续完成顺序，建立了基于Matlab/Simulink的模块化NCS仿真模型，并进行了NCS同步控制性能的仿真研究。提出了一种改进的Fuzzy和Smith补偿联合控制策略。仿真研究结果表明，该策略可以改善网络时延对NCS同步控制性能的影响。针对包含多个被控对象、且它们的输出响应之间有量值同步控制要求的NCS，提出了采用小步长信号给定、同步误差补偿控制、Fuzzy-PI双模控制等组合同步控制策略。仿真研究结果表明，采用同步误差补偿控制可有效地减小被控对象输出响应同步误差，采用小步长信号给定和Fuzzy-PI双模控制可以有效地解决动态过程被控对象输出响应同步误差较大问题。
NCS (Networked Control System) is one of the focused research branches inautomatic control field. There are design requirements for synchronous control inmany practical control systems. When introducing NCS to those systems, it canobtain all the advantages of NCS but with lower synchronism because of networkdelay. And the uncertainty of network delay also makes it much more difficult tocontrol synchronously. The improvement of synchronous control performance ofNCS is very important to ensure the consistency of distributed network nodes, theaccuracy of controlde cision-making, as well as the overall performance of NCS.So the research on performance of synchronous control of NCS has important valuein both theory and application.
In this paper, NCS synchronous control is studied according to two types ofessential synchronization control requirements in applications. One is timesynchronization requirement, which requests different network nodessynchronously response the same control command. The other is valuesynchronization requirement, which their outputs response satisfy with certainfunctional relationship at the same time in NCS with several plants. Based on someanalysis and synthesises to the status of research and development on performanceof synchronous control of NCS at home and abroad, performance evaluationindexes for synchronous control of NCS are set up firstly. And then, informationtransmission characteristics of NCS are analyzed. On base of the analysis to timecharacteristics, several of synchronous control strategies are put forward in view ofworking mode of network node, design of intelligent controller, etc. And finally thesimulation is done for further studies on the performance of synchronous control ofthe NCS.
There are no definitive evaluation indexes for synchronous controlperformance of NCS other than those for network performances. In order toevaluate control performances under different types of synchronous control inapplications, some performance evaluation indexes for synchronous control of NCSare established herein, such as synchronous input, synchronous output andsynchronous output response of plants. Some performance evaluation indexes ofcontrol system and network are discussed. Based on full consideration to thesynchronization, stability, dynamic characteristic，steady state characteristic aswell as network performance of NCS, a kind of integrated evaluation method isproposed in this paper. Other influence factors, such as network clock, network information transmission time delay, network node working modes, networkscheduling and so on, are studied for analysis.
Network information transmission time is one important factor to influencesynchronous performances of NCS. In order to study the time characteristics ofnetwork information transmission, some time analysis models are set up in thispaper. These models include analysis model of transmission time of NCS in thegeneral sense, time model of synchronous control with compensation, time modelof isochronous control. In view of PROFIBUS NCS, based on study on the accessmechanism of its token ring, its time analysis model is set up, an experimentalplatform of PROFIBUS-DP NCS is built, an experimental method is proposed tomeasure the transmission time, and some experiments are done to study the timecharacteristics of network information transmission. They could provide referencedata to study the transmission performance, node synchronization error calculation,as well as time delay prediction and compensation synchronous control.
In order to realize synchronous control of input or output for NCS nodes,several control strategies are put forward including grouping synchronous control,improved combined node-driven mode, time compensation control by data buffer ofnodes, setting up global state observer for nodes, etc. Studies have shown thatgrouping synchronous control can more effectively improve the performance ofsynchronous control nodes; the proposed improved combined drive mode for nodesis not only with minimum synchronization error but also with minimum networkdelay than other node-driven approaches; the proposed time compensation controlby data buffer of nodes can reduce network synchronization error of node causedby the difference in transmission time; the global state observer established incontroller node of NCS is used to collect state information of every network node,to calculate the global state variable of the synchronous control, and to determinethe synchronous behaviour of NCS. This kind of control strategy provides afeasible and with practical design ideas in application programs to achievesynchronous control of network nodes.
Based on analysis of information transmission characteristics of NCS, in orderof task series, a kind of modular simulation model of NCS is set up byMatlab/Simulink, and some simulation studies on the performance of synchronouscontrol of NCS are done. An improved combined control strategy of Fuzzy andSmith is proposed, and simulation results show that the strategy can reduce theadverse effects of the network delay to the performance of synchronous control.Aiming at those NCS with several controlled objects with requirements ofsynchronous control to their response output, an integrated synchronous control strategy is proposed including small step given signal, synchronization errorcompensation control and Fuzzy-PI dual-mode control. Simulation results showthat the synchronization error of output response of the controlled object can beeffectively reduced by synchronization error compensation control. The problem ofoutput response synchronization error bigger of controlled object in dynamic statecan be resolved by small step given signal control and Fuzzy-PI dual-mode control.
本文针对实际应用中存在的主要的两类同步控制要求，研究NCS的同步控制特性：一类是对NCS不同网络节点响应相同控制命令的时间同步要求，另一类是对NCS多个被控对象在相同时刻输出响应满足一定函数关系的量值同步要求。在对国内外关于NCS同步控制性能研究现状及进展进行分析和综述的基础上，从建立NCS同步控制性能评价指标入手，首先对NCS信息传输特性进行了分析和研究，然后在此基础上从网络节点工作方式、智能控制器设计等方面提出了提高NCS同步控制性能的多种控制策略，并进一步对NCS同步控制性能进行了仿真研究。
目前虽然已有一些关于控制网络的性能评价指标，但还没有明确的针对NCS同步控制性能的评价指标。为解决NCS应用设计中不同类型的同步控制要求下的同步控制性能的评价问题，提出了NCS同步控制性能评价指标，包括输入同步、输出同步、被控对象输出响应同步等同步控制性能评价指标，讨论了控制系统、网络性能评价指标；充分考虑NCS同步控制性能评价指标、NCS稳定性要求及动态、稳态性能指标以及网络性能指标，提出了NCS同步控制性能的综合评价方法；对影响NCS同步控制性能的网络节点时钟、网络信息传输时延、网络节点工作方式、网络调度等主要因素进行了分析和研究。
NCS的网络信息传输时间是影响其同步控制性能的重要因素之一。为研究NCS的网络信息传输时间特性，建立了包括一般意义上的NCS传输时间分析模型、时间补偿同步控制时间分析模型和等时同步模式下的时间模型在内的NCS网络信息传输时间分析模型。针对PROFIBUS NCS，在研究其令牌环网络访问机制的基础上，建立了相应的信息传输时间分析模型，搭建了PROFIBUS-DPNCS的实验平台，给出了网络信息传输时间实验测量方法，进行了NCS的网络信息传输时间特性实验研究，为研究NCS传输性能、计算节点同步控制误差、实现NCS网络时延预测补偿同步控制提供了参考数据。
为实现NCS网络节点的同步输入或同步输出控制，对NCS网络节点工作方式提出了分组同步控制思想、改进的网络节点组合驱动方式、节点数据缓冲区时间补偿控制与设置节点的全局状态观测器等控制策略。研究表明，分组同步控制可以更有效地提高节点的同步控制性能；所提出的改进的网络节点组合驱动方式是一种兼顾了最小同步误差和最少网络时延的同步控制节点驱动方式；所提出的利用数据缓冲区对节点的同步控制信号响应时间补偿策略，可以减小因网络传输时间差异而造成的同步误差；建立在NCS控制器节点的全局状态观测器根据监测网络节点运行状态信息，计算出同步控制变量决定NCS节点的同步控制行为，从而提供了一种可行的、有实用价值的实现网络节点同步控制的应用程序设计思路。
以对NCS信息传输特性的分析为基础，按照NCS的控制任务连续完成顺序，建立了基于Matlab/Simulink的模块化NCS仿真模型，并进行了NCS同步控制性能的仿真研究。提出了一种改进的Fuzzy和Smith补偿联合控制策略。仿真研究结果表明，该策略可以改善网络时延对NCS同步控制性能的影响。针对包含多个被控对象、且它们的输出响应之间有量值同步控制要求的NCS，提出了采用小步长信号给定、同步误差补偿控制、Fuzzy-PI双模控制等组合同步控制策略。仿真研究结果表明，采用同步误差补偿控制可有效地减小被控对象输出响应同步误差，采用小步长信号给定和Fuzzy-PI双模控制可以有效地解决动态过程被控对象输出响应同步误差较大问题。
NCS (Networked Control System) is one of the focused research branches inautomatic control field. There are design requirements for synchronous control inmany practical control systems. When introducing NCS to those systems, it canobtain all the advantages of NCS but with lower synchronism because of networkdelay. And the uncertainty of network delay also makes it much more difficult tocontrol synchronously. The improvement of synchronous control performance ofNCS is very important to ensure the consistency of distributed network nodes, theaccuracy of controlde cision-making, as well as the overall performance of NCS.So the research on performance of synchronous control of NCS has important valuein both theory and application.
In this paper, NCS synchronous control is studied according to two types ofessential synchronization control requirements in applications. One is timesynchronization requirement, which requests different network nodessynchronously response the same control command. The other is valuesynchronization requirement, which their outputs response satisfy with certainfunctional relationship at the same time in NCS with several plants. Based on someanalysis and synthesises to the status of research and development on performanceof synchronous control of NCS at home and abroad, performance evaluationindexes for synchronous control of NCS are set up firstly. And then, informationtransmission characteristics of NCS are analyzed. On base of the analysis to timecharacteristics, several of synchronous control strategies are put forward in view ofworking mode of network node, design of intelligent controller, etc. And finally thesimulation is done for further studies on the performance of synchronous control ofthe NCS.
There are no definitive evaluation indexes for synchronous controlperformance of NCS other than those for network performances. In order toevaluate control performances under different types of synchronous control inapplications, some performance evaluation indexes for synchronous control of NCSare established herein, such as synchronous input, synchronous output andsynchronous output response of plants. Some performance evaluation indexes ofcontrol system and network are discussed. Based on full consideration to thesynchronization, stability, dynamic characteristic，steady state characteristic aswell as network performance of NCS, a kind of integrated evaluation method isproposed in this paper. Other influence factors, such as network clock, network information transmission time delay, network node working modes, networkscheduling and so on, are studied for analysis.
Network information transmission time is one important factor to influencesynchronous performances of NCS. In order to study the time characteristics ofnetwork information transmission, some time analysis models are set up in thispaper. These models include analysis model of transmission time of NCS in thegeneral sense, time model of synchronous control with compensation, time modelof isochronous control. In view of PROFIBUS NCS, based on study on the accessmechanism of its token ring, its time analysis model is set up, an experimentalplatform of PROFIBUS-DP NCS is built, an experimental method is proposed tomeasure the transmission time, and some experiments are done to study the timecharacteristics of network information transmission. They could provide referencedata to study the transmission performance, node synchronization error calculation,as well as time delay prediction and compensation synchronous control.
In order to realize synchronous control of input or output for NCS nodes,several control strategies are put forward including grouping synchronous control,improved combined node-driven mode, time compensation control by data buffer ofnodes, setting up global state observer for nodes, etc. Studies have shown thatgrouping synchronous control can more effectively improve the performance ofsynchronous control nodes; the proposed improved combined drive mode for nodesis not only with minimum synchronization error but also with minimum networkdelay than other node-driven approaches; the proposed time compensation controlby data buffer of nodes can reduce network synchronization error of node causedby the difference in transmission time; the global state observer established incontroller node of NCS is used to collect state information of every network node,to calculate the global state variable of the synchronous control, and to determinethe synchronous behaviour of NCS. This kind of control strategy provides afeasible and with practical design ideas in application programs to achievesynchronous control of network nodes.
Based on analysis of information transmission characteristics of NCS, in orderof task series, a kind of modular simulation model of NCS is set up byMatlab/Simulink, and some simulation studies on the performance of synchronouscontrol of NCS are done. An improved combined control strategy of Fuzzy andSmith is proposed, and simulation results show that the strategy can reduce theadverse effects of the network delay to the performance of synchronous control.Aiming at those NCS with several controlled objects with requirements ofsynchronous control to their response output, an integrated synchronous control strategy is proposed including small step given signal, synchronization errorcompensation control and Fuzzy-PI dual-mode control. Simulation results showthat the synchronization error of output response of the controlled object can beeffectively reduced by synchronization error compensation control. The problem ofoutput response synchronization error bigger of controlled object in dynamic statecan be resolved by small step given signal control and Fuzzy-PI dual-mode control.
引文
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48彭杰,李秀元,应启戛. PROFINET及其同步实时通信分析.微计算机信息.2006,22(9):208~209
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