發(fā)布時(shí)間：2018-06-23 03:06

  本文選題：網(wǎng)絡(luò)化協(xié)同設(shè)計(jì) + 信道受限�。� 參考：《大連理工大學(xué)》2016年博士論文

【摘要】：網(wǎng)絡(luò)化控制系統(tǒng)的出現(xiàn),使得多個(gè)子系統(tǒng)能夠通過(guò)無(wú)線網(wǎng)絡(luò)實(shí)現(xiàn)資源共享和協(xié)調(diào)協(xié)作。然而,由于帶寬等資源限制,在任意時(shí)刻只有部分子系統(tǒng)可以同時(shí)接入網(wǎng)絡(luò)并進(jìn)行數(shù)據(jù)交換。當(dāng)子系統(tǒng)接入網(wǎng)絡(luò)時(shí),由于信道噪聲影響,數(shù)據(jù)在傳輸過(guò)程中會(huì)發(fā)生丟包。提高節(jié)點(diǎn)發(fā)送功率可以減少丟包概率,但也會(huì)增加系統(tǒng)的通信能耗,縮短節(jié)點(diǎn)的使用壽命。因此,為了保證所有子系統(tǒng)的同時(shí)穩(wěn)定,在設(shè)計(jì)控制器的時(shí)候需要兼顧網(wǎng)絡(luò)的信道接入策略和發(fā)送功率的分配策略。針對(duì)以上網(wǎng)絡(luò)化系統(tǒng)中出現(xiàn)的信道受限、丟包和通信能量約束三個(gè)問(wèn)題,本文以線性時(shí)不變網(wǎng)絡(luò)化控制系統(tǒng)為研究對(duì)象,通過(guò)設(shè)計(jì)信道接入序列、控制器增益和發(fā)送功率分配策略,使得系統(tǒng)在保證理想控制性能的同時(shí)滿(mǎn)足通信能耗要求。具體研究?jī)?nèi)容如下。1.針對(duì)信道受限下的網(wǎng)絡(luò)化控制系統(tǒng),分別以控制器到執(zhí)行器和傳感器到控制器這兩部分為例,考慮隨機(jī)信道接入序列對(duì)系統(tǒng)穩(wěn)定性的影響。利用Lyapunov方法和隨機(jī)系統(tǒng)理論,建立了數(shù)據(jù)包成功傳輸概率、信道轉(zhuǎn)移概率和系統(tǒng)衰減率三者之間的數(shù)值關(guān)系。以所得結(jié)果為基礎(chǔ),分別設(shè)計(jì)序列相關(guān)和序列不相關(guān)控制器。為了驗(yàn)證方法的有效性,以車(chē)載網(wǎng)絡(luò)控制系統(tǒng)為應(yīng)用實(shí)例,通過(guò)設(shè)計(jì)序列不相關(guān)控制器,使得車(chē)隊(duì)在保證整體穩(wěn)定性的同時(shí),跟蹤誤差滿(mǎn)足H∞性能指標(biāo)。2.針對(duì)通信能量約束下網(wǎng)絡(luò)化控制系統(tǒng)的穩(wěn)定性問(wèn)題進(jìn)行研究。通過(guò)建立信道丟包模型,得到發(fā)送功率和丟包率的數(shù)值關(guān)系。以此為基礎(chǔ),分別以靜態(tài)和隨機(jī)這兩種功率分配策略為例,提出了兩種發(fā)送功率分配和控制器增益的協(xié)同設(shè)計(jì)算法。仿真實(shí)驗(yàn)表明,以上兩種算法均可以使得系統(tǒng)在滿(mǎn)足通信能耗約束的前提下,具有理想的控制性能。3.針對(duì)同時(shí)存在信道受限和通信能量約束的網(wǎng)絡(luò)化控制系統(tǒng),研究了靜態(tài)和隨機(jī)這兩種信道接入序列下系統(tǒng)的穩(wěn)定性問(wèn)題。對(duì)靜態(tài)信道接入序列下的網(wǎng)絡(luò)化控制系統(tǒng),利用切換系統(tǒng)理論和凸優(yōu)化方法,提出了一種信道接入序列、控制器增益和發(fā)送功率分配的協(xié)同設(shè)計(jì)算法。對(duì)隨機(jī)信道接入序列下的網(wǎng)絡(luò)化控制系統(tǒng),利用隨機(jī)系統(tǒng)理論和Lyapunov方法,提出了一種信道接入概率、控制器設(shè)計(jì)和發(fā)送功率分配的協(xié)同設(shè)計(jì)算法。理論研究表明,以上兩種算法均可保證每個(gè)子系統(tǒng)具有理想的衰減率,并且滿(mǎn)足系統(tǒng)通信能耗要求。
[Abstract]:With the appearance of networked control system, many subsystems can share resources and coordinate with each other through wireless network. However, due to resource constraints such as bandwidth, only some subsystems can access the network and exchange data at any time. When the subsystem is connected to the network, the data will lose packets during transmission due to the influence of channel noise. Increasing the transmission power can reduce the probability of packet loss, but it can also increase the communication energy consumption and shorten the service life of the node. Therefore, in order to ensure the stability of all subsystems at the same time, both the channel access strategy and the transmission power allocation strategy should be taken into account in the design of controller. Aiming at the three problems of channel limitation, packet loss and communication energy constraint in the above networked systems, the linear time-invariant networked control system is taken as the research object, and the channel access sequence is designed. The controller gain and transmission power allocation strategy make the system meet the requirements of communication energy consumption while ensuring the ideal control performance. The specific contents of the study are as follows. For networked control systems with limited channels, the effects of random channel access sequences on the stability of the system are considered by taking the controller to actuator and sensor to controller as examples respectively. Based on Lyapunov method and stochastic system theory, the numerical relationships among packet successful transmission probability, channel transfer probability and system attenuation rate are established. Based on the obtained results, sequence correlation and sequence uncorrelated controllers are designed respectively. In order to verify the effectiveness of the method, the vehicle network control system is taken as an application example, and the sequence independent controller is designed to ensure the overall stability of the motorcade and the tracking error to meet the H 鈭，

本文編號(hào)：2055477