CN109795277A - The method of Active suspension Control for Dependability when a kind of network between controller and actuator is by DoS attack - Google Patents
The method of Active suspension Control for Dependability when a kind of network between controller and actuator is by DoS attack Download PDFInfo
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Abstract
The method of Active suspension Control for Dependability when the present invention discloses the network between a kind of controller and actuator by DoS attack, considering DoS attack, there is a situation where between controller and execution in network, attack is handled using the method switched at random, make active suspension system it is under attack under fire two subsystems do not toggle.After taking method of the invention, the reliability of suspension system control under attack is guaranteed.
Description
Technical field
The present invention relates to Active suspension control methods, and in particular to a kind of in-vehicle network is by DoS (denial-of-
Service) the Active suspension Control for Dependability method attacked.
Background technique
With the development of network-control, forms in car networking and carried out wirelessly between vehicle-X (X: vehicle, road, internet etc.)
The big grid of communication and information exchange, this is that by intelligent traffic management, Intelligent Dynamic information service and vehicle
The integrated network of intelligentized control method.Suspension system, which is used as, influences vehicle riding comfort, one of main composition of comfort,
Naturally be connected with the integrated network that Vehicular intelligentization controls by in-vehicle network, thus using the superiority of network so as into
Row preferably control.
Compared with traditional suspension system passes through the transmission of interior bus progress information, based on the suspension under network communication
Control system information is to filter and sense by network remote to obtain, the robust and Reliable of network control system
Also following: network attack, network time service, data packetloss, incorrect order etc..And network attack is as the most common network security
Problem and receive significant attention.In many actual control systems, network attack can be by network portion with stealthy and not
Predictable mode is injected into system.Wherein DoS is the abbreviation of Denial of Service, i.e. refusal service causes DoS
Attack be referred to as DoS attack, the purpose is to make computer or network that can not provide normal service.In various malice
In attack, DoS attack can make actuator and sensing data be blocked rather than reach their own destination and lead
The shortage of data of associated component is caused, the stability of control system is further influenced.
Summary of the invention
The purpose of the present invention is being blocked actuator and sensing data for DoS attack, lead to associated component
The problem of shortage of data, Active suspension reliability control when proposing the network between a kind of controller and actuator by DoS attack
The method of system.
The technical scheme is that
Active suspension reliability control when the present invention provides the network between a kind of controller and actuator by DoS attack
The method of system, the design of this method include that steps are as follows
The first step establishes a quarter active suspension system model；
Wherein: t indicates the moment,It is the state equation of the system, x (t) is state variable, and A, B, C and D are the shapes
The coefficient matrix of state equation, u (t) are active controlling forces, and ω (t) is road surface input, and z (t) is control output variable；
Second step is adopted when the network between controller and actuator is attacked by DoS (denial-of-service)
It is described with following Active suspension switching system models:
Wherein:It is the state equation of the system, x (t) is state variable, αiIt (t) is stochastic variable, CiAnd Di
It is the coefficient matrix of state equation, i is the number of automotive suspension subsystem, and N indicates the sum of automotive suspension subsystem, ω (t)
It is road surface input, h is sampling period, lkIt is the number of data packet, lk(k=1,2,3 ...) be positive real number andτkIt is lkThe transmission time of a data packet, ηmIt is the lower bound of η (t), ηMIt is { (lk+1-lk)h+
τk+1, k=1,2 ... } the upper bound, z (t) be control output variable, t0Indicate that initial time, t indicate current time；Φ (t) table
Show the initial time of state variable；
Third step establishes state feedback controller: u (t)=Kix(t-η(t))
Wherein: η (t) is network delay；
4th step, using H∞The method of control acquires the feedback oscillator K of controlleri, the Active suspension for updating second step cuts
System model is changed, Active suspension Control for Dependability is carried out.
Further, in second step, stochastic variable αi(t) following formula are used:
Wherein: σ (t) indicate DoS attack when switching signal, i=1 when not by DoS attack, by DoS when
Wait i=2；At this point, automobile suspension system is divided into two subsystems.
Further, the probability of each subsystem stop is obtained by probability statisticsMeet following condition:
Wherein, E { αi(t) } α is indicatedi(t) mathematic expectaion.
Further, ηmIt is taken as 0, ηMIt is 0.39, H∞Norm circle γ is 3.
Further, in second step,Wherein AiAnd BiIt is i-th of subsystem
The state parameter matrix of system, Δ Ai(t) and Δ Bi(t) it is indeterminate in system, and meets the following conditions: [Δ Ai(t)
ΔBi(t)]=GiFi(t)[E1i E2i], wherein Gi, E1iAnd E2iIt is the real matrix with appropriate dimension, function FiIt (t) is not true
Set matrix and meet Fi T(t)Fi(t)≤I。
Further, η (t) is network delay, contains data packetloss and delay information.
Further, in the first step, it is disturbance parameter, the pavement displacement number obtained using sensor that road surface, which inputs ω (t),
According to.
Beneficial effects of the present invention:
The present invention considers DoS attack there is a situation where between controller and execution in network, using the side switched at random
Method come handle attack, make active suspension system it is under attack under fire two subsystems do not toggle.Taking this hair
After bright method, the reliability of suspension system control under attack is guaranteed.
Other features and advantages of the present invention will then part of the detailed description can be specified.
Detailed description of the invention
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and
Other purposes, feature and advantage will be apparent, wherein identical with reference to mark in exemplary embodiment of the invention
Number typically represent same parts.
Fig. 1 shows flow chart of the invention.
Fig. 2 shows vehicle suspension system control flow charts.
Fig. 3 shows switching sequence schematic diagram in embodiment.
Fig. 4 shows the condition responsive curve in embodiment.
Specific embodiment
The preferred embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing this hair in attached drawing
Bright preferred embodiment, however, it is to be appreciated that may be realized in various forms the implementation of the invention without that should be illustrated here
Mode is limited.
Active suspension reliability control when the present invention provides the network between a kind of controller and actuator by DoS attack
The method of system, the design of this method include that steps are as follows
The first step establishes a quarter active suspension system model；
Wherein: t indicates the moment,It is the state equation of the system, x (t) is state variable, and A, B, C and D are these
The coefficient matrix of state equation, u (t) are active controlling forces, and ω (t) is road surface input, and z (t) is control output variable；
Second step is adopted when the network between controller and actuator is attacked by DoS (denial-of-service)
It is described with following Active suspension switching system models:
Wherein:It is the state equation of the system, x (t) is state variable, αiIt (t) is stochastic variable, CiAnd Di
It is the coefficient matrix of state equation, i is the number of automotive suspension subsystem, and N indicates the sum of automotive suspension subsystem, ω (t)
It is road surface input, h is sampling period, lkIt is the number of data packet, lk(k=1,2,3 ...) be positive real number andτkIt is lkThe transmission time of a data packet, ηmIt is the lower bound of η (t), ηMIt is { (lk+1-lk)h+
τk+1, k=1,2 ... } the upper bound, z (t) be control output variable, t0Indicate that initial time, t indicate current time；Φ (t) table
Show the initial time of state variable；
Third step establishes state feedback controller: u (t)=Kix(t-η(t))
Wherein: η (t) is network delay；
4th step, using H∞The method of control acquires the feedback oscillator K of controlleri, the Active suspension for updating second step cuts
System model is changed, Active suspension Control for Dependability is carried out.
When it is implemented, design principle of the invention is as follows:
We can obtain the related data of a quarter active suspension system by sensor, and sampler counts these
According to passing to controller by network in the form of data packet, controller by sample come data determine controllable effect
Power device exports corresponding active force, and signal is passed to executing agency by network later, is finally executed by executing agency
The instruction of controller.Now it is contemplated that this case that network between controller and actuator receives DoS attack.This hair
It is bright that attack is handled using the method that switches at random based on situation, make active suspension system under attack with not under fire two
A subsystem toggles.It designs controller later and carries out the solution of feedback oscillator, finally emulated in MATLAB
Simulation, simulation result show that proposed method can be such that the reliability of active suspension system obtains in the case where DOS network attack
To guarantee.
1. system modelling
In the research of this project, two degrees of freedom a quarter Automotive suspension model is considered for controller design.It should
Model is widely used in research, because it can capture many important features of many complicated Suspension Models.For four/
One Automotive suspension model, spring carries and the motion control equation of nonspring carried mass is represented by
Wherein msIt is spring carried mass, represents automobile chassis；muIt is nonspring carried mass, represents wheel assembly；csAnd ksBe respectively by
The damping and rigidity of dynamic suspension；ktAnd ctRespectively represent the compressibility and damping and amortization of pneumatic tire；zs(t) and zu(t) respectively
It is under spring and the displacement of nonspring carried mass；zrIt (t) is road displacement input；U (t) represents active controlling force, usually passes through and puts
The hydraulic actuator between spring carried mass and the unsprung mass of vehicle suspension is set to provide.
According to following definition status variable
X (t)=[x1(t) x2(t) x3(t) x4(t)]T
Here
x1(t)=zs(t)-zu(t), suspension displacement；
x2(t)=zu(t)-zr(t), creeping of tyre；
Spring carried mass speed；
Nonspring carried mass speed；
Therefore, formula (1) is write as in the form of state space equation
Here x (t) ∈ R4, w (t) ∈ R, u (t) ∈ R, A ∈ R4× 4, B ∈ R4× 1, D ∈ R4×1.And
This project considers that there is a situation where in network, use herein with machine-cut between controller and execution for DoS attack
The method changed handles attack, therefore above system can be divided into two subsystems: one be the attack by DoS suspension
Subsystem, the other is not under fire and normal Active suspension subsystem, such active suspension system can it is under attack with
Under fire two subsystems do not toggle.The problems such as transmission time lag, data packetloss will appear in transmission due to data packet,
Therefore system (formula 2) can indicate are as follows:
Wherein, h is sampling period, lk(k=1,2,3...) be positive real number andτkTable
Show lkThe transmission time of a data packet, ηMIndicate { (lk+1-lk)h+τk+1, k=1,2 ... } and the upper bound.At the beginning of φ (t) system
Beginning function.State feedback controller as follows is used to above system:
u(t+)=Kσ(t)x(lkH), t ∈ { lkh+τk, k=1,2 ...
For t ∈ [lkh+τk, lk+1h+τk+1], define η (t)=t-ikH, from the above analysis it is found that including in η (t)
The integrated informations such as data packetloss and delay, and ηm≤ηM, therefore, state feedback controller can be expressed as u (t)=Kσ(t)
x(t-η(t)).Above formula is substituted into the u (t) in (3), following system equation can be obtained:
Wherein, η (t) is unknown and time-varying, and σ (t) is switching signal, σ (t)=i (i ∈ Ω={ 1,2 ..., N }) table
Show and be switched to i-th of subsystem, N indicates the number of subsystem, and herein, N is obviously 2. Ai, Bi, Ci, DiIndicate i-th of son
With the constant matrices of appropriate dimension, K in systemiIt is the state table feedback control gain of i-th of subsystem.
In this chapter, for the convenience studied and illustrated, we make following several hypothesis:
Assuming that 1.1 in this project, it will be assumed that stop probability of the suspension system under Dos attack be it is known, i.e.,WhereinExpression system is switched to i-th of subsystem
The probability stopped in system.
Note 1.1It can be obtained by statistical method:Wherein kiBe σ (a)=i in section [1,
A], a ∈ Z+Interior number.
Assuming that 1.2 a kind of stochastic variable αi(t) it is defined asSo αi(t) mathematic expectaion isAnd αi(t) and αiMeet
Note 1.2 assumes the α in 1.2i(t) meet Bernoulli Jacob's distribution, αi(t) variance can be expressed as
Therefore, the suspension system model in this project can indicate are as follows:
Obtain for convenience stability analysis as a result, be given below several has very in the analysis of main result
The lemma of important function:
Lemma 1.1 for given positive integer n, m and scalar ce ∈ (0,1), given n × n matrix R > 0,Definition is for all variablesFunction Θ (α, R), is defined as:
If that there are matrixesMake
?Then inequalityIt sets up.
Lemma 1.2 is for given n × n matrix R > 0 and all continuously differentiable functionsInequalityIt sets up, wherein
Lemma 1.3 gives the matrix W of appropriate dimension, and M, N, wherein W is symmetrical, inequality W+MF (t) N+N belowTFT(t)
MT< 0 is for arbitrarily meeting FT(t) F (t) >=I F (t) is set up, and if only if there are scalar ε > 0 to make W+ ε MMT+ε- 1NTN < 0 is equivalent to:
Lemma 1.4 (Schur benefit) gives constant matrices A, P, Q, wherein Q=QT, P=PT> 0, then ATPA+Q < 0 is set up,
And if only ifOr
2. stability proves
The mean square stability and H of this trifle Main Analysis system (5)∞Performance, for simplifying the analysis, definition:
Therefore, system (5) can indicate are as follows:
In the proof of the main result below of note 3.3, by integral [t- ηM, t] and it is divided into [t- ηM, t- η (t)] and [t- η (t),
T] two segments are analyzed.
1.1 are defined for the suspension system under DoS attack, if following two condition is set up:
(1) as ω (t)=0, system (6) mean square stability；
(2) for scalar γ > 0, under zero initial condition, control output z (t) meets:
So, we just say system (6) mean square stability and meet H∞Norm circle γ.
Theorem 1.1 gives switching probability informationAnd positive real number γ and matrix Ki(i ∈ Ω={ 1,2 ..., N }), such as
There are matrix P > 0, Q > 0, R > 0 and the H of appropriate dimension to make linear matrix inequality below in η (t) ∈ { η for fruitm, ηM}
It sets up
Wherein,
So system (6) mean square stability and meet H∞Norm circle γ.
It proves: constructing the Lyapunov function of following form:
Due to P > 0, Q > 0, R > 0, therefore this Lyapunov function is positive definite, seeks mathematic expectaion to this function
It is available:
Pay attention toThat
Equation (8) can become
Then, by the integral term in above formula (9)In bound be divided into two sections and divided
Analysis, it may be assumed that
Then available using lemma 1.2 to above formula (9):
Wherein,
It is available using lemma 1.1, if there is matrixSo thatSo
Convolution (9) and formula (10), we are available,
Then the right of peer-to-peer (11) is obtained using lemma 1.4:
Wherein,Then inequality (11) left side matrix the right and left simultaneously multiplied by right
Angle battle array diag { I, I, I, I, I, I, R }, ηMAndSo we it is available below inequality:.Therefore, when there are matrix H satisfactionsAnd Ψ1When < 0, E { ζT(t)Ψ1ζ (t) }≤0, enable t → ∞, under zero initial condition, in conjunction with define 3.1,
Our available system (6) mean square stabilities and meet H∞Norm circle γ.
When containing indeterminate in system (6), system equation is indicated are as follows:
Wherein,[ΔAi(t) ΔBi(t)]=GiFi(t)[E1i
E2i] wherein, GiE1iAnd E2iIt is the real matrix with appropriate dimension, function FiIt (t) is uncertain battle array and satisfactionBased on theorem 3.1, available following result:
Theorem 3.2 gives switching probability informationAnd positive real number γ and matrix Ki(i ∈ Ω=1,2 ... N }), such as
There are MATRIX INEQUALITIESs in η (t) ∈ { η for fruitm, ηMSection establishment
Wherein,
N=[E1i E2iKi 0 0 0 0 0]
So, it does not know suspension system (12) the robust mean square stability of DoS attack and meets H∞Norm circle γ
It proves: it is similar with the method for proof of theorem 3.1, as long as using Ai+GiFi(t)E1iAnd Bi+GiFi(t)E2iInstead of differ
A in formula (5)iAnd BiIt can obtain:
Then obtained using lemma 3.3, and if only if there are a constant $ the $ of varepsilon_1 > 0, differing below
Formula is always set up:
Ψ1+ε1MMT+ε1NNT< 0
Lemma 3.4 is finally utilized, inequality (13) can be obtained by inequality (7), and card is finished.
3. robust H∞Controller design
Theorem 3.3 is for given switching probability informationAnd positive real number γ and matrix ε0, if there is appropriate dimension
Matrix P > 0, Q > 0, R > 0 and H and scalar ε1> 0 makes following LMIs in η (t) ∈ { ηm, ηMSet up
Wherein,
Θ31=[E1iX E2iYi 0 0 0 0 0]
So, it does not know suspension system (12) the robust mean square stability of DoS attack and meets H∞Norm circle γ feedback oscillator
For Ki=YiX-1。
It proves: right multiplied by diagonal matrix diag { I, I, I, I, I, I, P } first on the left of the matrix on inequality (13) left side
Side multiplied by its transposition, it is available below inequality:
Wherein,Then it defines
BecauseWherein εiIt is given positive real number, then inequality is centainly set up below:
Then the matrix the right and left on formula (17) left side is simultaneously multiplied by diagonal matrix diag { X, X, X, X, X, I, X, I, I }, most
Lemma 3.4 is used afterwards, and inequality (15) (16) can be obtained by inequality (17) (18).
4. simulation result:
It is as follows to provide a certain a quarter vehicle suspension system parameter:
Coefficient matrix can be found out according to above-mentioned parameter
C1=C2=[- 0.0563 0-0.0031 0.0031]
According to the feedback oscillator K1 that the above parameter is found out using the tool box LMI in matllab,
And K2=0 during DoS attack.
Here we take ε0=1,To given ηm=0, ηM=0.39, take the initial of system
State φt=[0.04 0.003 3 4]T, external disturbance ω (T)=2*e-0.5tsin(0.5t)
Switching sequence such as Fig. 3, therefore the condition responsive curve graph 4 of system (12) can be simulated.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this
Many modifications and changes are obvious for the those of ordinary skill of technical field.
Claims (7)
1. the method for Active suspension Control for Dependability when the network between a kind of controller and actuator is by DoS attack, special
Sign is that the design of this method includes that steps are as follows
The first step establishes a quarter active suspension system model；
Wherein: t indicates the moment,It is the state equation of the system, x (t) is state variable, and A, B, C and D are the state sides
The coefficient matrix of journey, u (t) are active controlling forces, and ω (t) is road surface input, and z (t) is control output variable；
Second step, when the network between controller and actuator is attacked by DoS (denial-of-service), under
Active suspension switching system model is stated to describe:
Wherein:It is the state equation of the system, x (t) is state variable, αiIt (t) is stochastic variable, CiAnd DiIt is
The coefficient matrix of state equation, i are the numbers of automotive suspension subsystem, and N indicates that the sum of automotive suspension subsystem, ω (t) are
Road surface input, h is sampling period, lkIt is the number of data packet, lk(k=1,2,3 ...) be positive real number andτkIt is lkThe transmission time of a data packet, ηmIt is the lower bound of η (t), ηMIt is { (lk+1-lk)h+
τk+1, k=1,2 ... } the upper bound, z (t) be control output variable, t0Indicate that initial time, t indicate current time；Φ (t) table
Show the initial time of state variable；
Third step establishes state feedback controller: u (t)=Kix(t-η(t))
Wherein: η (t) is network delay；
4th step, using H∞The method of control acquires the feedback oscillator K of controlleri, update the Active suspension switching system of second step
Model carries out Active suspension Control for Dependability.
2. Active suspension can when the network between a kind of controller according to claim 1 and actuator is by DoS attack
By the method for property control, it is characterized in that in second step, stochastic variable αi(t) following formula are used:
Wherein: σ (t) indicates switching signal when DoS attack, i=when i=1 is by DoS when not by DoS attack
2；At this point, automobile suspension system is divided into two subsystems.
Actively outstanding when 3. the network between a kind of controller and actuator according to claims 1 or 2 is by DoS attack
The method of frame Control for Dependability, which is characterized in that obtain the probability of each subsystem stop by probability statistics It is full
Foot column condition
Wherein, E { αi(t) } α is indicatedi(t) mathematic expectaion.
Active suspension when 4. the network between a kind of controller according to claim 1 and actuator is by DoS attack
The method of Control for Dependability, which is characterized in that ηmIt is taken as 0, ηMIt is 0.39, H∞Norm circle γ is 3.
Active suspension when 5. the network between a kind of controller according to claim 1 and actuator is by DoS attack
The method of Control for Dependability, it is characterised in that in second step, Wherein AiAnd BiIt is
The state parameter matrix of i subsystem, Δ Ai(t) and Δ Bi(t) it is indeterminate in system, and meets the following conditions:
[ΔAi(t) ΔBi(t)]=GiFi(t)[E1i E2i], wherein Gi, E1iAnd E2iIt is the real matrix with appropriate dimension, function Fi
(t) it is uncertain matrix and meets Fi T(t)Fi(t)≤I。
6. Active suspension can when the network between a kind of controller according to claim 1 and actuator is by DoS attack
By the method for property control, it is characterized in that η (t) is network delay, data packetloss and delay information are contained.
7. Active suspension can when the network between a kind of controller according to claim 1 and actuator is by DoS attack
By the method for property control, it is characterized in that it is disturbance parameter, the road surface obtained using sensor that road surface, which inputs ω (t), in the first step
Displacement data.
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