CN112083664A - Asynchronous switching control system under network environment - Google Patents

Asynchronous switching control system under network environment Download PDF

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Publication number
CN112083664A
CN112083664A CN202010957216.2A CN202010957216A CN112083664A CN 112083664 A CN112083664 A CN 112083664A CN 202010957216 A CN202010957216 A CN 202010957216A CN 112083664 A CN112083664 A CN 112083664A
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network
controller
subsystem
subsystems
switching
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黄金杰
宫煜晴
王艺涵
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

The invention discloses an asynchronous switching control system in a network environment, relating to the technical field of control systems; the network is connected with a network distributor, the network distributor is connected with a controller, a plurality of subsystems of the controller are connected with a state feedback controller, the state feedback controller is connected with a continuous time network control switching system, the continuous time network control switching system is connected with the subsystems, and the subsystems are connected with equipment; when the subsystem is switched, the corresponding controller ensures that the system has stable index and has a good transition curve on a switching surface; the device has the advantages of accurate control, high stability, simple and convenient operation, convenient use and time saving.

Description

Asynchronous switching control system under network environment
Technical Field
The invention belongs to the technical field of control systems, and particularly relates to an asynchronous switching control system in a network environment.
Background
The network control system is a fully distributed and networked real-time feedback control system. A communication network is introduced into the control system to connect the intelligent field device and the automation system, so that the distribution and networking of the field device control are realized, and the connection between a field control layer and an upper decision layer is enhanced. Because the sampling and control signals are transmitted through the network, the system has the problems of network induced time delay, data packet loss, misordering and the like. Where the network delay may be constant, time varying, or even random.
Disclosure of Invention
The method aims to solve the problems that the existing sampling and control signals are transmitted through a network, and the system has network-induced time delay, data packet loss, missequencing and the like. Wherein, the network delay may be a constant, time-varying, or even random problem; the invention aims to provide an asynchronous switching control system in a network environment.
The invention relates to an asynchronous switching control system under a network environment, which comprises a network distributor, a controller, a continuous time network control switching system, a state feedback controller and a subsystem; the network is connected with the network distributor, the network distributor is connected with the controller, the plurality of subsystems of the controller are connected with the state feedback controller, the state feedback controller is connected with the continuous time network control switching system, the continuous time network control switching system is connected with the plurality of subsystems, and the subsystems are connected with the equipment.
An asynchronous handover control system in a network environment, in case of a fixed time lag:
consider a continuous time network controlled handover system:
Figure BDA0002679152970000021
where x (t) e Rn is the state variable, u (t) e Rq is the control input, Aσ(t)、Bσ(t)Is a constant matrix, x0The system is in an initial state; for σ (t) ∈ N, N is the subsystem set, the subsystem switching signal σ (t) → (t)0，σ(t0))，(t1，σ(t1))，...，(tn，σ(tn) ., the controller switches the signal
Figure BDA0002679152970000022
Wherein t is0Is an initial time tnThe nth switching time is represented by n ═ {1,2,3 … … }, T is a fixed time lag, and 0 < ═ T < d.
The controller can be represented as:
Figure BDA0002679152970000028
when t ∈ [ t ]k，tk+1) When k is 0,1,2, let σ (t)k +)＝i，σ(tk -) The system may be described as:
Figure BDA0002679152970000023
wherein the content of the first and second substances,
Figure BDA0002679152970000024
is an initial function of the state vector.
Theorem: for the system, given a positive scalar α > 0, β > 0, if a positive symmetric matrix X existsiAnd XijAnd moments of appropriate dimension Yi，YijAnd for any subsystem i, i ≠ j, the following conditions are met:
Figure BDA0002679152970000025
Figure BDA0002679152970000026
wherein the maximum residence time of the subsystem
Figure BDA0002679152970000027
Figure BDA0002679152970000031
And μ satisfies μ + eμ1+ min { α, β }. Introducing a state feedback controller:
u(t)＝Kix(t-τ)，Ki＝YiXi -1
the closed loop system with the fixed time lag T < d can be ensured to have stable index.
Compared with the prior art, the invention has the beneficial effects that:
when a subsystem is switched, the corresponding controller is used for ensuring that the system index is stable and a good transition curve is formed on a switching surface;
secondly, the device can be accurately controlled, has high stability, is simple and convenient to operate, is convenient to use and saves time.
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For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the range covered by the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
As shown in fig. 1, the following technical solutions are adopted in the present embodiment: the system comprises a network distributor, a controller, a continuous time network control switching system, a state feedback controller and a subsystem; the network is connected with the network distributor, the network distributor is connected with the controller, the plurality of subsystems of the controller are connected with the state feedback controller, the state feedback controller is connected with the continuous time network control switching system, the continuous time network control switching system is connected with the plurality of subsystems, and the subsystems are connected with the equipment.
An asynchronous handover control system in a network environment, in case of a fixed time lag:
consider a continuous time network controlled handover system:
Figure BDA0002679152970000041
where x (t) e Rn is the state variable, u (t) e Rq is the control input, Aσ(t)、Bσ(t)Is a constant matrix, x0The system is in an initial state; for σ (t) ∈ N, N is the subsystem set, the subsystem switching signal σ (t) → (t)0，σ(t0))，(t1，σ(t1))，...，(tn，σ(tn) ., the controller switches the signal
Figure BDA0002679152970000042
Wherein t is0Is an initial time tnThe nth switching time is represented by n ═ {1,2,3 … … }, T is a fixed time lag, and 0 < ═ T < d.
The controller can be represented as:
Figure BDA0002679152970000043
when t ∈ [ t ]k，tk+1) When k is 0,1,2, let σ (t)k +)＝i，σ(tk -) The system may be described as:
Figure BDA0002679152970000044
wherein the content of the first and second substances,
Figure BDA0002679152970000045
is an initial function of the state vector.
Theorem: for the system, given a positive scalar α > 0, β > 0,if there is a positive definite symmetric matrix XiAnd XijAnd moments of appropriate dimension Yi，YijAnd for any subsystem i, i ≠ j, the following conditions are met:
Figure BDA0002679152970000051
Figure BDA0002679152970000052
wherein the maximum residence time of the subsystem
Figure BDA0002679152970000053
Figure BDA0002679152970000054
And μ satisfies μ + eμ1+ min { α, β }. Introducing a state feedback controller:
u(t)＝Kix(t-τ)，Ki＝YiXi -1
the closed loop system with the fixed time lag T < d is ensured to have stable index.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (2)

1. An asynchronous handover control system in a network environment, comprising: the system comprises a network distributor, a controller, a continuous time network control switching system, a state feedback controller and a subsystem; the network is connected with the network distributor, the network distributor is connected with the controller, the plurality of subsystems of the controller are connected with the state feedback controller, the state feedback controller is connected with the continuous time network control switching system, the continuous time network control switching system is connected with the plurality of subsystems, and the subsystems are connected with the equipment.
2. The asynchronous handover control system in a network environment according to claim 1, wherein: an asynchronous handover control system in a network environment, with a fixed time lag:
consider a continuous time network controlled handover system:
Figure FDA0002679152960000011
x(0)＝x0
where x (t) e Rn is the state variable, u (t) e Rq is the control input, Aσ(t)、Bσ(t)Is a constant matrix, x0The system is in an initial state; for σ (t) ∈ N, N is the subsystem set, the subsystem switching signal σ (t) → (t)0，σ(t0))，(t1，σ(t1))，...，(tn，σ(tn) ., the controller switches the signal
Figure FDA0002679152960000012
Wherein t is0Is an initial time tnThe nth switching time is represented by {1,2,3 … … }, where τ is a fixed time lag, 0<＝τ<d。
The controller can be represented as:
Figure FDA0002679152960000013
when t ∈ [ t ]k，tk+1) When k is 0,1,2, let σ (t)k +)＝i，σ(tk -) The system may be described as:
Figure FDA0002679152960000014
wherein the content of the first and second substances,
Figure FDA0002679152960000015
is an initial function of the state vector.
Theorem: for the system, given a positive scalar α > 0, β > 0, if a positive symmetric matrix X existsiAnd XijAnd moments of appropriate dimension Yi，YijAnd for any subsystem i, i ≠ j, the following conditions are met:
Figure FDA0002679152960000021
Figure FDA0002679152960000022
wherein the maximum residence time of the subsystem
Figure FDA0002679152960000023
Figure FDA0002679152960000024
And μ satisfies μ + eμ1+ min { α, β }. Introducing a state feedback controller:
u(t)＝Kix(t-τ)，Ki＝YiKi -1
the closed loop system with fixed time lag tau < d can be ensured to have stable index.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100166130A1 (en) * 2008-12-31 2010-07-01 Zarlink Semiconductor Inc. Phase Locked Loop with Optimal State Feedback Controller
US20100177644A1 (en) * 2009-01-15 2010-07-15 David Kucharczyk Intelligent fast switch-over network tap system and methods
CN109683474A (en) * 2018-11-23 2019-04-26 西安石油大学 A kind of network control system method for handover control relied on based on time delay packet loss mode
CN110611599A (en) * 2019-11-01 2019-12-24 浙江诺诺网络科技有限公司 Network control system and control method thereof
CN110888323A (en) * 2019-11-26 2020-03-17 大连理工大学 Control method for intelligent optimization of switching system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100166130A1 (en) * 2008-12-31 2010-07-01 Zarlink Semiconductor Inc. Phase Locked Loop with Optimal State Feedback Controller
US20100177644A1 (en) * 2009-01-15 2010-07-15 David Kucharczyk Intelligent fast switch-over network tap system and methods
CN109683474A (en) * 2018-11-23 2019-04-26 西安石油大学 A kind of network control system method for handover control relied on based on time delay packet loss mode
CN110611599A (en) * 2019-11-01 2019-12-24 浙江诺诺网络科技有限公司 Network control system and control method thereof
CN110888323A (en) * 2019-11-26 2020-03-17 大连理工大学 Control method for intelligent optimization of switching system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
朱桂芝;: "一类非线性网络化系统的基于观测器的控制", 北京航空航天大学学报, no. 09 *
李元第: "网络环境下切换时滞系统的控制与滤波", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 2 *

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