CN104486166A - QoS-based sampling period adjusting method for networked control system - Google Patents
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Abstract
The invention provides a QoS-based sampling period adjusting method for a networked control system. According to the sampling period of the current network QoS adjusting system, the quality of network service (QoS) is improved, and the network average transmission delay and the packet loss probability are reduced, so that the control performance and the stability of the networked control system are improved. The QoS-based sampling period adjusting method for the networked control system includes the steps that a network QoS measurement module measures the communication service condition of the current network, measures the loop delay of data packets in a timestamp mode, and calculates the packet loss probability of the current data packet by carrying out statistics on the transmitting and receiving conditions of the data packets; according to network QoS measure data, a sampling period control module obtains the sampling period which the system should adopt at the moment by the adoption of a static adjustment or dynamic adjustment method.
Description
Technical field
The present invention relates to a kind of sampling period method of adjustment based on the network control system of QoS (Quality of Service), be specially adapted to network transmission bandwidth limited, strict for averaging network delay requirement, high network control system and other distributed network networked control systems are required to system real-time response.
Background technology
Along with the appearance of computer, control system develops into discrete control system from original continuous control system, computer system can be carried out calculating accurately and fast and be carried out Logic judgment, and versatility is good, use easily, be convenient to change the need of control algolithm, obtain swift and violent development by means of above advantage computer control system.The region restriction of information transmission has been broken in the appearance of Ethernet in 1977, also makes control system no longer be confined to local control.Thereupon electronic technology and bussing technique development, field bus control system, Distributed Control System, and network control system (NCS:Net worked Control System) occurs one after another, these control modes make control system there occurs huge change.The development of field bus technique, is applied to each industrial control field in worldwide, metallurgy, automobile making, petrochemical industry, etc. industry-by-industry have the application of field bus technique.The bus protocol of extensive use mainly contains CAN, Modbus, RS485, FieldBus etc.These fieldbus are due to transmission speed, and coverage, loss of data, the factors such as time delay limit the application and development of network control system.Network control system based on Ethernet breaches many restrictions of Fieldbus Based control system, becomes the developing direction that network control system is new.The restriction that network control system based on Ethernet breaches the region of Internet Transmission to greatest extent, transmission speed, communication section are counted, has greatly promoted the development of network control system.Network control system becomes the circle of control in recent years with its distinctive advantage and looks the most promising one of control research direction.
The essential distinction of network control system and traditional control system is that the transfer of data of network control system is by data transmission network, and the impact of communication network on transfer of data is directly connected to the quality of network control system control effects.The control loop that controller and controlled device composition are closed by network by network control system, this control system inevitably introduces some characteristics of Internet Transmission, as the limit of propagation delay time, data packetloss and the network bandwidth.These network factors are extremely disadvantageous for the impact of the performance of control system.Network control system is carried out regulating transfer of data based on QoS, the transmission quantity of control information can be reduced greatly, improve the service quality of network.Network control system can be made to obtain control effects more better than fixed cycle.
For network control system, Internet Transmission time delay and packet loss are the key factors affecting network control system control effects.Owing to being subject to the restriction of transmission network bandwidth, too high volume of transmitted data may make data transmission network obstruction even paralyse.The transmission delay of network control data and packet loss also can strengthen along with the increase of transmission volume, and this will affect the control effects of network control system greatly.The people such as Guo-Ping Liu are at document (Design and Stability Criteria of Networked Predictive Control SystemsWith Random Network Delay in the Feedback Channel, IEEE TRANSACTIONS ONSYSTEMS, MAN, AND CYBERNETICS 2007.) in compared for the impact of network delay for networking servo-control system control effects, the introducing of network delay greatly reduces the control effects of networking servo-control system, author is by the impact of the mode compensating network delay on system of neural network forecast, but just deep discussion is not provided to the transmission quantity author how reducing network data.The people such as D.Yue are at document (A delaysystem method for de-signing event-triggered controllers of networked controlsystems.IEEE Transactions on Automatic Control, 2013.) the controlling of sampling technology by triggering based on event reduces the transmission quantity of data, this article carrys out the transmission cycle of regulating networks data with the change of the output variable of controlled device, although this method reduce the transmission quantity of network data, but the state of data transmission network r is not considered, this control method is not also suitable for the catenet networked control systems that multi-controller shares consolidated network.
Existing networked system control method does not generally all take into full account sampling period and the impact on network service quality, do not consider to adjust the sampling period how on one's own initiative to improve network service quality yet, the present invention is just from this respect, propose to know clearly the method for adjustment in a kind of network control system sampling period, to improve network service quality, thus improve the control performance of system.
Summary of the invention
The object of this invention is to provide a kind of network control system sampling period method of adjustment, according to the sampling period of current network QoS regulating system, improve network service quality, reduce network average transmission time delay and packet loss, thus improve control performance and the stability of network control system.
The object of the invention is to be achieved through the following technical solutions.
A kind of network control system sampling period method of adjustment based on QoS, first network QoS measurement module measures the communication service situation of current network, by the loop time delay of timestamp mode measurement data bag, and calculated the packet loss of current data packet by the transmission of statistical data packet and reception situation; Then, sampling period control module sampling period of taking static adjust or dynamic adjusting method to calculate now system should to adopt according to network QoS measurement data; Wherein:
Static adjust method: the first QoS comprehensive evaluation index of define grid, comprise loop time delay, packet loss factor, according to network QoS measurement data, calculate the concrete numerical value of comprehensive evaluation index, based on the interval at QoS comprehensive evaluation index, i.e. the sampling period of segmentation adjustment System;
Dynamic adjusting method: the difference between the network QoS data first calculating network QoS measurement data and expectation, this difference is utilized to drive sampling period control module, sampling period control module foundation intelligent control method calculates the sampling period that now system should be taked, and this sampling period is acted on network control system.
Further, described intelligent control method adopts neural network control method.
Operation principle of the present invention is:
In the present invention, network QoS measurement module obtains transmission delay by adding timestamp to transmission packet, obtained the packet loss of system by the transmission of statistical data packet and reception condition, calculate the deviation between the QoS of network and desired value or QoS Comprehensive quantitative evaluation index on this basis; The sampling period of current time can be calculated according to corresponding control algolithm based on departure.Static adjust can be carried out to the network control system sampling period based on Comprehensive quantitative evaluation index, be easy to realize.The sampling period adjustable strategies of QoS Network Based can effectively prevent the choking phenomenon of network data transmission from occurring, and reduces transfer of data time delay and packet loss, effectively can improve dynamic characteristic and the stability of network control system.
Beneficial effect of the present invention:
1, the present invention considers that service state QoS Network Based carrys out the sampling period of regulating networks networked control systems, by using Variable sampling strategy to reduce network data transmission amount, thus saves the network bandwidth greatly.
2, varying sampling period control strategy of the present invention is from the QoS of network, considers the communications status of whole network, and this Variable sampling adjustable strategies is more applicable for high volume of transmitted data, has the catenet networked control systems of multiple control system in consolidated network.
3, the adjustment problem in the sampling period of networked system is converted into the control problem of a generalized ensemble by the present invention.Sampling period is the input control amount of system, and the QoS index such as network delay and packet loss is the output variable of system, the target of control be system is exported can track reference input value.The dynamic conditioning strategy in sampling period is just converted into the Controller gain variations problem of system.The present invention is the framework that the adjustment problem in the sampling period of networked system proposes a unified process.
4, compared with the control based on network scheme that the present invention adopts Variable sampling control strategy and the event of routine trigger, there is better network service performance, while reducing transfer of data, the service state of whole network is adjusted.Therefore under Bandwidth-Constrained and transmission delay change violent environment, there is better system dynamic characteristic and the stability of a system.
Accompanying drawing explanation
Fig. 1 is the Variable sampling network control system structure chart based on QoS;
Fig. 2 is that sampling period and system control performance contact figure;
Fig. 3 is network control system packet structure figure;
Fig. 4 is sampling period static adjust figure;
Fig. 5 is sampling period dynamic conditioning figure.
Embodiment
Network control system sampling period method of adjustment based on QoS of the present invention adjusts in the sampling period of QoS to system by measuring current network.The method carries out dynamic conditioning from network service quality to data traffic in network, effectively can prevent the appearance of network congestion phenomenon, reduces the average transmission time delay of system, improves the service performance of network.In network control system, the method effectively can improve the stability of network control system and the dynamic characteristic of system.
With reference to the accompanying drawings, the enforcement in the present invention is described in detail.
Fig. 1 is the Variable sampling network control system structure chart based on QoS.Sampling period method of adjustment in the present invention is realized by network QoS measurement module and sampling period control module.The main task of network QoS measurement module is QoS index such as statistics network transmission average delay, packet loss etc.The main task of sampling period control module determines how to adjust the sampling period.Whole network control system also comprises the parts such as actuator, transducer, controlled device and data transmission network.Network QoS measurement module and sampling period control module can be completed by digital signal processor or Chip Microcomputer A RM etc.This kind of general microprocessor can complete the logic and arithmetic operator that relate in the present invention.Data transmission network can be made up of fieldindustrybus such as Ethernet, wireless network or CAN, and these buses mainly complete the transfer of data of network control system, and the volume of transmitted data of the selection Main Basis system of communication bus and system are to the requirement of transmission delay.The algorithm proposed due to the present invention calculates simple, and the software simulating in flush bonding processor is fairly simple.By flush bonding processor and peripheral circuit thereof, Real-time Collection is carried out to controlled device, the network QoS measurement module of transducer and sampling period control module complete the adjustment to data transfer cycle jointly, controller exports control signal, control signal acts in controlled device by actuator, forms complete closed network networked control systems.
Fig. 2 is that sampling period and system control performance contact figure.The relation between the sampling period of system and the control performance (QoP) of system is shown in figure.When the sampling period of system is longer, the volume of transmitted data of system will reduce, and the transmission delay of network is to packet loss by corresponding reduction, but in the unit interval, the controlled number of times of system also will reduce, and the control performance of system is deteriorated.On the contrary, when the control cycle of system reduces, the transmitted data amount of system will increase, and cause the service quality of network to reduce, the transmission delay of system and packet loss will increase, and the control performance of system will decrease.QoS according to network suitably carries out adjusting the control performance that effectively can improve system to the sampling period.
Fig. 3 is network control system packet structure.The transfer of data of network control system can need according to different transmission to use different data networks.Different procotols will have different data packet heads, data packet head is a part for differing transmission protocols, be mainly used in transmission and receiver address that packet is described, the verification of packet is mainly in order to checking data wraps in transmitting procedure the phenomenons such as mess code that whether make a mistake.Data division in packet is the data that user is transmitted, and wherein data division comprises timestamp information and data label and system mode sample information.The timestamp information of transmission is used for the transmission delay of calculated data bag, and data label is mainly used in the packet drop adding up current network, and system mode sampling and control information are the main informations that network control system current system is applied.
Fig. 4 is sampling period Static adjust figure.
First the QoS comprehensive evaluation index be defined as follows
Q＝ε
1τ+ε
2σ
Wherein τ is network delay, and σ is packet loss, ε
i(i=1,2) are weight coefficient.Network delay can be carried out calculatings obtains with current comparison by stamp service time, and the data label that packet loss can pass through in packet adds up acquisition.By measuring Q, take sampling period adjustable strategies simple as follows:
Wherein α
i, β
i(i=1,2,3 ..., n) be pre-set parameter, and α
1< α
2< α
3< ... < α
n.
As can be seen from above-mentioned adjustable strategies: when Q value is larger, mean that network service quality is poorer, namely time delay is larger, packet loss is higher.By suitably increasing the sampling period, can alleviate excessive due to network service pressure and the time delay of generation increases, the phenomenons such as packet loss change is large, improving network service quality, thus improve the control performance of system.Consider that the sampling period is excessive, the information transmitted in network can be made very few and reduce control performance, therefore α
ican not get too large.Therefore choose α
iin time, will be weighed various factors and considered.Adjustment such as the figure of system communication cycle is stepped.
Fig. 5 is sampling period dynamic PID adjustment figure.
The object adjusted the sampling period is to improve QoS, makes great efforts to make network delay and packet loss maintain a comparatively ideal level.Therefore, we can regard such process as the dynamical system of a broad sense.Sampling period is the input control amount of system, and network delay and packet loss are two output variables of system, the target of control be system is exported can track reference input value.So, the dynamic conditioning strategy in sampling period is just converted into the Controller gain variations problem of system.The model more complicated of this generalized ensemble, due to the existence of network, wherein also can comprise time delay process.Be difficult to for this type of the complication system that describes by mathematical models, the method for Based Intelligent Control is an ideal solution.For simplicity, take neural net PD control method in the present invention, concrete control structure as shown in Figure 5.Wherein y
1(k), y
2k () exports for system, represent network delay and packet loss respectively, r
1, r
2for reference input, represent network delay and the packet loss of expectation, T
1(k), T
2k (), for controlling component, T (k) is total controlled quentity controlled variable, the sampling period that the system of representing should be taked.Specific formula for calculation is as follows:
T
1(k)＝K
p1(k)e
1(k)+K
d1(k)(e
1(k)-e
1(k-1))
T
2(k)＝K
p2(k)e
2(k)+K
d2(k)(e
2(k)-e
2(k-1))
T(k)＝T
1(k)+T
2(k)
It should be noted that control method is here not limited to neural net PD method, the present invention proposes the framework using intelligent control method to realize the dynamic conditioning in sampling period, other more senior intelligent control methods also can be applied to this cycle adjustable strategies.
Above-describedly be only preferred embodiment of the present invention, the present invention is not only confined to above-described embodiment, and all local done within the spirit and principles in the present invention are changed, equivalent replacement, improvement etc. all should be included within protection scope of the present invention.
Claims (4)
1. the network control system sampling period method of adjustment based on QoS, it is characterized in that: first network QoS measurement module measures the communication service situation of current network, by the loop time delay of timestamp mode measurement data bag, and calculated the packet loss of current data packet by the transmission of statistical data packet and reception situation; Then, sampling period control module sampling period of taking static adjust or dynamic adjusting method to calculate now system should to adopt according to network QoS measurement data; Wherein:
Static adjust method: the first QoS comprehensive evaluation index of define grid, comprise loop time delay, packet loss factor, according to network QoS measurement data, calculate the concrete numerical value of comprehensive evaluation index, based on the interval at QoS comprehensive evaluation index, i.e. the sampling period of segmentation adjustment System;
Dynamic adjusting method: the difference between the network QoS data first calculating network QoS measurement data and expectation, this difference is utilized to drive sampling period control module, sampling period control module foundation intelligent control method calculates the sampling period that now system should be taked, and this sampling period is acted on network control system.
2. a kind of network control system sampling period method of adjustment based on QoS as claimed in claim 1, is characterized in that: further, and described intelligent control method adopts neural network control method.
3. a kind of network control system sampling period method of adjustment based on QoS as claimed in claim 2, it is characterized in that: further, described network control system also comprises actuator, transducer, controlled device and data transmission network part.
4. a kind of network control system sampling period method of adjustment based on QoS as described in claim 1 or 2 or 3, it is characterized in that: further, QoS comprehensive evaluation index is:
Q＝ε
1τ+ε
2σ
Wherein τ is network delay, and σ is packet loss, ε
ifor weight coefficient, wherein i=1,2.
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| CN105700429A (en) * | 2016-01-19 | 2016-06-22 | 国家电网公司 | Networked control system based on DSP and AdHoc and dynamic route grouping method thereof |
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| CN105204341A (en) * | 2015-09-25 | 2015-12-30 | 西安石油大学 | Robust tracking control method of network control system based on switching control theory |
| CN105242540A (en) * | 2015-10-27 | 2016-01-13 | 西安石油大学 | Network control system dynamic switching control method based on average residence time |
| CN105700429A (en) * | 2016-01-19 | 2016-06-22 | 国家电网公司 | Networked control system based on DSP and AdHoc and dynamic route grouping method thereof |
| CN105871744A (en) * | 2016-03-31 | 2016-08-17 | 北京小米移动软件有限公司 | Method and device for controlling traffic dynamically |
| CN106970611B (en) * | 2017-05-09 | 2019-04-09 | 合肥工业大学 | Network control system sampling period optimal control method |
| CN106970611A (en) * | 2017-05-09 | 2017-07-21 | 合肥工业大学 | Network control system sampling period optimal control method |
| CN109788509A (en) * | 2017-11-15 | 2019-05-21 | 华为技术有限公司 | The bypassing method and device of continuous data packet transmission failure |
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| CN109325104A (en) * | 2018-10-30 | 2019-02-12 | 中译语通科技股份有限公司 | A kind of method that dynamic calculates news collection Service Source |
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| CN111277542A (en) * | 2018-12-04 | 2020-06-12 | 国网电动汽车服务有限公司 | Method and device for determining information security state of electric vehicle charging network |
| CN111376259A (en) * | 2018-12-30 | 2020-07-07 | 深圳市优必选科技有限公司 | Method and device for determining data sending period, storage medium and robot |
| CN110874265A (en) * | 2019-11-15 | 2020-03-10 | 厦门物通博联网络科技有限公司 | Method, device and equipment for rapidly acquiring data and storage medium |
| CN112419698A (en) * | 2020-10-26 | 2021-02-26 | 浙江正泰仪器仪表有限责任公司 | Electric energy meter data transmission method, system and device based on distribution line message specification |
| CN114125590A (en) * | 2022-01-24 | 2022-03-01 | 中国地质调查局水文地质环境地质调查中心 | Sampling method and device for landslide disaster |
| CN116055790A (en) * | 2022-07-29 | 2023-05-02 | 荣耀终端有限公司 | Video playing method and system and electronic equipment |
| CN116055790B (en) * | 2022-07-29 | 2024-03-19 | 荣耀终端有限公司 | Video playing method and system and electronic equipment |
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