CN107567163A - Lamp networking collaboration illumination control method - Google Patents

Abstract

The present invention is lamp networking collaboration illumination control method, it sets the intelligent body being made up of control device on light fixture, some mutual UNICOMs of light fixture, and form each light fixture all lamps with intelligent body and network, just reach lamplit Collaborative Control to be networked for lamp by global policies, it might even be possible to carry out the formation performance of light.

Description

Lamp networking collaborative illumination control method

Technical Field

The invention relates to a collaborative lighting technology, in particular to a lamp networking collaborative lighting control method.

Background

With the development of economy and science and technology, the use of lamp illumination exists in various fields in social life, the lamp illumination used at the present stage generally uses a single control switch to control a lamp switch, the switch can be in the forms of physics, sound control, light induction and the like, and when the lamp illumination is synchronously used in a large range, the lamp switch control at the present stage cannot be uniformly controlled at that time.

Therefore, there is a need to provide a lamp networking collaborative lighting control method to solve the above problems.

Disclosure of Invention

The invention aims to provide a lamp networking collaborative lighting control method.

The invention realizes the purpose through the following technical scheme:

a lamp networking collaborative lighting control method comprises the following steps:

1) Arranging intelligent agents consisting of control devices on lamps, wherein a plurality of lamps are communicated with one another and form a lamp network with each lamp having the intelligent agent, the interconnection topology in a multi-intelligent-agent system can be described by a graph G = (V, E, A), each intelligent agent can be regarded as a node in the graph, and information flow between two intelligent agents can be regarded as a directed path between the nodes in the graph;

assuming that a network formed by n agents has a fixed connection topology G = (V, E, A), a global reachable point exists, a multi-agent system with communication delay is shown by second-order integral modeling:

xi therein _i ∈R ² Represents the displacement, ζ, of agent i _i ∈R ² Representing its speed, u _i ∈R ² A control input representative thereof;

2) Describing a geometric formation in a plane by adopting a method of specifying a displacement vector, wherein each agent in the formation points to a common coordinated structure;

time invariant shift vectorAnd directly extend to time-variant situations, agent attributes are as follows:

a) The formation progressively converges to the preset geometric formation in the plane, and is characterized by that

B) Progressive approximation of speed to a set function s (t): R → R ² 。

For the system (1-1), a consistency protocol for the algorithm of the formation control taking into account the communication delay

Wherein gamma is>0,N _i Representing neighbors of agent i, a _ij &0 is the contiguous element in a in graph G = (V, E, a), τ is the uniform form of communication delay;

3) The closed-loop form of (1-1) obtainable from (1-2) is:

4) Take the following variations:

therefore, the temperature of the molten metal is controlled,andis dynamic in that

Laplace matrix L according to graph G = (V, E, a) _g = Δ -a, the above equation can be written as

WhereinRepresenting the results of the Kronecker test,and

5) According to the nature of the Kronecker results, letThen L and L _g Have the same characteristic value; (1-6) can be written as

The above equation is transformed in the s domain and then simplified to obtain

WhereinIs thatLaplace transform of (d);

6) Obtained according to the above formulaCharacteristic equation of

det[(sI+γI)(sI+e ^-sτ L)]＝0 (1-7)

Is equivalent to

det(sI+γI)＝0 (1-8a)

Or

det(sI+e ^-sτ L)＝0 (1-8b)

Notably, (1-8 a) roots with s = - γ, where γ >0;

7) Study of roots (1-8 b):

by G = (V, E, a) there is one global reachable point, 0 is a simple eigenvalue of L, let rank (L) = n-1, and all other eigenvalues have a real positive part. Characteristic value of LIs λ _i I =1, \ 8230;, n and assuming λ ₁ ＝0，Re(λ _i )&gt, 0, i =2, \8230;, n; then (1-8 b) becomes

In the above formula, there is a simple root s =0; when s ≠ 0, there is an equation

Let f(s) =1+ g _i (s) whereini =2, \8230, n is

When ω ∈ (0, + ∞), | g _i (ω) | and arg (g) _i (ω))＝-(π/2+ωτ-arctan(Im(λ _i )/Re(λ _i ) ) are all monotonically decreasing; where arg (-) denotes the phase:

g _i (ω) first pass through the negative solid axis at

To obtain

When ω ∈ (— ∞, 0), arg (g) _i (ω))＝π/2-ωτ+arctan(Im(λ _i )/Re(λ _i ) Is monotonically decreasing, | g _i (ω) | is monotonically increasing: g is a radical of formula _i (omega) last pass through the negative solid axis

To obtain

8) Based on Nyquist stability criterion, if and only if Nyquist curve lambda _i e ^-jωT Where/(j ω) does not enclose the (-1, j 0) point for ω ∈ R, the root of f(s) =0 lies within the left-half complex domain plane. In turn according toIn the case of passing through the negative real axis, i.e. requiring g _i (ω _c1 )|&lt 1 andobtaining:

wherein λ is _i I belongs to N and is the characteristic value of L;

9) When (1-11) holds true, the roots of (1-8 b) all have negative real parts except one root s =0; and because the root of (1-8 a) s = -gamma, gamma&0, then all roots with (1-6) have negative real parts except one root s =0; thus, when (1-11) is true, in the system (1-5)Converge to a stable state, i.e.Andfurther according to (1-4) can be obtained

Furthermore, the system (1-3) gradually obtains an expected formation form, and the formation speed gradually converges to s (t), namely, the lamp networking formed by a plurality of lamps is realized to achieve the cooperative control of lighting illumination, and even the formation performance of the lighting can be carried out.

Compared with the prior art, the invention combines a plurality of lamps into a lamp network and can realize the cooperative control of the lamp network for lighting.

Detailed Description

A lamp networking collaborative lighting control method comprises the following steps:

1) Arranging intelligent agents consisting of control devices on lamps, wherein a plurality of lamps are communicated with one another and form a lamp network with each lamp having the intelligent agent, the interconnection topology in a multi-intelligent-agent system can be described by a graph G = (V, E, A), each intelligent agent can be regarded as a node in the graph, and information flow between two intelligent agents can be regarded as a directed path between the nodes in the graph;

assuming that a network formed by n agents has a fixed connection topology G = (V, E, A), a global reachable point exists, a multi-agent system with communication delay is shown by second-order integral modeling:

in which ξ _i ∈R ² Represents the displacement, ζ, of agent i _i ∈R ² Representing its velocity, u _i ∈R ² A control input representative thereof;

2) Describing a geometric formation in a plane by adopting a method of specifying a displacement vector, wherein each agent in the formation points to a common coordinated structure;

time invariant shift vectorAnd directly extend to time-varying situations, agent attributes are as follows:

a) The formation gradually converges to the preset geometric formation in the plane, and is characterized in that

B) Progressive speed approaching a set function s (t): R → R ² 。

For the system (1-1), a consistency protocol for the algorithm of the formation control taking into account the communication delay

Wherein gamma is>0,N _i Representing neighbors of agent i, a _ij &0 is the contiguous element in a in graph G = (V, E, a), τ is the uniform form of communication delay;

3) The closed-loop form of (1-1) obtainable from (1-2) is:

4) Take the following variation:

therefore, the number of the first and second electrodes is increased,andis dynamic as

Laplace matrix L according to graph G = (V, E, a) _g = Δ -a, the above equation can be written as

WhereinRepresenting the results of the Kronecker test,and

5) According to the nature of the Kronecker result, letThen L and L _g Have the same characteristic value; (1-6) can be written as

The above equation is transformed in the s domain and then simplified to obtain

WhereinIs that(ii) a laplace transform of;

6) According to the above formula to obtainCharacteristic equation of (2)

det[(sI+γI)(sI+e ^-sτ L)]＝0 (1-7)

Is equivalent to

det(sI+γI)＝0 (1-8a)

Or alternatively

det(sI+e ^-sτ L)＝0 (1-8b)

Notably, (1-8 a) roots with s = - γ, where γ >0;

7) Study (1-8 b) root:

by G = (V, E, a) there is one global reachable point, 0 is a simple eigenvalue of L, let rank (L) = n-1, and all other eigenvalues have a real positive part. Characteristic value of L is lambda _i I =1, \ 8230;, n and assuming λ ₁ ＝0，Re(λ _i )&gt, 0, i=2, \8230, n; then (1-8 b) becomes

In the above formula, there is a simple root s =0; when s ≠ 0, there is an equation

Let f(s) =1+ g _i (s) whereini =2, \8230, n is

When ω ∈ (0, + ∞), | g _i (ω) | and arg (g) _i (ω))＝-(π/2+ωτ-arctan(Im(λ _i )/Re(λ _i ) ) are all monotonically decreasing; where arg (·) denotes phase:

g _i (ω) first pass through the negative solid axis at

To obtain

When ω ∈ (- ∞, 0), arg (g) _i (ω))＝π/2-ωτ+arctan(Im(λ _i )/Re(λ _i ) Is monotonically decreasing, | g _i (ω) | is monotonically increasing: g _i (omega) last pass through the negative solid axis

To obtain

8) Based on Nyquist stability criterion, if and only if Nyquist curve lambda _i e ^-jωT Where/(. Omega.) does not enclose the (-1, j 0) point for ω ∈ R, the root of f(s) =0 lies within the left half-complex domain plane. In turn according toIn the case of passing through the negative real axis, i.e. requiring g _i (ω _c1 )|&lt 1 andobtaining:

wherein λ is _i I belongs to N and is the characteristic value of L;

9) When (1-11) is true, the roots of (1-8 b) all have negative real parts exceptOne root s =0; and because the root of (1-8 a) s = -gamma, gamma&0, then all roots with (1-6) have negative real parts except one root s =0; thus, when (1-11) is true, in the system (1-5)Converge to a stable state, i.e.Andfurther according to (1-4) can be obtained

Furthermore, the system (1-3) gradually obtains an expected formation form, and the formation speed gradually converges to s (t), so that the cooperative control of lighting illumination is realized for the lamp network consisting of a plurality of lamps, and even the formation performance of the lighting can be carried out.

Compared with the prior art, the invention combines a plurality of lamps into a lamp network and can realize the cooperative control of the lamp network for lighting.

What has been described above are merely some of the embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.

Claims (1)

1. A lamp networking collaborative lighting control method is characterized in that:

the method comprises the following steps:

1) Arranging intelligent agents consisting of control devices on lamps, wherein a plurality of lamps are communicated with one another and form a lamp network with each lamp having the intelligent agent, the interconnection topology in a multi-intelligent-agent system can be described by a graph G = (V, E, A), each intelligent agent can be regarded as a node in the graph, and information flow between two intelligent agents can be regarded as a directed path between the nodes in the graph;

assuming that a network formed by n agents has a fixed connection topology G = (V, E, A), a global reachable point exists, a multi-agent system with communication delay is shown by second-order integral modeling:

in which ξ _i ∈R ² Represents the displacement, ζ, of agent i _i ∈R ² Representing its speed, u _i ∈R ² Represents its control input;

2) Describing a geometric formation in a plane by adopting a method of specifying a displacement vector, wherein each agent in the formation points to a common coordinated structure;

time invariant shift vectorAnd directly extend to time-variant situations, agent attributes are as follows:

a) The formation gradually converges to the preset geometric formation in the plane, and is characterized in that

B) Progressive approximation of speed to a set function s (t): R → R ² 。

For the system (1-1), the agreement protocol of the algorithm of the formation control taking into account the communication delay

Wherein gamma is>0,N _i Representing neighbors of agent i, a _ij &0 is the contiguous element in a in graph G = (V, E, a), τ is the uniform form of communication delay;

3) The closed-loop form of (1-1) obtainable from (1-2) is:

4) Take the following variation:

therefore, the temperature of the molten metal is controlled,andis dynamic as

Laplace matrix L according to graph G = (V, E, a) _g = Δ -a, the above equation can be written as

WhereinRepresenting the results of the Kronecker test,and

5) According to the nature of the Kronecker results, letThen L and L _g Have the same characteristic value; (1-6) can be written as

The above equation is transformed in the s domain and then simplified to obtain

WhereinIs thatLaplace transform of (d);

6) Obtained according to the above formulaCharacteristic equation of

det[(sI+γI)(sI+e ^-sτ L)]＝0 (1-7)

Is equivalent to

det(sI+γI)＝0 (1-8a)

Or

det(sI+e ^-sτ L)＝0 (1-8b)

Notably, (1-8 a) roots with s = - γ, where γ >0;

7) Study of roots (1-8 b):

by G = (V, E, a) there is one global reachable point, 0 is a simple eigenvalue of L, let rank (L) = n-1, and all other eigenvalues have a real positive part. Characteristic value of L is lambda _i I =1, \ 8230;, n and assuming λ ₁ ＝0，Re(λ _i )&gt, 0, i =2, \8230;, n; then (1-8 b) becomes

In the above formula, there is a simple root s =0; when s ≠ 0, there is an equation

Let f(s) =1+g _i (s) whereinThen there is

When ω ∈ (0, + ∞) | g _i (ω) | and arg (g) _i (ω))＝-(π/2+ωτ-arctan(Im(λ _i )/Re(λ _i ) ) are both monotonically decreasing; where arg (-) denotes the phase:

g _i (ω) first pass through the negative real axis at

To obtain

When ω ∈ (— ∞, 0), arg (g) _i (ω))＝π/2-ωτ+arctan(Im(λ _i )/Re(λ _i ) Is monotonically decreasing, | g _i (ω) | is monotonically increasing: g _i (omega) last pass through the negative solid axis

To obtain

8) Based on Nyquist stability criterion, if and only if Nyquist curve lambda _i e ^-jωT Where/(. Omega.) does not enclose the (-1, j 0) point for ω ∈ R, the root of f(s) =0 lies within the left half-complex domain plane. In turn according toIn the case of passing through the negative real axis, i.e. requiring g _i (ω _c1 )|&lt, 1 and g _i (ω _c2 )|<1Obtaining:

wherein λ _i I belongs to N and is the characteristic value of L;

9) When (1-11) holds, the roots of (1-8 b) all have negative real parts except one root s =0; and because the root s of (1-8 a) = -gamma, gamma&0, then all roots with (1-6) have negative real parts except one root s =0; thus, when (1-11) is true, in the system (1-5)Converge to a stable state, i.e.Andfurther according to (1-4) can be obtained

Furthermore, the system (1-3) gradually obtains an expected formation form, and the formation speed gradually converges to s (t), namely, the lamp networking formed by a plurality of lamps is realized to achieve the cooperative control of lighting illumination, and even the formation performance of the lighting can be carried out.