CN108494514A - A kind of co-design method of PREDICTIVE CONTROL and wireless short packet communication - Google Patents

A kind of co-design method of PREDICTIVE CONTROL and wireless short packet communication Download PDF

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Publication number
CN108494514A
CN108494514A CN201810269710.2A CN201810269710A CN108494514A CN 108494514 A CN108494514 A CN 108494514A CN 201810269710 A CN201810269710 A CN 201810269710A CN 108494514 A CN108494514 A CN 108494514A
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control
actuator
control system
communication
wireless
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CN108494514B (en
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赵国栋
张馨月
曹越
童鑫
陈智
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University of Electronic Science and Technology of China
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/391—Modelling the propagation channel
    • H04B17/3912—Simulation models, e.g. distribution of spectral power density or received signal strength indicator [RSSI] for a given geographic region
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/382—Monitoring; Testing of propagation channels for resource allocation, admission control or handover

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention belongs to wirelessly communicate the interleaving techniques field with control, and in particular to a kind of co-design method of PREDICTIVE CONTROL and wireless short packet communication.When the method for the present invention carries out combined optimization for the power, running time-frequency resource and prediction length of the PPC systems with multiple control loops, communication energy consumption can be reduced.By multiple control loops, the present invention has found the relationship of wireless communication consumption and prediction length in PPC systems, to reduce wireless communication cost.

Description

A kind of co-design method of PREDICTIVE CONTROL and wireless short packet communication
Technical field
The invention belongs to wirelessly communicate the interleaving techniques field with control, and in particular to a kind of PREDICTIVE CONTROL and wireless short packet The co-design method of communication.
Background technology
Traditional industry controls and the combination of wireless communication is concentrated mainly on two aspects：First, under certain singal reporting code Optimized control performance.Another kind is to minimize communicating requirement under certain control parameter.Assuming that radio resource consumption with The growth of communication requirement and monotonously increase, wireless communications traffic that is brings more radio resource consumptions, this It is generally existing in traditional network system.However this hypothesis may be invalid in network physical system.This be mainly because It is in order to control to complete a control task with the overall goal of wireless system, without being to provide bit stream.Therefore, in order to reach one Fixed control performance reduces communication performance and requires the reduction that may not lead to radio resource consumption.
Packetized PREDICTIVE CONTROL (PPC) is a kind of to be reduced to reliability requirement comprising the following control information by transmitting Technology is often used for coping with insecure Radio Link.In PPC, remote controllers not only obtain the past shape of actuator State simultaneously calculates current control commands, also predicts following state and the control command in future.Remote controllers by these Information package is sent to actuator, if wireless data packet is properly received, controller executes current control commands and caches Following control command；If wireless data packet loss does not reach on time, actuator can independently execute a data packet In cache command to continue control task.
Have at present many achievements in research discuss PPC, but they have ignored the communication in wireless close interactive process at The control of sheet and control system, i.e. independent design and communication system, therefore generally existing energy consumption problem.
Invention content
The purpose of the present invention, aiming at the above problem, i.e., Predictive Control System and wireless communication cost in PPC models Relationship, especially how the shared parameter of co-design control system and wireless communication so that meeting wanting for its control reliability It asks down, minimizes wireless communication energy consumption.
In order to facilitate description present disclosure, term used in the present invention and model are introduced first：
Packetized PREDICTIVE CONTROL (PPC, Packetized Predictive Control)：It wipes wireless channel and carries out Shandong The effective technology of stick control.
It wirelessly communicates (Wireless Communication):It can be propagated in free space using electromagnetic wave signal Characteristic carries out a kind of communication mode of information exchange.
Control system (CS, Control System)：Had certainly by what control main body, control object and control media formed The management system of body target and function.
Erasure channel (EC, Erasure Channels)：Channel is faulty, sometimes by " deletion ".
Gauss Q functions (GQ, Gaussian Q-function)：The right tail function of standardized normal distribution.
Signal-to-noise ratio (SNR, Signal Noise Ratio)：The ratio of signal power and noise power.
Time delay (TD, Time Delay)：The signal existence time received is poor.
Additive white Gaussian noise (AWGN, Additive White Gaussian Noise), most basic noise and interference Model, its amplitude distribution Gaussian distributed.
The technical solution adopted in the present invention is：
As shown in Figure 1, for shown in typical PPC system schematics, controller (controller) while passing through radio chains J actuator of road direction (actuator) sends different orders.In control loop, controller is contained for actuator j's Contain KjA control command sequence, wherein k=0 and k>0 indicates respectively the control command of current time slots i and time slot i+k in future.So Afterwards, data packet u (i, j) is sent to the buffering area j of current time slots i by cordless communication network, and wherein u (i, j) is made of Kj orders, It is represented by u (i, j)=[u0(i、j)、u1(i、j)、...、uK-1(i、j)].Once buffering area j have successfully received packet u (i, J), it will be by current order u0(i, j) gives actuator j and executes, and caches the order in K-1 futures.When next In gap i+k, buffer actually plays the role of preventing packet loss.
The principle of the present invention is：
Pass through co-design wireless transmitted power P0(j), wireless running time-frequency resource njWith control forecasting length KjSo that it is wireless Communication energy consumption is preferably minimized and ensures to control outage probability ps.Total radio resource consumption of PREDICTIVE CONTROL PPC is minimum Change, wherein constraint ensure that control outage probability psWith limited running time-frequency resource nmax。
The present invention includes the following steps：
If we, which define control system, which interrupts device in order to control, does not have executable command, only in the continuous K of controllerj Secondary reception wireless data packet failure can just occur, so communication system needs to meet following inequality.
pe(j) it isDrop probabilities, psIt is the outage probability of control system j.It is wirelessly communicated using short packet.Each Packet has H packet header, andPayload carry KjA control command.So the sum of the digit of a packet is as follows.
Nj=H+KLj (2)
Allow RjFor the short packet communication capacity of unit bandwidth, following formula can be obtained, i.e.,
C=log2(1+γj) (4)
Variable γjSignal-to-noise ratio, C are the Shannon capacities under unit bandwidth, and V is a channel dispersion coefficient.Herein, Q-1 () represents inverse Gauss Q functions, nj=BT representatives are used forRunning time-frequency resource.Therefore, have：
Optimization aim：
Optimize transimission power P0(j), running time-frequency resource njWith prediction length KjSo that wireless communication energy expenditure is preferably minimized And ensure to control outage probability ps.Specifically, by P0(j) it is expressed as) transimission power spectrum density, then slow The signal-to-noise ratio (SNR) rushed at j is：
Wherein N0For the power spectral density (AWGN) of additional white Gaussian noise.It is then possible to obtain following wireless money Source consumes：
This is the product of three basic resources elements of wireless communication, i.e.,：Power, frequency bandwidth and time.
Following combined optimization problem is formulated：
Cj=log2(1+γj) (11)
Above-mentioned optimization problem is to minimize total radio resource consumption of PPC, wherein constraint ensure that control outage probability psWith limited running time-frequency resource nmax.In order to solve optimization problem, optimal solution can be obtained using alternative optimization algorithm and compare knot Fruit is such as obtained for single controller, and key is to optimize transmission power P (j) and prediction length Kj.It, can according to the model of foundation It is arrived with Mathematical：
It will be optimalIn generation, returns full scale equation and can be obtained to object function derivation：
Meanwhile it can be with mathematical proofTherefore, there are two types of situations for former problem：If F'K=1＞ 0, optimal K= 1；If F'K=1<0, optimal K are so that F'k=0 solution.
By gainedWithIn generation, returns to get to minimum communication energy consumption expense E.
Beneficial effects of the present invention are that the present invention is distributed by combined optimization PREDICTIVE CONTROL length K and wireless communication power And frequency spectrum resource distribution, meeting reliability control system requirement psUnder the premise of so that radio overhead E is minimized, simultaneously Obtain a complete integrated system.
Description of the drawings
Fig. 1 is the system model figure of the present invention；
Fig. 2 is the simulation result diagram of embodiment.
Specific implementation mode
With reference to example and attached drawing, detailed description of the present invention technical solution：
Embodiment：
Control loop is set as 4, i.e. j=4 in original, and considers a kind of AWGN of normalized power spectral density.In number According in pack arrangement, the length in packet header is H=32, and the length of each control command is respectively L=4,8,16,32.Assuming that every The outage probability of a platform is identical, i.e. ps=10-9。
It is solved using Optimized model proposed by the invention, as shown in Fig. 2, for wireless energy cost and maximum time-frequency Resource nmaxBetween relationship.Dotted line refers to distributing identical running time-frequency resource for each platform, and as baseline.Solid line is According to the result after the optimizing of method proposed by the invention.As shown, the result after optimization is than platform is divided equally It is much better, show that control and the collaborative design of wireless system effectively reduce the consumption of radio resource.Secondly it can obtain, energy Cost is measured with nmaxIncrease and reduce because as running time-frequency resource n increases in short packet communication, spectrum efficiency can increase.
Therefore, method of the invention grows the power of the PPC systems with multiple control loops, running time-frequency resource and prediction When degree carries out combined optimization, communication energy consumption can be reduced.By multiple control loops, the present invention has found wireless in PPC systems The relationship of communication consumption and prediction length.Wirelessly communicate cost to reduce, invention combined optimization transmitted power, running time-frequency resource and Prediction length.The simulation results show validity of the method for the present invention.

Claims (1)

1. a kind of co-design method of PREDICTIVE CONTROL and wireless short packet communication, this method are used for packetized Predictive Control System, So that total radio resource consumption of system minimizes；
The packetized Predictive Control System includes controller and j actuator, and controller is by Radio Link to j actuator Send KjA control command sequence, wherein k=0 and k>0 indicates respectively the control command of current time slots i and time slot i+k in future, nothing Data packet u (i, j) is sent to the buffering area j of current time slots i by line communication network, and wherein u (i, j) is made of Kj orders, is indicated For u (i, j)=[u0(i、j)、u1(i、j)、...、uK-1(i, j)], it, will be current if buffering area j has successfully received packet u (i, j) Order u0(i, j) gives actuator j and executes, and caches the order in K-1 futures；
It is characterized in that, the design method includes the following steps：
A, parameter setting：
Defining the unbroken condition of control system is：
Wherein, pe(j) it isDrop probabilities, psIt is the outage probability of control system j；
Using short packet wirelessly communicate, set one wrap digit sum as：
Nj=H+KLj
Wherein, H is the size in packet header, LjIndicate instruction size needed for each time slots of actuator j, thereforePayload To carry KjA control command；
If RjFor the short packet communication capacity of unit bandwidth：
C=log2(1+γj)
Wherein, variable γjFor signal-to-noise ratio, C is the Shannon capacity under unit bandwidth, and V is a channel dispersion coefficient, Q-1() generation Table is against Gauss Q functions；
Using nj=BT representatives are used forRunning time-frequency resource, B is frequency bandwidth, and T is：
B, it establishes so that wireless communication energy expenditure is preferably minimized and the unbroken model of Guarantee control system：
Using P0(j) it is expressed asTransimission power spectrum density, then buffering the signal-to-noise ratio at j is：
Wherein, N0For the power spectral density of additional white Gaussian noise；
Establishing radio resource consumption model is：
The final mask then established is：
Cj=log2(1+γj)
nmaxFor limited running time-frequency resource；
C, according to actuator quantity j, running time-frequency resource n is realized using alternative optimization algorithmmaxDistribution.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109379226A (en) * 2018-10-22 2019-02-22 电子科技大学 A kind of short package transmission method of combination Predictive Control System
CN111935667A (en) * 2020-08-18 2020-11-13 电子科技大学 Power distribution method for packet predictive control system

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US20040181300A1 (en) * 2003-03-11 2004-09-16 Clark Robert L. Methods, apparatus and computer program products for adaptively controlling a system by combining recursive system identification with generalized predictive control
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US20040181300A1 (en) * 2003-03-11 2004-09-16 Clark Robert L. Methods, apparatus and computer program products for adaptively controlling a system by combining recursive system identification with generalized predictive control
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109379226A (en) * 2018-10-22 2019-02-22 电子科技大学 A kind of short package transmission method of combination Predictive Control System
CN109379226B (en) * 2018-10-22 2021-03-16 电子科技大学 Short packet transmission method combined with predictive control system
CN111935667A (en) * 2020-08-18 2020-11-13 电子科技大学 Power distribution method for packet predictive control system
CN111935667B (en) * 2020-08-18 2022-04-12 电子科技大学 Power distribution method for packet predictive control system

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