CN110072239A - A kind of radio transmitting method towards real-time control - Google Patents
A kind of radio transmitting method towards real-time control Download PDFInfo
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- CN110072239A CN110072239A CN201910375879.0A CN201910375879A CN110072239A CN 110072239 A CN110072239 A CN 110072239A CN 201910375879 A CN201910375879 A CN 201910375879A CN 110072239 A CN110072239 A CN 110072239A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
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- H04W16/10—Dynamic resource partitioning
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Abstract
The invention belongs to wireless communication technology fields, are related to a kind of radio transmitting method towards real-time control.The present invention is used for wireless network control system, proposes a kind of communication control collaborative design method, reduces resource consumption using mixing URLLC and LTE communication service.Under similar control overhead, compared with the conventional method serviced only with URLLC, collaborative design method of the invention can significant reduction communication overhead.
Description
Technical field
The invention belongs to wireless communication technology fields, are related to a kind of radio transmitting method towards real-time control.
Background technique
In upcoming 5th third generation mobile communication network, tactile internet is considered as realizing real-time control and physics
The effective technology of tactile.It is expected that tactile internet will support many applications, such as manufacture, building and medical treatment, these are expected to pass through
Real-time control in tactile internet is realized.However, passing through channel radio due to extreme time delay and packet loss requirement
Reliable existing real-time control is challenging.In order to solve this problem, super reliable and low latency has communicated (URLLC)
The typical scene being proposed as in 5G, wherein end-to-end (E2E) propagation time delay is no more than 1ms, communication reliability is more than
99.999%, this can bring strict requirements to Communication System Design.How in real-time control performance and communication resource consumption
Realize that good compromise is to realize a critical issue of URLLC.
Currently, the research in terms of the resource allocation of URLLC is mainly in the pact for meeting URLLC service quality (QoS)
Obtain that power distribution strategies and bandwidth allocation etc. are tactful, and communication system can consume to meet the stringent QoS of URLLC under beam
A large amount of radio resource, this is significant to hinder the implementation of the technology.On the other hand, under limited radio resource, more equipment are visited
It asks and may cause serious channel disturbance, and reduce communication performance.Therefore, the radio resource consumption for reducing URLLC is very heavy
It wants.
Summary of the invention
Present invention aim to address in a typical control system, using mixed URLLC and LTE transmission, mention
A kind of communication control integrated design scheme out, to obtain preferable communication performance and control performance simultaneously.
Technical scheme is as follows:
In a typical wireless network real-time control model, sensor is by sample states informationPass through nothing
Line channel is sent to remote controller.Controller calculates feedback parameter according to the sample states that Kalman filter is estimated,
And it is sent to actuator, control inputIt is determined by feedback parameter.Finally according to equipment according to current status information
Carry out state update is inputted with control.
In control process, h is definedkFor the sampling interval of sensor, dkTo be wirelessly transferred time delay,For free time,
Then have
Therefore discrete time governing equation is
Sampling observation is
yk=Cxk+n′k,
Wherein,It is zero-mean, variance is
RnAdditive white Gaussian noise,It is zero-mean, variance is R 'nAdditive white Gaussian noise, A, B, C be control system ginseng
Matrix number, k (k=0,1,2 ..., N) are sampling instant point, uk-1It is the control input at k-1 moment.
Define generalized stateDiscrete time governing equation can be expressed as
Sampling observation can be expressed as
Wherein,I is unit matrix, Cd=(C 0), ukIt is the control input at k moment,
Enable Ωk=Ω, hasIf k moment transmission success, lk=1, conversely, lk=0.
The generalized state estimation at k moment is obtained according to Kalman Filter EstimationCalculate the control input u at k momentk,
It is updated to the status information x at the k+1 moment that governing equation is updatedk+1, definitionIt enables
WhereinState updated value when being individually using URLLC transmission.
WhereinState updated value when being individually using LTE transmission.
So, the state difference value that URLLC and LTE transmission is respectively adopted isAccording to state difference value
It designs suitable threshold value to determine to be serviced in control process using URLLC or LTE, to guarantee control performance and reduce
Communication resource expense.
The beneficial effects of the present invention are the present invention is for proposing a kind of communication control in wireless network control system
Collaborative design method reduces resource consumption using mixing URLLC and LTE communication service.Under similar control overhead, and only
It is compared using the conventional method that URLLC is serviced, our collaborative design method can significant reduction communication overhead.
Detailed description of the invention
Fig. 1 is the state difference value schematic diagram that two kinds of communication services are used in typical control process；
Fig. 2 is the wireless communication resources consumption contrast schematic diagram using different transmission methods；
Fig. 3 uses control Cost comparisons' schematic diagram of different transmission methods.
Specific embodiment
Below in conjunction with attached drawing, the technical schemes of the invention are described in detail.
Reduce the communication resource consumption most effectual way first is that relaxing qos requirement.Compared with URLLC, LTE communication is led to
Believe that resources costs are much lower.If we using mixing URLLC and LTE communication service come for control system service, can be with
Significant reduction communication resource consumption.How to be distributed by the inspiration of this idea we have studied in a typical control process
URLLC and LTE communication service provide good control performance to reduce radio resource consumption.
Firstly, we discuss a kind of typical control algolithm to assess control performance, more particularly by minimum
The method for optimally controlling of the realization of control overhead.Control cost is generally viewed as the standard of assessment control performance.Here, using two
Secondary type controls cost, is defined as state and it is expected the deviation of set point and the sum of the amplitude of control input,
Wherein, W is the weight of state, and U is the weight of control input, and Ε () is expectation computing.
Using Feedback Control Laws, JNOptimal value can be represented as
Wherein,Init state x0It is 0 for mean value, variance P0Gaussian random variable.SkBy following formula
It obtains,
Wherein, S is initializedN=W.
Then, at each k moment, controller obtains the estimated value of generalized state information using Kalman filteringStep
It is as follows:
(1) prior state for calculating the k-1 moment estimates ξk|k-1Are as follows:
Wherein,It is the estimation based on current time to current state,It is based on current time to NextState
Estimation.
(2) prior variance for calculating the k-1 moment estimates Pk|k-1Are as follows:
Wherein, Pk-1|k-1It is the estimation based on current time to current state variance, Pk|k-1It is to be based on current time under
The estimation of one state variance.
(3) optimal State Estimation at k moment is calculatedAre as follows:
(4) it calculates optimum control gain and estimates KkAre as follows:
(5) optimal variance is calculated are as follows:
Pk|k=Pk|k-1-lk-1KkCdPk|k-1
Control input u is obtained by minimizing control costk,
Control is inputted into ukIt is updated to discrete, the state updated value for obtaining the k+1 moment is xk+1。
Definition
It enables
WhereinState updated value when being individually using URLLC transmission.
WhereinState updated value when being individually using LTE transmission.
The state that URLLC and LTE transmission is respectively adopted updates difference and isIf state deviates
Preset condition,Become negative, needs to guarantee control performance using URLLC service；It is inputted when actuator executes control,Positive value is gradually become from negative value, finally levels off to zero, system is maintained to stablize, needs to reduce to communicate providing using LTE service
Source expense.Therefore, in the controls using mixing URLLC and LTE communication service be feasible.
We have developed a kind of algorithms below to obtain threshold value kthTo determine mixing URLLC and LTE communication service distribution.For
Acquisition threshold value kth, it is important that at the time of when the difference of State Norm becomes positive value from negative value.In fact, obtaining kthIt is non-
It is often difficult, because noise makes kthAs time-varying variable.In order to solve this problem, we have proposed a kind of suboptimums for ignoring noise
Method.We assume that controller has computing unit, sensor can receive signal from controller, and control parameter is controlling
It is completely known at device.It is then possible to virtually execute control process on the controller.WhenWhen, k can be obtainedth.Finally, calculated result is sent passback sensor with true by controller
Surely URLLC and LTE communication service distribution are mixed, wherein as k < kthShi Caiyong URLLC service, and work as k > kthShi Caiyong LTE is logical
Telecommunications services.
Fig. 1 is the state difference value schematic diagram that two kinds of communication services are used in typical control process.Wherein A and B are respectively corresponded
Stable and unstable original state.It can be seen that coming, when original state is unstable, at the moment of 1 < k < 5, difference is negative,
It needs using URLLC service invariant control process；At the moment of 5≤k≤13, difference is positive, and needs to reduce communication using LTE service
Resource overhead；At the moment of k > 13, control system is stablized, and difference is needed to reduce the communication resource using LTE service and be opened close to zero
Pin.
Fig. 2 is the wireless communication resources consumption contrast schematic diagram using different transmission methods.Wherein A, B and C are respectively corresponded
LTE, URLLC and combining transmission method.It can be seen from the figure that compared with the energy consumption of LTE communication, it is proposed that method energy
Consumption only increases about 5%.However, energy consumption is reduced about 41% by the method proposed compared with URLLC, because of the threshold value of design
The significant URLLC reduced in control process.In short, being compared with the traditional method, the significant reduction of the energy consumption of proposed method.
Fig. 3 is control Cost comparisons' schematic diagram using different transmission methods.Wherein A, B and C respectively correspond LTE, URLLC
And combining transmission method.It can be seen from the figure that the significant control lower than LTE communication of the control cost of the mixed method proposed
Cost, and close to the control cost of URLLC.
In conclusion the invention proposes a kind of radio transmitting methods towards real-time radio control system, wherein using
Mix URLLC and LTE communication service.The present invention calculates suitable threshold value in controller unit, logical in URLLC and LTE to determine
Selection between telecommunications services.With art methods ratio, wherein URLLC is used for control process always, this obviously saves resource, body
Advantage of the invention is showed.
Claims (2)
1. a kind of radio transmitting method towards real-time control, this method is used for the control system using mixing URLLC and LTE transmission
System, the control system includes sensor and controller；The radio transmitting method is that controller selects in control process
The method of URLLC or LTE transmission characterized by comprising
S1, discrete time governing equation is defined are as follows:
Sample observation are as follows:
yk=Cxk+n′k
Wherein,ukIt is the control input at k moment, hkFor sensing
The sampling interval of device,For free time,It is zero-mean, variance RnAdditive white Gaussian noise,It is
Zero-mean, variance are R 'nAdditive white Gaussian noise, A, B, C be control system parameter matrix, k is sampling instant point, uk-1It is
The control at k-1 moment inputs；
Define generalized stateDiscrete time governing equation is expressed as
Sampling observation is expressed as
Wherein,I is unit matrix, Cd=(C0), enables Ωk=Ω, has
If k moment transmission success, lk=1, conversely, lk=0；
S2, in current time k, the generalized state estimation information at controller is obtained by Kalman Filter EstimationStep is such as
Under:
(1) prior state for calculating the k-1 moment estimates ξk|k-1Are as follows:
Wherein,It is the estimation based on current time to current state,It is to be estimated based on current time to NextState
Meter；
(2) prior variance for calculating the k-1 moment estimates Pk|k-1Are as follows:
Wherein, Pk-1|k-1It is the estimation based on current time to current state variance, Pk|k-1It is based on current time to next shape
The estimation of state variance；
(3) optimal State Estimation at k moment is calculatedAre as follows:
(4) it calculates optimum control gain and estimates KkAre as follows:
(5) optimal variance is calculated are as follows:
Pk|k=Pk|k-1-lk-1KkCdPk|k-1
According toCalculate control input ukFor
Wherein, Sk+1It is obtained by following formula iteration,
Control is inputted into ukIt is updated to discrete, the state updated value for obtaining the k+1 moment is xk+1；
S3, the state updated value using step S2, when obtaining respectively individually using URLLC transmissionAnd it individually adopts
State updated value when with LTE transmissionDifference is updated with the state of URLLC and LTE transmission:
Wherein,
S4, given threshold kth, as k < kthShi Caiyong URLLC service, works as k > kthShi Caiyong LTE communication service.
2. a kind of radio transmitting method towards real-time control according to claim 1, which is characterized in that the threshold value kth
Acquisition methods be: by known control parameter, simulate control process in controller, takeBecomeWhen value, as threshold value kth。
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Cited By (2)
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| CN110784856A (en) * | 2019-10-31 | 2020-02-11 | 电子科技大学 | D2D transmission scheduling method for real-time control |
| CN113037393A (en) * | 2021-03-15 | 2021-06-25 | 电子科技大学 | Control method of event-triggered communication system based on terahertz channel capacity |
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Application publication date: 20190730 |