CN110213086B - Based on network control system l 2 -l ∞ Control switching system method and system, controller and control method - Google Patents
Based on network control system l 2 -l ∞ Control switching system method and system, controller and control method Download PDFInfo
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- CN110213086B CN110213086B CN201910399782.3A CN201910399782A CN110213086B CN 110213086 B CN110213086 B CN 110213086B CN 201910399782 A CN201910399782 A CN 201910399782A CN 110213086 B CN110213086 B CN 110213086B
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- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
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Abstract
Based on network control system l 2 ‑l ∞ The control switching system method and system, the controller and the control method comprise the following steps: establishing a continuous time network control system model, discretizing the continuous time network control system to establish a discrete time sampling system, modeling the sampling system into a discrete time switching system according to the number of packet loss, and designing to ensure the system index to be stable and l 2 ‑l ∞ The sampling controller with the performance can describe a plurality of complex systems which cannot be described by a single model due to the design of the steps, and is helpful for researching the stability of the system and inhibiting external interference under the packet loss condition.
Description
Technical Field
The invention relates to a system switching method and system, a controller and a control method, in particular to a network control system/based system 2 -l ∞ Control switching system method and system, controller and control method.
Background
In a network control system, since network bandwidth for information transmission is limited, each node obtains network resources by competing with each other, and the limited network bandwidth causes a phenomenon of packet loss due to contention failure of the node, in the network, packet loss is unavoidable, and especially in a wireless network, packet collision or node contention failure causes a phenomenon of packet transmission failure, so packet loss has become an important factor to be considered inevitably in analysis and design processes of the network control system,
the switching system method is an effective method for solving the packet loss problem, and is established into a switching system according to the number of packet loss in a network control system, if the switching system is stable, the network control system under the packet loss is stable, in order to analyze the stability of the switching system, some effective methods, such as a common Lyapunov function method (CLF) and a multiple Lyapunov function Method (MLF), are proposed, according to different switching law design methods, an average residence time (ADT) method and a multiple Lyapunov function are generally combined to study the packet loss problem of the network control system, and note that the time required to reside in each subsystem is the same independent of the system mode, so that there is a certain conservation in the stability analysis of the switching system, and the proposal of the mode dependent average residence time (mdaddt) method compensates for the above defects and is widely applied to the stability analysis of various switching systems and the controller design.
On the other hand, since disturbances are unavoidable, it is necessary to analyze the network control system anti-interference performance with disturbances, l 2 -l ∞ The proposal of performance index analyzes the influence of external disturbance and is mainly used for solving a plurality of control problems, i 2 -l ∞ The control problem is that a sampling controller is designed to stabilize the closed loop system and ensure that 2 -l ∞ Performance to date, network control system with packet loss has been solved by using MDADT method 2 -l ∞ The control problem has not been fully studied, thus encouraging us to conduct our current research.
The technical proposal of the invention is made by retrieving the prior technical problems, technical characteristics and technical effects in the similar background technology.
Disclosure of Invention
The object of the invention is a network-based control system 2 -l ∞ A control model acquisition method for controlling switching,
the object of the invention is a network-based control system 2 -l ∞ A control model acquisition system for controlling the switching,
the object of the invention is a network-based control system 2 -l ∞ A controller for controlling the switching of the plurality of switches,
the object of the invention is a network-based control system 2 -l ∞ A controlled switching method.
In order to overcome the above technical drawbacks, an object of the present invention is to provide a network-based control system 2 -l ∞ Control switching system method and system, controller and control method, thereforeMany complex systems which cannot be described by a single model can be described, and the method is helpful for researching the stability of the system under the packet loss condition and inhibiting external interference.
In order to achieve the above purpose, the invention adopts the following technical scheme:
based on network control system l 2 -l ∞ The first embodiment of the present invention is a control model acquisition method for controlling switching, comprising the steps of:
step 100: a continuous-time network control system model is established,
step 200: discretizing a continuous time network control system to establish a discrete time sampling system,
step 300: the sampling system is modeled as a discrete time switching system according to the number of packet losses,
step 400: design guarantees system index stabilization sum l 2 -l ∞ Performance sampling controller.
Due to the design of the steps, a plurality of complex systems which cannot be described by a single model can be described, so that the stability of the system under the packet loss condition can be researched, and external interference can be restrained.
The invention designs that under the condition of considering packet loss, the following network control system model is built
z(t)＝Cx(t),
Where x (t), u (t), ω (t), z (t) represent system states, control inputs, disturbance inputs and control outputs, respectively, and A, B, C, E represent matrices of appropriate dimensions.
The invention designs a network control system with a sampling period h k Discretizing to obtain the following discrete time system
x(t k+1 )＝A(h k )x(t k )+B(h k )u(t k )+E(h k )ω(t k ),
z(t k )＝Cx(t k ),
Wherein the method comprises the steps of
Definition A 0 ＝e Ah ，
Then it can be obtained
The invention designs a sampling system to be modeled as a discrete time switching system to introduce a switching signal sigma (t) according to the number of packet loss k )∈Z h = {1, …, d+1}, and let
The discrete-time system can be converted into a discrete-time switching system as follows
The invention designs that the system index is stable and l is ensured 2 -l ∞ Performance sampling controller
The design is as follows
Where K represents the controller gain, t k (k=0, 1, 2.) represents the sampling instant.
Thus, the following discrete time switching system can be obtained
Based on network control system l 2 -l ∞ The control model acquisition system for controlling switching comprises the following contents:
the continuous-time network control system model building unit 10,
a discrete time sampling system creation unit 20 for discretizing the continuous time network control system,
the sampling system is modeled as a discrete time switching system building unit 30 according to how many packets are lost,
design guarantees system index stabilization sum l 2 -l ∞ The sampling controller of the performance establishes the unit 40.
The invention designs a network-based control system 2 -l ∞ The controller for controlling switching comprises the following contents: the controller stores a network-based control system 2 -l ∞ The control is switched to the control model,
based on network control system l 2 -l ∞ The control switching control model is based on the network-based control system l 2 -l ∞ And a control model acquisition method for controlling switching.
The invention designs an aircraft attitude output feedback control method based on input and output quantification, which comprises the following steps:
application of network-based control System in CPU 2 -l ∞ The controller controlling the switching performs control.
The invention has the technical effects that: aiming at a network control system with a packet loss problem, the system is divided into two partsAnalyzing, modeling and discretizing, designing a switching system by using the discretized system, and finally designing a sampling controller to ensure that a network control system with packet loss has stable index and l 2 -l ∞ Performance.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a network-based control system 2 -l ∞ A flow chart of a control model acquisition method of controlling switching,
fig. 2 is a diagram showing a network-based control system according to the present invention 2 -l ∞ The control model for controlling the switching obtains a structural schematic diagram of the system.
Detailed Description
Terms such as "having," "including," and "comprising," as used herein, are to be construed as not being accompanied by the presence or addition of one or more other elements or combinations thereof, in accordance with the censoring guidelines.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention will be further described with reference to the following examples, which are intended to illustrate the invention and not to limit it further.
Based on network control system l 2 -l ∞ The first embodiment of the present invention is a control model acquisition method for controlling switching, comprising the steps of:
step 100: a continuous-time network control system model is established,
step 200: discretizing a continuous time network control system to establish a discrete time sampling system,
step 300: according to the number of the packet loss, the sampling system is modeled as a discrete time switching system,
step 400: design guarantees system index stabilization sum l 2 -l ∞ Performance sampling controller.
The specific implementation of the method will be described below by taking a network control system as an example,
in this embodiment, the step 100 specifically includes the following:
under the condition of considering packet loss, the following network control system model is built
z(t)＝Cx(t),
Where x (t), u (t), ω (t), z (t) represent system states, control inputs, disturbance inputs and control outputs, respectively, and A, B, C, E represent matrices of appropriate dimensions.
In this embodiment, the step 200 specifically includes the following:
the network control system is controlled to have a sampling period h k Discretizing to obtain the following discrete time system
x(t k+1 )＝A(h k )x(t k )+B(h k )u(t k )+E(h k )ω(t k ),
z(t k )＝Cx(t k ),
Wherein the method comprises the steps of
Definition A 0 ＝e Ah ，
Then it can be obtained
In this embodiment, the step 300 specifically includes the following:
modeling the sampling system into a discrete time switching system according to the number of the packet loss
Introducing a switching signal sigma (t) k )∈Z h = {1, …, d+1}, and let
The discrete-time system can be converted into the following discrete-time switching system +.>
In this embodiment, the step 400 specifically includes the following:
design guarantees system index stabilization sum l 2 -l ∞ Performance sampling controller
The design is as follows
Where K represents the controller gain, t k (k=0, 1, 2.) represents the sampling instant.
Thus, the following discrete time switching system can be obtained
Based on network control system l 2 -l ∞ The control model acquisition system for controlling switching comprises the following contents:
a continuous-time network control system model building unit 10,
a setup unit 20 for discretizing the continuous-time network control system to setup a discrete-time sampling system,
a setup unit 30 modeling the sampling system as a discrete time switching system according to the number of lost packets,
design guarantees system index stabilization sum l 2 -l ∞ The set-up unit 40 of the sampling controller of the performance.
Based on network control system l 2 -l ∞ The controller for controlling switching comprises the following contents: the controller stores a network-based dataNetwork control system 2 -l ∞ The control is switched to the control model,
in the present embodiment, the network-based control system l 2 -l ∞ The control switching control model is based on the network-based control system l 2 -l ∞ The control switch control model is obtained by an acquisition method,
step 100: a continuous-time network control system model is established,
step 200: discretizing a continuous time network control system to establish a discrete time sampling system,
step 300: according to the number of the packet loss, the sampling system is modeled as a discrete time switching system,
step 400: design guarantees system index stabilization sum l 2 -l ∞ Performance sampling controller.
Based on network control system l 2 -l ∞ The controlled switching method comprises the following steps:
application of network-based control System in CPU 2 -l ∞ The controller controlling the switching performs control.
The above embodiment is based on the network control system l provided by the present invention 2 -l ∞ According to other variants of the scheme provided by the invention, components or steps in the scheme are added or reduced, or the method is used in other technical fields close to the method, and the method, the system, the controller and the method belong to the protection scope of the method.
Claims (1)
1. Based on network control system l 2 -l ∞ The control model acquisition method for controlling switching is characterized by comprising the following steps: the method comprises the following steps:
step 100: a continuous-time network control system model is established,
step 200: discretizing a continuous time network control system to establish a discrete time sampling system,
step 300: according to the number of the packet loss, the discrete time sampling system is modeled into a discrete time switching system,
step 400: design guarantees system index stabilization sum l 2 -l ∞ A sampling controller of the performance of the device,
under the condition of considering packet loss, building the following continuous time network control system model:
z(t)＝Cx(t),
where x (t), u (t), ω (t), z (t) represent the system state, the control input, the disturbance input and the control output, respectively, A, B, C, E represent a matrix with appropriate dimensions, t represents time,
the continuous time network control system is controlled to have a sampling period h k Discretizing to obtain the following discrete time sampling system:
x(t k+1 )＝A(h k )x(t k )+B(h k )u(t k )+E(h k )ω(t k ),
z(t k )＝Cx(t k ),
wherein the method comprises the steps of
Definition A 0 ＝e Ah ，
t k Indicating the sampling instant, k=0, 1,2 …, h indicates the sampling period, then one can get:
where h represents the sampling period, n k For the values 1,2, …, d+1, d represents the number of lost packets,
introducing a switching signal sigma (t) k )∈Z h = {1, …, d+1}, d represents the number of dropped packets, and let
The discrete-time sampling system can be converted into the following discrete-time switching system according to the number of lost packets:
x(t k+1 )＝A σ(tk) x(t k )+B σ(tk) u(t k )+E σ(tk) ω(t k ),
z(t k )＝Cx(t k ),
design guarantees system index stabilization sum l 2 -l ∞ Performance sampling controller:
the following sampling controller is designed:
where K represents the controller gain, t k Represents the sampling instant, k=0, 1,2,
thus the following discrete time switching system is available:
z(t k )＝Cx(t k ),k＝0,1,2,…,
wherein the method comprises the steps of
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