CN113985737A - Research on networked control system with time delay and packet loss - Google Patents

Research on networked control system with time delay and packet loss Download PDF

Info

Publication number
CN113985737A
CN113985737A CN202111258694.5A CN202111258694A CN113985737A CN 113985737 A CN113985737 A CN 113985737A CN 202111258694 A CN202111258694 A CN 202111258694A CN 113985737 A CN113985737 A CN 113985737A
Authority
CN
China
Prior art keywords
control system
packet loss
networked control
time delay
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111258694.5A
Other languages
Chinese (zh)
Inventor
王昭鸿
黄佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiangtan University
Original Assignee
Xiangtan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiangtan University filed Critical Xiangtan University
Priority to CN202111258694.5A priority Critical patent/CN113985737A/en
Publication of CN113985737A publication Critical patent/CN113985737A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The invention discloses a research of a networked control system with time delay and data packet loss. A novel controller design based on prediction is provided for the situation that random data packet loss and time delay exist in a transmission channel of a networked control system. The sequence of packet losses is modeled as a bernoulli process, compensated by a zero sequence pedestal (ZOH) based module. And the state predictor is used for obtaining the prediction state of the delay time. A novel modified model predictive controller is designed and provided in consideration of a packet loss compensator and a state predictor. Then, using a logical programming approach, all possible cases are taken into the prediction horizon. Thus, the cost function is adapted as a synchronous least Linear Matrix Inequality (LMI) with constraints. Therefore, the tool kit yalmpi was adopted to eventually solve this minimal programming problem.

Description

Research on networked control system with time delay and packet loss
Technical Field
The invention relates to the field of networked control systems, in particular to a method for solving the problems of time delay and data packet loss of a networked control system by using predictive control.
Background
In the past decades, due to the wide application of Networked Control Systems (NCSs) in unmanned aerial vehicles, intelligent transportation systems, mobile sensor networks, cloud computing, real-time systems, etc., people have generated a great interest in their research. It is well known that NCSs have various advantages, such as: low cost, easy installation and maintenance, and high data interchange.
However, unreliable communication networks and limited bandwidth lead to inevitable problems such as time delay and packet loss. These factors will undoubtedly greatly reduce the performance of NCSs, and even worse, may create severe instability. For example, time delays may occur when data is exchanged between network-shared devices. In addition, packet loss may occur when packets are transmitted from the controller to the actuator through unreliable communication channels. Therefore, it is necessary to research a networked control system having both time delay and packet loss.
Disclosure of Invention
Aiming at the problems of time delay and data packet loss of a networked control system, the invention discloses a research of the networked control system with time delay and data packet loss.
The technical scheme for solving the technical problems is as follows:
the sequence of packet losses is modeled as a bernoulli process, compensated by a zero sequence pedestal (ZOH) based module;
the state predictor is used for obtaining the prediction state of the delay time;
considering a packet loss compensator and a state predictor, a novel modified model prediction controller is provided, and compared with a cost function of a general model prediction controller, a state variable is replaced by a prediction variable obtained by the state predictor;
the invention has the technical effects that: because the networked control system has the problems of time delay and data packet loss, and the performance is reduced and the system is unstable due to the problems, the time delay problem and the data packet loss problem of the networked control system are improved by adopting a packet loss compensator and a state predictor;
drawings
FIG. 1 is a schematic block diagram of a networked control system with time delay and packet loss according to the present invention
FIG. 2 is a reconstructed networked control system proposed in the present invention
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, a functional block diagram of a research of a networked control system with time delay and data packet loss and a reconstructed networked control system according to the present invention provide a novel controller design based on prediction for the case of random packet loss and time delay in a transmission channel of the networked control system. Meanwhile, a novel correction model prediction controller is designed in consideration of a packet loss compensator and a state predictor. By taking the tool box yalcip, all possible cases are taken into the prediction horizon and the cost function is converted into a synchronous minimum linear matrix inequality with constraints. The method comprises the following specific steps:
step 1: assume a networked control system with time delay and packet loss as
Figure BDA0003323398420000021
Wherein y (t) is the output of the networked control system; rhokProbability, rho, for packet transmission from controller to actuator k1 represents the successful transmission of the data packet from the controller to the actuator; in contrast, ρkWhen transmission fails, packet loss occurs; u. ofc(t) is a control input directly from the controller; t is tdIs the latency of the networked control system; x (t) is the state quantity of the networked control system at the moment t.
Step 2: the state quantity at the next time can be obtained by the formula (2).
Figure BDA0003323398420000031
Figure BDA0003323398420000032
Figure BDA0003323398420000033
At the control input, a zero order keeper is also provided, so that when a packet is lost, the transmitted control input data does not drop to zero, but remains the same as the last time, i.e. the
ud(k)=ρkuc(k)+(1-ρk)ud(k-1) (5)
Wherein u isd(k) Is the input variable when packet loss occurs.
And step 3: constructing an augmented matrix
Figure BDA0003323398420000034
For simplicity, equation (6) is abbreviated as:
Z(k+1)=Azd(k)Z(k)+Bzd(k)uc(k) (7)
wherein,
Figure BDA0003323398420000035
and 4, step 4: the performance indicators of the system (7) are defined as:
Figure BDA0003323398420000036
wherein: e (k) ═ y (k) -r (k); r (k) -reference signal of kth step; q and R are respectively a semi-positive weighting matrix and a positive weighting matrix.
And 5: all cases were included in the prediction horizon:
Figure BDA0003323398420000041
Figure BDA0003323398420000042
Figure BDA0003323398420000043
wherein, beta0(k) And beta1(k) Is an uncertain variable. Finally, by using MATLAB toolboxYALMIP.

Claims (2)

1. The invention provides a novel controller design based on prediction aiming at the conditions of random packet loss and time delay in a transmission channel of a networked control system. Meanwhile, a novel correction model prediction controller is designed in consideration of a packet loss compensator and a state predictor. By taking the tool box yalcip, all possible cases are taken into the prediction horizon and the cost function is converted into a synchronous minimum linear matrix inequality with constraints.
2. According to the invention example application object and the control method in claim 1, the packet loss compensator and the state predictor of the networked control system apply the relevant data to the closed-loop control of the networked control system. The specific control method comprises the following steps:
step 1: assume a networked control system with time delay and packet loss as
Figure FDA0003323398410000011
Wherein y (t) is the output of the networked control system; rhokProbability, rho, for packet transmission from controller to actuatork1 represents the successful transmission of the data packet from the controller to the actuator; in contrast, ρkWhen transmission fails, packet loss occurs; u. ofc(t) is a control input directly from the controller; t is tdIs the latency of the networked control system; x (t) is the state quantity of the networked control system at the moment t.
Step 2: the state quantity at the next time can be obtained by the formula (2).
Figure FDA0003323398410000012
Figure FDA0003323398410000013
Figure FDA0003323398410000014
At the control input, a zero order keeper is also provided, so that when a packet is lost, the transmitted control input data does not drop to zero, but remains the same as the last time, i.e. the
ud(k)=ρkuc(k)+(1-ρk)ud(k-1) (5)
Wherein u isd(k) Is the input variable when packet loss occurs.
And step 3: constructing an augmented matrix
Figure FDA0003323398410000021
For simplicity, equation (6) is abbreviated as:
Z(k+1)=Azd(k)Z(k)+Bzd(k)uc(k) (7)
wherein,
Figure FDA0003323398410000022
and 4, step 4: the performance indicators of the system (7) are defined as:
Figure FDA0003323398410000023
wherein: e (k) ═ y (k) -r (k); r (k) -reference signal of kth step; q and R are respectively a semi-positive weighting matrix and a positive weighting matrix.
And 5: all cases were included in the prediction horizon:
Figure FDA0003323398410000024
Figure FDA0003323398410000025
Figure FDA0003323398410000026
Figure FDA0003323398410000027
Figure FDA0003323398410000028
wherein, beta0(k) And beta1(k) Is an uncertain variable. Finally, the solution was solved by using MATLAB toolbox YALMIP.
CN202111258694.5A 2021-10-27 2021-10-27 Research on networked control system with time delay and packet loss Pending CN113985737A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111258694.5A CN113985737A (en) 2021-10-27 2021-10-27 Research on networked control system with time delay and packet loss

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111258694.5A CN113985737A (en) 2021-10-27 2021-10-27 Research on networked control system with time delay and packet loss

Publications (1)

Publication Number Publication Date
CN113985737A true CN113985737A (en) 2022-01-28

Family

ID=79742895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111258694.5A Pending CN113985737A (en) 2021-10-27 2021-10-27 Research on networked control system with time delay and packet loss

Country Status (1)

Country Link
CN (1) CN113985737A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6556980B1 (en) * 1998-08-28 2003-04-29 General Cyberation Group, Inc. Model-free adaptive control for industrial processes
CN109856970A (en) * 2018-12-19 2019-06-07 哈尔滨理工大学 It is a kind of with network induce bounded time lag and loss of data it is limited when calm method
CN111045331A (en) * 2019-12-25 2020-04-21 北方工业大学 Networked control system and prediction output tracking control method
CN111193528A (en) * 2019-12-30 2020-05-22 哈尔滨工业大学 Gaussian filtering method based on non-linear network system under non-ideal condition
CN111413866A (en) * 2020-03-06 2020-07-14 大连理工大学 Time delay considered aero-engine distributed control law design and verification method
CN111585822A (en) * 2020-05-18 2020-08-25 青岛科技大学 Lifting model prediction compensation method for data packet loss in network system
CN111830826A (en) * 2020-05-29 2020-10-27 中国科学技术大学 Networked dual-mode self-adaptive time domain model control method and system
CN112702280A (en) * 2020-12-25 2021-04-23 深圳市高德信通信股份有限公司 Network data delay control method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6556980B1 (en) * 1998-08-28 2003-04-29 General Cyberation Group, Inc. Model-free adaptive control for industrial processes
CN109856970A (en) * 2018-12-19 2019-06-07 哈尔滨理工大学 It is a kind of with network induce bounded time lag and loss of data it is limited when calm method
CN111045331A (en) * 2019-12-25 2020-04-21 北方工业大学 Networked control system and prediction output tracking control method
CN111193528A (en) * 2019-12-30 2020-05-22 哈尔滨工业大学 Gaussian filtering method based on non-linear network system under non-ideal condition
CN111413866A (en) * 2020-03-06 2020-07-14 大连理工大学 Time delay considered aero-engine distributed control law design and verification method
CN111585822A (en) * 2020-05-18 2020-08-25 青岛科技大学 Lifting model prediction compensation method for data packet loss in network system
CN111830826A (en) * 2020-05-29 2020-10-27 中国科学技术大学 Networked dual-mode self-adaptive time domain model control method and system
CN112702280A (en) * 2020-12-25 2021-04-23 深圳市高德信通信股份有限公司 Network data delay control method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
郭斌: "一种基于丢包预测的选择性网络编码策略", 《计算机科学》, vol. 46, no. 11, pages 399 - 405 *

Similar Documents

Publication Publication Date Title
CN111045331B (en) Networked control system and prediction output tracking control method
Gupta et al. Optimal LQG control across packet-dropping links
Hu et al. Event-triggered H∞ stabilization for networked stochastic systems with multiplicative noise and network-induced delays
CN107463095B (en) Design method of output feedback controller with time-varying sampling period
Hu et al. Distributed event-triggered tracking control of second-order leader-follower multi-agent systems
CN104065545A (en) RS485 bus communication method based on Modbus protocol and power electronic system based on communication method
CN110620528A (en) Multichannel direct current motor system control method based on second-order supercoiled sliding mode
Polshchykov et al. Justification for the decision on loading channels of the network of geoecological monitoring of resources of the agroindustrial complex
Huang et al. State and fault estimation for nonlinear systems subject to censored measurements: A dynamic event‐triggered case
US11658488B2 (en) Photovoltaic power optimization system
CN113985737A (en) Research on networked control system with time delay and packet loss
CN111077781B (en) Networked control system and output tracking control method thereof
CN113242311A (en) Electric vehicle domain architecture network control automatic emergency brake control system and scheduling method thereof
CN105607603A (en) Networked control system and control method capable of compensating time delay and packet loss
CN111061154A (en) Incremental networked predictive control method and system for engineering control
CN110213815B (en) Relay system power control method based on statistical channel state information
CN111025913A (en) Networked predictive control method and system for engineering control
CN108646566B (en) Sampling-based slave torque feedback control method of bilateral teleoperation system
CN113110113B (en) Method for realizing grouping consistency of discrete multi-agent system with communication constraint
Ma et al. Transmission scheduling for multi-loop wireless networked control based on LQ cost offset
CN112290584B (en) Rural wind-solar-diesel-storage micro-grid frequency control method and device and terminal equipment
Yun et al. Information update for multi-source remote estimation in real-time monitoring networks
Dong et al. Incremental networked predictive control of multi‐agent systems with plant‐model mismatch and random communication constraints
Pei et al. A joint blocklength and location optimization scheme for UAV-assisted smart port communication
Dolgov et al. Event-based LQG control over networks with random transmission delays and packet losses

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20220128

WD01 Invention patent application deemed withdrawn after publication