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

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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
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control system
packet loss
networked control
time delay
controller
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王昭鸿
黄佳
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Xiangtan University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive 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
    • G05B13/042—Adaptive 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

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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)

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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
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* 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

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