CN116736775A - Intelligent event trigger control method, device, equipment and medium based on encoder - Google Patents
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Abstract
The application relates to an intelligent event trigger control method, device, equipment and medium based on an encoder, wherein the method comprises the following steps: the method comprises the steps that a controlled object and a controller of a nonlinear networked control system model respectively output a first control output and a second control output, and sampling is carried out in a sensor to obtain sampling parameters; judging whether an event is triggered or not based on the sampling parameters through an event triggering mechanism; if the event is triggered, outputting a trigger time output signal through an event trigger mechanism, and encoding the trigger time output information through an encoder to obtain encoding parameters; transmitting the coding parameters to a decoder through a network for decoding to obtain decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer. When the application is under DoS attack, the situations that the communication network can not normally transmit signals and the system is out of control are avoided, and the performance and stability of the nonlinear networked control system are improved.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to an intelligent event trigger control method, apparatus, device, and medium based on an encoder.
Background
The nonlinear Networked Control Systems (NCSs) are capable of closed loop control of the control system over a communication network. The remote control system overcomes the geographic limitation, can control a plurality of controllers and sensors distributed in different regions, realizes remote control based on network connection, has the advantages of convenient installation, low installation cost, good reliability, strong expansibility and flexibility and the like, and is widely applied to various fields of production and living such as power system control, traffic control, process control, environmental control, distributed robots and the like.
However, in the actual control process of the nonlinear networked system, the stability of the system is affected by the network bandwidth. The event triggering control can effectively solve the problem of limited network bandwidth, and reduce the transmission burden of the communication network while ensuring the system performance. Unlike conventional control methods, event-triggered control is sampled and controlled at regular intervals, but only when a specific event occurs. These events may be changes in sensor readings, changes in system state, or other specific trigger conditions. When an event occurs, the controller calculates the control signal and sends it to the actuator, and the controller does not make any calculations or communication until the next event occurs. Such a control strategy may effectively reduce the computational and communication load of the controller, thereby improving the efficiency and performance of the system.
In the actual network communication signaling process, the communication network of the nonlinear networked control system may also be threatened by a network attack, such as a denial of service (DoS) attack, so as to disrupt the normal operation of the nonlinear networked control system. An attacker of the DoS attack occupies the bandwidth, processing capacity or storage space of the system by sending a large number of requests or data packets to the target system, so that the system cannot respond to the requests of legal users. Once the nonlinear networked control system suffers DoS attack, the communication network cannot normally transmit signals, which is likely to cause the system to lose control, interrupt service, influence public safety and production and life order, and even cause accidents.
Disclosure of Invention
The embodiment of the application aims to provide an intelligent event triggering control method, device, equipment and medium based on an encoder, so as to avoid the situation that a communication network cannot normally transmit signals and a system loses control when a DoS attack is suffered, and improve the performance and stability of a nonlinear networked control system.
In order to solve the above technical problems, an embodiment of the present application provides an intelligent event trigger control method based on an encoder, including:
the method comprises the steps that a controlled object and a controller of a nonlinear networked control system model respectively output a first control output and a second control output;
sampling in a sensor based on the first control output, the second control output and a sampling mechanism to obtain sampling parameters;
judging whether an event is triggered or not based on the sampling parameter through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model;
if the event is triggered, outputting a trigger time output signal through the event trigger mechanism, and encoding the trigger time output information through the encoder to obtain encoding parameters;
and transmitting the coding parameters to a decoder through a network to decode, obtaining decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer.
In order to solve the above technical problems, an embodiment of the present application provides an intelligent event trigger control device based on an encoder, including:
the control output unit is used for respectively outputting a first control output and a second control output through a controlled object of the nonlinear networked control system model and a controller;
the sampling unit is used for sampling in the sensor based on the first control output, the second control output and a sampling mechanism to obtain sampling parameters;
the trigger judging unit is used for judging whether an event is triggered or not based on the sampling parameter through an event trigger mechanism, wherein the event trigger mechanism is a trigger mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model;
the coding unit is used for outputting a trigger time output signal through the event trigger mechanism if the event is triggered, and coding the trigger time output information through the coder to obtain coding parameters;
and the decoding unit is used for transmitting the coding parameters to a decoder through a network to decode, obtaining decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer.
In order to solve the technical problems, the application adopts a technical scheme that: a computer device is provided comprising one or more processors; a memory for storing one or more programs to cause the one or more processors to implement the encoder-based intelligent event trigger control method of any of the above.
In order to solve the technical problems, the application adopts a technical scheme that: a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the encoder-based intelligent event trigger control method of any of the above.
The embodiment of the application provides an intelligent event trigger control method, device, equipment and medium based on an encoder. The method comprises the following steps: the method comprises the steps that a controlled object and a controller of a nonlinear networked control system model respectively output a first control output and a second control output; sampling in the sensor based on the first control output, the second control output and a sampling mechanism to obtain sampling parameters; judging whether an event is triggered or not based on sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model; if the event is triggered, outputting a trigger time output signal through an event trigger mechanism, and encoding the trigger time output information through an encoder to obtain encoding parameters; transmitting the coding parameters to a decoder through a network for decoding to obtain decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer. The embodiment of the application uses the periodic attack characteristic of the DoS attack, avoids the interference of the DoS attack when the parts of the nonlinear networked control system are interacted, ensures that the required data can be normally transmitted and communicated, and avoids the condition that the communication network can not normally transmit signals and the system is out of control when the DoS attack is suffered, thereby improving the performance and the stability of the nonlinear networked control system.
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In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for the description of the embodiments of the present application, it being apparent that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without the exercise of inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a system architecture of an intelligent encoder-based event trigger control method according to an embodiment of the present application;
FIG. 2 is a flowchart of an implementation of a process of an intelligent event trigger control method based on an encoder according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an attack cycle process of a DoS attack disruptor according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an intelligent event trigger control mechanism based on an encoder under a DoS attack according to an embodiment of the present application;
FIG. 5 is a schematic diagram of the relationship between the trigger successful receiving time and the DoS period, wherein the virtual trigger time is based on the intelligent event trigger control mechanism of the encoder under the DoS attack;
FIG. 6 is a schematic diagram of a variation trace of an intelligent event trigger control method based on an encoder according to an embodiment of the present application;
fig. 7 is a schematic diagram of a change track of a trigger time from a controlled object to a controller channel, a trigger time from the controller to the controlled object channel, and related system output under the action of an intelligent event trigger control mechanism based on an encoder in the intelligent event trigger control method based on an encoder according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an intelligent encoder-based event trigger control device according to an embodiment of the present application;
fig. 9 is a schematic diagram of a computer device according to an embodiment of the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.
The present application will be described in detail with reference to the drawings and embodiments.
It should be noted that, the intelligent event trigger control method based on the encoder provided by the embodiment of the present application is generally executed by a server, and correspondingly, the intelligent event trigger control device based on the encoder is generally configured in the server.
Referring to fig. 1 and 2, fig. 1 is a schematic system structure diagram of an intelligent event trigger control method based on an encoder according to an embodiment of the present application, and fig. 2 shows a specific implementation manner of the intelligent event trigger control method based on an encoder.
It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 1, and the method includes the following steps:
s1: and respectively outputting a first control output and a second control output through a controlled object and a controller of the nonlinear networked control system model.
S2: sampling is performed in the sensor based on the first control output, the second control output and a sampling mechanism, and sampling parameters are obtained.
S3: and judging whether an event is triggered or not based on the sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model.
S4: and if the event is triggered, outputting a trigger time output signal through the event trigger mechanism, and encoding the trigger time output information through the encoder to obtain encoding parameters.
S5: and transmitting the coding parameters to a decoder through a network to decode, obtaining decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer.
In the embodiment of the application, a controlled object and a controller of a nonlinear networked control system model respectively output a first control output and a second control output y 1 (t),y 2 (t) then sampling in the sensor based on the first control output, the second control output and a sampling mechanism to obtain a sampling parameter and />Then based on the encoder, sampling mechanism and event trigger mechanism constructed by the attack period of the DoS attack model, judging whether the event is triggered, if so, outputting trigger time output signal y 1 (t k ),y 2 (m j ) The method comprises the steps of carrying out a first treatment on the surface of the Second, the triggered event is encoded at the encoder as an encoding parameter Z 1 (k)，Z 2 (j) And decoded at a decoder as decoding parameters after transmission over a communication network>Wherein, in the transmission process of the communication network, the signal is possibly suffered from DoS attack, so that the whole system stops service; finally, the successfully decoded decoding parameters pass through a Zero Order Holder (ZOH) and are received and used by a receiving end.
In the embodiment of the application, the principle of the event triggering method used by the controlled object to controller channel and the controlled object to controller channel is consistent, so the embodiment of the application specifically introduces an intelligent event triggering control method, an operation mechanism and performance analysis based on an encoder by taking the controlled object to controller channel as an example.
Further, before step S1, an embodiment is provided: and establishing the nonlinear networked control system model.
The nonlinear networked control system model is as follows:
wherein ,/>
wherein ,G1 G for the controlled object 2 In order for the controller to be a function of the controller,in order to control the input of the device,for controlling the output +.>For the system state of the controlled object, < >>For the system state of the controller ， y 1 (t)、y 2 (t) ∈R is the system output, u 1 (t)、u 2 (t) ∈R is the system input; the output signals of the controlled object and the controller are asynchronously interacted between the controlled object to controller channel and the controller to controlled object channel.
Further, the controlled object end and the controller end are respectively provided with a sensor, an event trigger, an encoder, a decoder and a zero-order retainer. In the transmission process, the controlled object and the controller are sampled by the sensor to obtain corresponding states and outputs; the event trigger is established based on the encoder, and the event meeting the trigger condition of the event trigger and the corresponding system output are recorded; the system output of the trigger event is encoded and decoded by the encoder and decoder.
In a specific embodiment, as shown in fig. 3, fig. 3 is a schematic diagram of an attack cycle process of a DoS attack disruptor according to an embodiment of the present application.
The DoS attack model is as follows:
wherein T is more than 0, and is the duration of any working period of the DoS attack; t (T) off > 0, the duration of the sleep period in a DoS attack; h epsilon N, which represents the number of cycles of the DoS attack; the time sequence { hT } (h e N) represents the start time of the h DoS attack duty cycle; [ hT, hT+T ] off ) Sleep period representing the h DoS attack model duty cycle, [ hT+T ] off (h+1) T) represents the attack period of the h-th DoS attack model work period. At the position ofD in the attack period of the DoS attack model DoS (t) =1, the interference signal is active, the communication network cannot transmit, and the system cannot work normally; d in sleep period of DoS attack model DoS (t) =0, the interference signal sleeps, the communication network can transmit, and the system can work normally.
Referring to fig. 4 and fig. 5, fig. 4 is a schematic diagram of an intelligent event trigger control mechanism based on an encoder under DoS attack according to an embodiment of the present application; fig. 5 is a schematic diagram of a relationship between a trigger success receiving time and a DoS period, which is provided by an embodiment of the present application and is based on a virtual trigger time of an intelligent event trigger control mechanism of an encoder under a DoS attack.
The application also provides a specific implementation mode: the event trigger mechanism is constructed based on the encoder, the sampling mechanism, and the attack period of the DoS attack model.
The event triggering mechanism is as follows:
the sampling signal may have a phenomenon of inversion after triggering, and the output error may exceed the maximum coding error. Make the following stepsLimiting it to a quantization range. Wherein Y is 1 ∈R + Is a constant, used to represent +.>Upper limit of z 1 [p]For the encoder center point, +.>For the sampling instant +.>For system output at sampling time, θ 1 ∈R + Is a trigger parameter.
As shown in fig. 4, fig. 4 illustrates in detail the sampling instantVirtual trigger time t k And the final actual successful reception instant (i.e. decoding instant)/(decoding instant)>Relationship with DoS attack period. Some trigger signals may not be transmitted due to the effects of DoS attacks. Therefore, the embodiment of the application introduces the virtual trigger time of the additional trigger. The virtual trigger time ensures that all trigger signals required can be normally transmitted in the same DoS attack period, and the trigger event signals can be successfully received by the decoder and the controller, so that DoS attack interference is resisted.
At the sampling time of the sampling parameterEstablishing an encoder and a decoder, wherein the encoder is;
wherein ,k∈N* Representing the number of virtual event triggers, t k Triggering time for the kth virtual event; p epsilon N, the number of updates of the encoder center point, z 1 [p]For the center point of the encoder,the update time of the p-th encoder center point is represented, sgn (·) is a sign function.
Further, at the sampling instantWhen the encoder center point is z 1 [p]And at->Updating the time of day, wherein->The update rule of (2) is:
the updating rule of the encoder center point is as follows:
wherein ,is a downward integer function. The encoder is designed as a binary hybrid encoder, the transmission codeword is divided into two parts, < >>Representing the updated center point z 1 [p]And the decoder decodes only once for each update of the center point. />Indicating the direction of encoder movement. In addition, the first encoding requires an additional determination of the specific coding interval in which the initial value is located, i.e. +.>Representing the initial encoded signal locating the initial sub-encoded interval. Let-> wherein 2△1 ∈R + Is the maximum coding error of the encoder, w 1 Is the reference input of the system,/->Is a parameter of the encoder. To ensure that the initial output value of the device can fall within the encoding range of the encoder, let delta 10 ＝ε 1 Δ 1 (/>ε 1 Is a fixed constant), the initial output value y of the controlled object 1 (0) Satisfy->The initial coding interval +.>Dividing into epsilon 1 Sub-coding interval and determining initial value y 1 (0) Within which sub-coding section it falls. After the first event is triggered, the encoder and the center point thereof are updated, and the encoding interval is changed into [ z ] 1 [p]-2Δ 1 ,z 1 [p]+2Δ 1 ]And transmitting the trigger signal after encoding. Not every virtual trigger time t due to the influence of DoS attacks k The signals of the trigger event can be successfully received, and virtually every virtual trigger time t is not required in the design of the embodiment of the application k The trigger event is only required to ensure that one trigger event signal can be received successfully by the decoder in each DoS attack period, namely the receiving time of the truly successful trigger event is +.>The decoder decodes the transmission codeword to +.>At this time->At->During the period, if->The decoder does not decode if not. According to encoder and center point z 1 [p]The decoder constructed is as follows:
wherein ,a∈N* Indicating the number of times the decoder successfully accepts and decodes,for the time of successful reception and decoding by the a-th decoder, 2Δ 1 Is the maximum coding error of the encoder.
In a specific embodiment, an example of the update rules and event triggering mechanism of the encoder is shown in fig. 5. Design encoder t 1 The initial center point is z 1 [0]The transmission direction is right. When the sampled output signal satisfiesWhen the first trigger event occurs, the trigger time is recorded as. According to the coding rule of the encoder, output signal y 1 (t 1 ) Is encoded as Z 1 [1]The transmission is performed through a communication network. Since the sampled signal is discrete, under the action of the event trigger mechanism, the output signal y 1 (t 1 ) May cross the boundary z 1 [0]+2θ 1 Δ 1 But not exceeding z 1 [0]+2Δ 1 Final y 1 (t 1 ) Trigger zone [ z 1 [0]+2θ 1 Δ 1 ,z 1 [0]+2Δ 1 ]The inner is successfully triggered. At this time, the encoder z 1 [0]The encoder center point of (1) is not necessarily updated, the update time of the center point +.>Updating the gauge from the above center pointThen it is determined. After the transmission is completed, the output signal starts to wait for the next round of triggering.
In summary, under the condition of DoS attack, the embodiment of the application effectively reduces the bandwidth capacity required by communication and saves b 1 Channel resources meet the transmission requirement under the limited bandwidth, and can resist the interference of DoS attack, so that the system b when DoS attack occurs 2 The required data can still be transmitted.
In the embodiment of the application, sufficient conditions for guaranteeing the QSR dissipation, stability and input feedforward and output feedback passivity of a nonlinear networked control system and avoiding Zeno behaviors need to be established. The nonlinear networked control system model G is composed of a controlled object subsystem G 1 And a controller subsystem G 2 The composition is formed. Controlled object subsystem G 1 And a controller subsystem G 2 Has input feedforward and output feedback passivity, wherein the passivity index of the input feedforward is a 1 ,a 2 And the passive index of the output feedback is b 1 ,b 2 . In the embodiment of the application, when the interference of DoS attack is encountered, the nonlinear networked control system model G can ensure the QSR dissipation of the system model G under the action of the established encoder, decoder and event trigger mechanism. And when Q < 0, the system model G has a finite gain L 2 Stability.
That is, if the interference of the DoS attack is received, the storage function of the nonlinear networked control system model meets a first preset condition;
the first preset condition is as follows:
wherein ,
wherein y (t) is the control input,for the control output, y T (t)、/>Are respective transposes of the control inputs and control outputs. Gamma ray 1 、γ 2 ∈R + To satisfy the constant of the inequality property, h 1 、h 2 ∈R + Is a parameter of the encoder. Q, S, R is a constant matrix satisfying a first preset condition, Q 11 ，Q 22 ，R 11 ，R 22 Is the corresponding element of the constant matrices Q and R.
The nonlinear networked control system model G has input feed forward and output feedback passivity through established encoder, decoder and encoder-based event triggering mechanisms when subjected to disturbances such as DoS attacks. Namely, if the nonlinear networked control system model meets the input feedforward and output feedback passivity, the storage function meets a second preset condition;
the second preset condition is:
wherein , H 11 ＝-a 2 +||a 2 ||+α；/>
v (t) is the storage function, and alpha and beta are indexes of the nonlinear networked control system model input feedforward and output feedback. K. H is a constant matrix meeting a second preset condition, K 11 ，K 22 ，H 11 ，H 22 Is the corresponding element of the constant matrices K and H.
Further, when sampling by the sensor, there is a sampling interval between the two samplings. Thus, the controlled object subsystem G 1 And a controller subsystem G 2 Is always larger than the sampling interval, i.e. must be larger than zero, so the Zeno behavior does not occur.
Further, the embodiment of the application detects the nonlinear networked control system through the detection module, and determines whether the nonlinear networked control system is stable or not and whether Zeno behaviors occur or not according to the detection result.
Referring to fig. 6 and fig. 7, fig. 6 is a schematic diagram of a variation trace of an intelligent event trigger control method based on an encoder according to an embodiment of the present application; fig. 7 is a schematic diagram of a change track of a trigger time from a controlled object to a controller channel, a trigger time from the controller to the controlled object channel, and related system output under the action of an intelligent event trigger control mechanism based on an encoder in the intelligent event trigger control method based on an encoder according to an embodiment of the present application. The application provides a specific embodiment, the nonlinear networked control system model G 1 and G2 ：
Reference inputIs a constant. />Is gaussian white noise. As shown in FIG. 6, the controlled object and control are displayedThe state of the controller exhibits the stability of the nonlinear networked system G. The input feed-forward and output feedback indices of the object and controller are a 1 ＝0，b 1 ＝0.9，a 2 ＝0，b 2 =1. The initial state of the controlled object and the controller device is +.>Andstore function is +.>Selecting a sampling step length of a sensor to be 0.01, wherein the sleep period of an interference signal of a DoS (do-s-interference) device on a channel from a controlled object to a controller to be 0.01, and the active period of the DoS interference device to be 0.02; the sleep period of the interference signal on the channel from the controller to the controlled object is 0.01, and the active period is 0.03. As shown in FIG. 7, the controlled object output y is presented 1 (t) at the virtual trigger time t k Output y of (2) 1 (t k ) And +.>Is->Relationship between and controller output y 2 (t) at virtual trigger time m j Output y of (2) 2 (m j ) And +.>Is->Relationship between them.
The embodiment of the application has the following beneficial effects:
(1) Channel resources are saved. The event triggering method provided by the embodiment of the application creatively combines the periodic characteristic of the DoS attack with the sampling mechanism and the encoder, greatly reduces the bandwidth capacity required by communication among all parts of the nonlinear networked control system, effectively saves channel resources, meets the transmission requirement under the limited bandwidth, and is high-efficiency service. (2) The interference of the external malicious periodic DoS attack is effectively resisted. The event triggering method provided by the embodiment of the application avoids the interference of the DoS attack during the interaction among the parts of the nonlinear networked control system by using the periodic attack characteristic of the DoS attack, so that the required data can be normally transmitted and communicated. (3) The method has instantaneity and effectively ensures the good performance of the nonlinear networked control system. The event triggering method based on the encoder, the related device and the equipment provided by the embodiment of the application have stronger real-time performance, can be used for rapidly detecting and identifying the event meeting the triggering condition, rapidly discovering and processing the potential problem, and improving the stability and the reliability of the system.
Referring to fig. 8, as an implementation of the method shown in fig. 1, the present application provides an embodiment of an intelligent event trigger control device based on an encoder, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 1, and the device may be applied to various electronic devices specifically.
As shown in fig. 8, the intelligent event trigger control apparatus based on the encoder of the present embodiment includes: a control output unit 61, a sampling unit 62, a trigger judging unit 63, an encoding unit 64, and a decoding unit 65, wherein:
a control output unit 61 for outputting a first control output and a second control output, respectively, through a controlled object and a controller of the nonlinear networked control system model;
a sampling unit 62, configured to sample in the sensor based on the first control output, the second control output, and a sampling mechanism, to obtain a sampling parameter;
a trigger judging unit 63, configured to judge whether an event is triggered based on the sampling parameter by an event trigger mechanism, where the event trigger mechanism is a trigger mechanism constructed based on an encoder, the sampling mechanism, and an attack period of a DoS attack model;
the encoding unit 64 is configured to output a trigger time output signal through the event trigger mechanism if an event is triggered, and encode the trigger time output information through the encoder to obtain an encoding parameter;
the decoding unit 65 is configured to transmit the encoded parameter to a decoder through a network for decoding, obtain a decoded parameter, and transmit the decoded parameter to a receiving end through a zero-order holder.
Further, before controlling the output unit 61, it further includes:
the model system model building unit is used for building the nonlinear networked control system model, wherein the nonlinear networked control system model is as follows:
wherein ,/>
wherein ,G1 G for the controlled object 2 In order for the controller to be a function of the controller,in order to control the input of the device,for controlling the output +.>For the system state of the controlled object, < >>Y is the system state of the controller 1 (t)、y 2 (t) ∈R is the system output, u 1 (t)、u 2 (t) ∈R is the system input; the output signals of the controlled object and the controller are asynchronously interacted between the controlled object to controller channel and the controller to controlled object channel.
Further, the DoS attack model is:
wherein T is more than 0, and is the duration of any working period of the DoS attack; t (T) off > 0, the duration of the sleep period in a DoS attack; h epsilon N, which represents the number of cycles of the DoS attack; the time sequence { hT } (h e N) represents the start time of the h DoS attack duty cycle; [ hT, hT+T ] off ) Sleep period representing the h DoS attack model duty cycle, [ hT+T ] off (h+1) T) represents the attack period of the h-th DoS attack model work period.
Wherein, in the attack period of the DoS attack model, D DoS (t) =1, the interference signal is active, the communication network cannot transmit, and the system cannot work normally; d in sleep period of DoS attack model DoS (t) =0, the interference signal sleeps, the communication network can transmit, and the system can work normally.
Further, the intelligent event trigger control device based on the encoder further comprises:
encoder and decryptor building units for, at sampling instants of said sampling parametersEstablishing an encoder and a decoder, wherein the encoder is;
the decoder is:
wherein ,k∈N* ， Representing the number of virtual event triggers, t k Is the kthTriggering time of secondary virtual event; a epsilon N * Indicating the number of times the decoder successfully accepts and decodes,for the time of successful reception and decoding by the a-th decoder, 2Δ 1 Is the maximum coding error of the encoder, p epsilon N, is the update times of the center point of the encoder, z 1 [p]For the encoder center point, +.>Indicating the update time of the p-th encoder center,/time>For the moment of the first update of the encoder centre point sgn (·) is a sign function,/>An initial coding signal representing a locating initial sub-coding section, a>For the total number of updated encoder center points, +.>Indicating the direction in which the encoder is moving.
Further, the intelligent event trigger control device based on the encoder further comprises:
an updating unit for at the sampling timeWhen the center point of the encoder is z 1 [p]And atUpdating the time of day, wherein->The update rule of (2) is:
the updating rule of the encoder center point is as follows:
wherein ,is a downward integer function.
Further, before the trigger determining unit 63, further includes:
an event trigger mechanism constructing unit, configured to construct the event trigger mechanism based on the encoder, the sampling mechanism, and an attack period of the DoS attack model;
wherein, the event triggering mechanism is as follows:
wherein ,z1 [p]For the center point of the encoder,for the sampling instant +.>For system output at sampling time, θ 1 ∈R + Is a trigger parameter. .
Further, the intelligent event trigger control device based on the encoder further comprises:
the first storage function limiting unit is used for enabling the storage function of the nonlinear networked control system model to meet a first preset condition if the interference of the DoS attack is received;
the first preset condition is as follows:
wherein ,
wherein V (t) is the storage function, a of the nonlinear networked control system G 1 、a 2 B for inputting feedforward index 1 、b 2 To output a feedback indicator. Gamma ray 1 、γ 2 ∈R + To satisfy the constant of the inequality property, h 1 、h 2 ∈R + Y (t) is the control input for the encoder parameters,for the control output, y T (t)、/>Are respective transposes of the control inputs and control outputs. Q, S, R is a constant matrix satisfying a first preset condition, Q 11 ，Q 22 ，R 11 ，R 22 Is the corresponding element of the constant matrices Q and R.
The second storage function limiting unit is used for enabling the storage function to meet a second preset condition if the nonlinear networked control system model meets the input feedforward and output feedback passivity;
the second preset condition is:
wherein , H 11 ＝-a 2 +||a 2 ||+α；/>v (t) is the storage function. K. H is a constant matrix meeting a second preset condition, K 11 ，K 22 ，H 11 ，H 22 Is the corresponding element of the constant matrices K and H. Alpha and beta are indexes of the nonlinear networked control system model input feedforward and output feedback.
In order to solve the technical problems, the embodiment of the application also provides computer equipment. Referring specifically to fig. 9, fig. 9 is a basic structural block diagram of a computer device according to the present embodiment.
The computer device 8 comprises a memory 81, a processor 82, a network interface 83 communicatively connected to each other via a system bus. It should be noted that only a computer device 8 having three components memory 81, a processor 82, a network interface 83 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer device may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The computer device can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 81 includes at least one type of readable storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 81 may be an internal storage unit of the computer device 8, such as a hard disk or memory of the computer device 8. In other embodiments, the memory 81 may also be an external storage device of the computer device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the computer device 8. Of course, the memory 81 may also include both internal storage units of the computer device 8 and external storage devices. In this embodiment, the memory 81 is typically used to store an operating system and various types of application software installed on the computer device 8, such as program codes of an intelligent event-triggered control method based on an encoder. Further, the memory 81 may be used to temporarily store various types of data that have been output or are to be output.
The processor 82 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 82 is typically used to control the overall operation of the computer device 8. In this embodiment, the processor 82 is configured to execute the program code stored in the memory 81 or process data, for example, execute the program code of the above-described intelligent event trigger control method based on the encoder, so as to implement various embodiments of the intelligent event trigger control method based on the encoder.
The network interface 83 may comprise a wireless network interface or a wired network interface, which network interface 83 is typically used to establish a communication connection between the computer device 8 and other electronic devices.
The present application also provides another embodiment, namely, a computer readable storage medium storing a computer program executable by at least one processor to cause the at least one processor to perform the steps of an encoder-based intelligent event trigger control method as described above.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method of the embodiments of the present application.
It is apparent that the above-described embodiments are only some embodiments of the present application, but not all embodiments, and the preferred embodiments of the present application are shown in the drawings, which do not limit the scope of the patent claims. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the scope of the application.
Claims (10)
1. An intelligent event trigger control method based on an encoder, which is characterized by comprising the following steps:
the method comprises the steps that a controlled object and a controller of a nonlinear networked control system model respectively output a first control output and a second control output;
sampling in a sensor based on the first control output, the second control output and a sampling mechanism to obtain sampling parameters;
judging whether an event is triggered or not based on the sampling parameter through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model;
if the event is triggered, outputting a trigger time output signal through the event trigger mechanism, and encoding the trigger time output information through the encoder to obtain encoding parameters;
and transmitting the coding parameters to a decoder through a network to decode, obtaining decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer.
2. The encoder-based intelligent event trigger control method of claim 1, wherein before the controlled object and the controller via the nonlinear-networking control system model output the first control output and the second control output, respectively, the method further comprises:
establishing the nonlinear networked control system model, wherein the nonlinear networked control system model is as follows: wherein ,/>
wherein ,G1 G for the controlled object 2 In order for the controller to be a function of the controller,for control input +.>For controlling the output +.>For the system state of the controlled object, < >>Y is the system state of the controller 1 (t)、y 2 (t) ∈R is the system output, u 1 (t)、u 2 (t) ∈R is the system input; the output signals of the controlled object and the controller are asynchronously interacted between the controlled object to controller channel and the controller to controlled object channel.
3. The intelligent event trigger control method based on an encoder according to claim 1, wherein the DoS attack model is:
wherein t is the running time of the DoS attack model; t > 0, is the duration of any one duty cycle of the DoS attack; t (T) off > 0, the duration of the sleep period in the DoS attack; h epsilon N, which represents the cycle number of the DoS attack; the time sequence { hT } (h e N) represents the start time of the h DoS attack duty cycle; [ hT, hT+T ] off ) Sleep period representing the h-th said DoS attack model working period, [ ht+t ] off (h+1) T) represents an attack period of the DoS attack model work period for the h time;
wherein, in the attack period of the DoS attack model, D DoS (t) =1, the interference signal is active, the communication network cannot transmit, and the system cannot work normally; d in sleep period of DoS attack model DoS (t) =0, the interference signal sleeps, the communication network can transmit, and the system can work normally.
4. The encoder-based intelligent event trigger control method of claim 1, further comprising:
at the sampling time of the sampling parameterEstablishing an encoder and a decoder, wherein the encoder is;
the decoder is:
wherein ,k∈N* Representing the number of virtual event triggers, t k Triggering time for the kth virtual event; a epsilon N * Indicating the number of times the decoder successfully accepts and decodes,for the time of successful reception and decoding by the a-th decoder, 2Δ 1 Is the maximum coding error of the encoder, p epsilon N, is the update times of the center point of the encoder, z 1 [p]For the encoder center point, +.>Indicating the update time of the p-th encoder center,/time>For the moment of the first update of the encoder centre point sgn (·) is a sign function,/>Representation and determinationAn initial coding signal of a bit initial sub-coding section, < >>To be updated for the total number of encoder center points,indicating the direction in which the encoder is moving.
5. The encoder-based intelligent event trigger control method of claim 4, further comprising:
at the sampling timeWhen the center point of the encoder is z 1 [p]And at->Updating the time of day, wherein->The update rule of (2) is:
the updating rule of the encoder center point is as follows:
wherein ,is a downward integer function.
6. The intelligent encoder-based event trigger control method according to claim 5, wherein before the determining, by the event trigger mechanism, whether an event is triggered based on the sampling parameter, the method further comprises:
constructing the event trigger mechanism based on the encoder, the sampling mechanism and the duty cycle of the DoS attack model;
wherein, the event triggering mechanism is as follows:
wherein ,z1 [p]For the center point of the encoder,for the sampling instant +.>For system output at sampling time, θ 1 ∈R + Is a trigger parameter.
7. The encoder-based intelligent event trigger control method according to any of claims 1 to 6, wherein the method further comprises:
if the interference of the DoS attack is received, the storage function of the nonlinear networked control system model meets a first preset condition;
the first preset condition is as follows:
wherein ,
R 22 ＝-a 2 +||a 2 ||；
wherein V (t) is a storage function of the nonlinear networked control system model, a 1 、a 2 Inputting feedforward index for system, b 1 、b 2 To output feedback index, gamma 1 、γ 2 ∈R + To satisfy the constant of the inequality property, h 1 、h 2 ∈R + Y (t) is the control input for the encoder parameters,for the control output, y T (t)、/>For the corresponding transpose of the control input and control output Q, S, R is a matrix of constant values meeting the first preset condition, Q 11 ，Q 22 ，R 11 ，R 22 Corresponding elements of constant matrices Q and R;
if the nonlinear networked control system model meets the input feedforward and output feedback passivity, the storage function meets a second preset condition;
the second preset condition is:
wherein , H 11 ＝-a 2 +||a 2 ||+α；/>
wherein K, H is a constant matrix, K, satisfying a second preset condition 11 ，K 22 ，H 11 ，H 22 Alpha and beta are indexes of input feedforward and output feedback of the nonlinear networked control system model for corresponding elements of constant matrixes K and H.
8. An intelligent event trigger control device based on an encoder, comprising:
the control output unit is used for respectively outputting a first control output and a second control output through a controlled object of the nonlinear networked control system model and a controller;
the sampling unit is used for sampling in the sensor based on the first control output, the second control output and a sampling mechanism to obtain sampling parameters;
the trigger judging unit is used for judging whether an event is triggered or not based on the sampling parameter through an event trigger mechanism, wherein the event trigger mechanism is a trigger mechanism constructed based on an encoder, the sampling mechanism and an attack period of a DoS attack model;
the coding unit is used for outputting a trigger time output signal through the event trigger mechanism if the event is triggered, and coding the trigger time output information through the coder to obtain coding parameters;
and the decoding unit is used for transmitting the coding parameters to a decoder through a network to decode, obtaining decoding parameters, and transmitting the decoding parameters to a receiving end through a zero-order retainer.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the encoder-based intelligent event trigger control method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the encoder-based intelligent event trigger control method according to any of claims 1 to 7.
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