CN116887413B - Communication resource allocation method and system for time delay sensitive control task - Google Patents

Communication resource allocation method and system for time delay sensitive control task Download PDF

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CN116887413B
CN116887413B CN202311139463.1A CN202311139463A CN116887413B CN 116887413 B CN116887413 B CN 116887413B CN 202311139463 A CN202311139463 A CN 202311139463A CN 116887413 B CN116887413 B CN 116887413B
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robot
aerial vehicle
unmanned aerial
control
downlink channel
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CN116887413A (en
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冯伟
方欣然
葛宁
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Tsinghua University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0457—Variable allocation of band or rate
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/391—Modelling the propagation channel
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/06—TPC algorithms
    • H04W52/08—Closed loop power control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0473—Wireless resource allocation based on the type of the allocated resource the resource being transmission power
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/23—Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/51—Allocation or scheduling criteria for wireless resources based on terminal or device properties
    • H04W72/512—Allocation or scheduling criteria for wireless resources based on terminal or device properties for low-latency requirements, e.g. URLLC
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention belongs to the technical field of wireless communication, and discloses a communication resource allocation method and a system for a delay sensitive control task, wherein the method comprises the following steps: determining an expression of a periodic rate of a downlink channel of the unmanned aerial vehicle-robot; determining a constraint on a transmission code length according to the control period; determining a state equation of a system controlled by each sensing calculation control closed loop, and establishing stability constraint of the system controlled by the sensing calculation control closed loop; establishing a cost-rate function; constructing a communication resource allocation problem about a downlink channel of the unmanned aerial vehicle-robot; and solving the communication resource allocation problem, and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel. The invention can identify the parameter difference between different control systems, and allocate the communication resources among different sensing calculation control closed loops in a mode of adapting to the control tasks, and compared with the traditional communication resource allocation scheme, the invention improves the capacity of the machine operation network for bearing the control tasks.

Description

Communication resource allocation method and system for time delay sensitive control task
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to a communication resource allocation method and system for a delay sensitive control task.
Background
Currently, with the continuous development of information technology, unmanned operation gradually goes from virtual to reality. Especially in the fields of emergency disaster relief, mining, petroleum exploration and the like, the operation danger is urgent to unmanned operation demands. However, in disaster areas, mines, oceans and other special areas, the ground infrastructure is weak and many areas are not covered effectively. At this time, the unmanned aerial vehicle is used as an air platform which can be flexibly deployed, can carry a portable base station and a perception and calculation module, and guides the field robot to complete various operation tasks through dynamic perception environment and intelligent analysis decision. Therefore, the unmanned plane and the field robot form a plurality of 'perception-communication-calculation-control' closed loops (called 'sensing calculation control' closed loops for short), the structure is like a reflection arc of a person, the environment change can be flexibly dealt with by means of continuous closed loop feedback, and various operation tasks can be automatically completed.
However, in the unmanned plane-robot cooperative operation network, communication is a bottleneck link in a closed loop of sensing calculation control, and the performance of the network for completing tasks is severely restricted. On one hand, most machine operations have the characteristic of time delay sensitivity, the 'sensing calculation control' closed loop needs to rely on high-frequency information interaction to adapt to the continuously-changing operation environment, and information transmission is constrained by a severe closed loop period; on the other hand, due to the load, the base station carried by the drone typically has a small transmit power, which makes the amount of data that the drone can transmit to the field robot per cycle (referred to as the cycle rate) quite limited. Therefore, communication resources are required to be reasonably distributed among a plurality of closed loops of sensing calculation control consisting of the unmanned aerial vehicle and the field robot, so that the capacity of bearing tasks of the whole operation network is improved.
Disclosure of Invention
Aiming at the problems, the invention provides a communication resource allocation method and a system for a time delay sensitive control task, which adopt the following technical scheme:
a communication resource allocation method facing to a delay sensitive control task comprises the following steps: according to the unmanned aerial vehicle-robot downlink channel model, determining an expression of the periodic rate of the unmanned aerial vehicle-robot downlink channel under the condition of limited code length transmission; determining a constraint on a transmission code length according to the control period; determining a state equation of a system controlled by each sensing calculation control closed loop, and establishing stability constraint of the system controlled by the sensing calculation control closed loop; constructing a control cost function designed based on the problem of a linear quadratic regulator, and combining an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop to construct a cost-rate function; based on the cost-rate function, constructing a communication resource allocation problem about a downlink channel of the unmanned aerial vehicle-robot according to a transmission code length constraint and a stability constraint of a system controlled by a sensing calculation control closed loop; and solving the communication resource allocation problem, and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel.
Further, according to the unmanned aerial vehicle-robot downlink channel model, under the condition of limited code length transmission, determining an expression of a periodic rate of the unmanned aerial vehicle-robot downlink channel, comprising the following steps:
establishing a downlink channel model of the unmanned plane-robot;
determining the channel gain of the downlink channel of the unmanned aerial vehicle-robot according to the downlink channel model of the unmanned aerial vehicle-robot;
and determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the channel gain of the downlink channel of the unmanned aerial vehicle-robot.
Further, determining a constraint on a transmission code length according to the control period, comprising the steps of:
determining the transmission time of the control command according to the transmission code length and the channel bandwidth;
the constraints on the transmission code length are: the transmission time of the control command is less than or equal to the control period.
Further, establishing a stability constraint of a system controlled by a sensing calculation control closed loop, comprising the following steps:
according to a system matrix in a state equation of a system controlled by a sensing calculation control closed loop, calculating an intrinsic entropy rate of the system controlled by the sensing calculation control closed loop;
wherein, the stability constraint of the system controlled by the sensing calculation control closed loop is as follows: the periodic rate of the downlink channel of the unmanned plane-robot is greater than or equal to the intrinsic entropy rate of a system controlled by a closed loop of sensing calculation control.
Further, the cost-rate function characterizes the minimum value of the linear quadratic control cost of a system controlled by a "sense-and-calculate" closed loop at a given periodic rate.
Further, based on the cost-rate function, according to the transmission code length constraint and the stability constraint of the system controlled by the "sensing calculation control" closed loop, constructing a communication resource allocation problem about the downlink channel of the unmanned aerial vehicle-robot, comprising the following steps:
the goal of determining the communication resource allocation problem is: the sum of linear secondary control costs of a system controlled by a plurality of sensing calculation control closed loops, wherein the linear secondary control costs are represented by cost-rate functions;
the variables that determine the communication resource allocation problem are: transmitting power and transmission code length of a downlink channel of the unmanned aerial vehicle-robot in each sensing calculation control closed loop;
the constraint conditions for determining the communication resource allocation problem are: constraint of transmission code length, stability constraint of the system controlled by the "sensing calculation control" closed loop and transmission power constraint; wherein, the transmit power constraint is: and the sum of the downlink signal transmitting power of the unmanned aerial vehicle is smaller than or equal to the maximum transmitting power of the unmanned aerial vehicle.
Further, a downlink channel model of the unmanned plane-robot is established, and the method specifically comprises the following steps:
in the method, in the process of the invention,is->Channel gain of unmanned aerial vehicle-robot downlink channel in "sense calculation control" closed loop, +.>For reference channel gain at a distance of 1m, < >>Is a road loss factor->Is->The distance between the drone and the robot in the individual "sense and calculate" closed loops.
Further, in the case of limited code length transmission, the expression of the periodic rate of the unmanned aerial vehicle-robot downlink channel is specifically as follows:
in the method, in the process of the invention,is->Periodic rate of unmanned aerial vehicle-robot downlink channel in "sensing calculation control" closed loop, +.>Is->Unmanned aerial vehicle-unmanned aerial vehicle in individual sensing calculation control closed loopChannel gain of the downlink channel of the robot, +.>Is->Transmission code length of unmanned aerial vehicle-robot downlink channel in 'sensing calculation control' closed loop, < +.>Is->Transmitting power of unmanned aerial vehicle in 'sensing calculation control' closed loop, < ->Variance of noise for unmanned aerial vehicle-robot downlink channel>Is->Maximum bit error rate allowed by the unmanned aerial vehicle-robot downlink channel in the 'sensing calculation control' closed loop, +.>Is->The inverse of the function is used to determine,。
further, the unmanned plane and the robot form a plurality of sensing calculation control closed loops, and control tasks are jointly executed, wherein each sensing calculation control closed loop executes one control task.
The invention also provides a communication resource distribution system facing the time delay sensitive control task, which comprises:
the first calculation unit is used for determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the downlink channel model of the unmanned aerial vehicle-robot;
a second calculation unit, configured to determine a constraint on a transmission code length according to the control period;
the third calculation unit is used for determining a state equation of a system controlled by each sensing calculation control closed loop and establishing a stability constraint of the system controlled by the sensing calculation control closed loop;
the fourth calculation unit is used for constructing a control cost function designed based on the problem of the linear quadratic regulator, and establishing a cost-rate function by combining an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop;
the fifth calculation unit is used for constructing a communication resource allocation problem about the downlink channel of the unmanned aerial vehicle-robot based on the cost-rate function according to the constraint of the transmission code length and the constraint of the stability of the system controlled by the closed loop of the sensing calculation control;
and the sixth calculation unit is used for solving the communication resource allocation problem and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel.
Further, the first computing unit is specifically configured to:
establishing a downlink channel model of the unmanned plane-robot;
determining the channel gain of the downlink channel of the unmanned aerial vehicle-robot according to the downlink channel model of the unmanned aerial vehicle-robot;
and determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the channel gain of the downlink channel of the unmanned aerial vehicle-robot.
Further, the fifth calculation unit is specifically configured to:
the goal of determining the communication resource allocation problem is: the sum of linear secondary control costs of a system controlled by a plurality of sensing calculation control closed loops, wherein the linear secondary control costs are represented by the sum of cost-rate functions;
the variables that determine the communication resource allocation problem are: transmitting power and transmission code length of a downlink channel of the unmanned aerial vehicle-robot in each sensing calculation control closed loop;
the constraint conditions for determining the communication resource allocation problem are: constraint of transmission code length, stability constraint of the system controlled by the "sensing calculation control" closed loop and transmission power constraint; wherein, the transmit power constraint is: and the sum of the downlink signal transmitting power of the unmanned aerial vehicle is smaller than or equal to the maximum transmitting power of the unmanned aerial vehicle.
The invention has the beneficial effects that:
1. the invention takes the control task performance as a target and takes the control period as a constraint, thereby realizing the optimization of taking the control parameters into the communication resources. Compared with the traditional scheme taking communication performance as a target, the invention can identify parameter differences among different control systems, allocate communication resources among different 'sensing calculation control' closed loops in a mode of adapting to control tasks, and improve the capacity of a machine operation network for bearing the control tasks compared with the traditional communication resource allocation scheme.
2. Compared with the traditional communication resource allocation scheme, the method and the device can better improve the bearing capacity of the network to the time delay sensitive control task. In addition, the invention decomposes the complex non-convex problem, provides a low-complexity solving algorithm, so that the problem can be quickly solved, and the algorithm is easy to be practically deployed and realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of a machine work network of unmanned-robotic collaboration according to the prior art;
fig. 2 is a flow chart of a communication resource allocation method for a delay sensitive control task according to an embodiment of the present invention;
FIG. 3 is a diagram showing simulation results comparing with three conventional communication-oriented resource allocation schemes according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a communication resource allocation structure facing a delay sensitive control task according to an embodiment of the present invention.
In the figure: 1. a first calculation unit; 2. a second calculation unit; 3. a third calculation unit; 4. a fourth calculation unit; 5. a fifth calculation unit; 6. and a sixth calculation unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
Firstly, a machine operation network of unmanned plane-robot cooperation is briefly introduced:
as shown in fig. 1, the unmanned plane and the robot form a plurality of "sensing calculation control" closed loops to jointly execute control tasks. The "sensing and computing control" closed loops refer to a plurality of parallel sensing-communication-computation-control loops formed by the unmanned aerial vehicle and the ground robot, and each closed loop bears one control subtask. In the considered unmanned-robot cooperative machine work network, the unmanned carries sensing, communication and calculation modules. In each control period, the unmanned aerial vehicle perceives the system state, calculates the control command, and sends the control command to the field robot, and the control action is executed by the field robot. The invention only focuses on the problem of communication resource allocation, so that only the time for transmitting the control command by the downlink channel of the unmanned aerial vehicle-robot is considered under the assumption that the time for sensing, calculating and executing the control command is ignored.
The invention provides a communication resource allocation method and a communication resource allocation system for a time delay sensitive control task, which are applied to a machine operation network of unmanned aerial vehicle-robot cooperation. The control task is usually a Time-delay Sensitive (Time Sensitive) task, and has a relatively short control period aiming at machine operation scenes such as emergency disaster relief, mining, oil exploration and the like.
As shown in fig. 2, a communication resource allocation method facing a delay sensitive control task includes the following steps:
s1, establishing a state equation of a system controlled by each sensing calculation control closed loop.
The control task carried by each sensing calculation control closed loop is determined according to a specific scene, for example, nuclear leakage treatment in emergency disaster relief, fire control and the like, the above scenes are only exemplary, and the invention does not limit the scenes specifically. It is assumed that the evolution of the state of the system controlled by the "sense-and-calculate" closed loop is a linear gaussian process. In the first placeFor example, the state equation of the system controlled by the sensing calculation control closed loop is specifically as follows:
in the method, in the process of the invention,represents->System status of individual control periods>Representing dimension->Is a real vector of>Represents->Control command for a control period, +.>Representing system noise, the covariance matrix of which is defined as +.>，/>And->For dimension->Is determined by the system being controlled.
S2, determining a control cost function (called LQR cost) designed based on the problem of the linear quadratic regulator (LQR, linear Quadratic Regulator) based on a state equation of a system controlled by each sensing calculation control closed loop, wherein the control cost function is used for measuring the control performance of each sensing calculation control closed loop and is specifically as follows:
wherein,indicate->LQR costs of the individual "sense-and-calculate" closed loops,>representing an averaging operation, +.>Anda weight matrix for balancing control state deviation and control command cost.
S3, determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the downlink channel model of the unmanned aerial vehicle-robot.
For example, assuming that both the drone and the field robot carry a single antenna, the drone-robot downstream channels are mutually orthogonal, each channel having a bandwidth ofThe maximum transmitting power of the base station carried by the unmanned aerial vehicle is +.>。
For example, step S3 includes the steps of:
s31, establishing a downlink channel model of the unmanned aerial vehicle-robot, and determining the channel gain of the downlink channel of the unmanned aerial vehicle-robot. Due to the lack of shielding of a scatterer in an air-ground channel, a deterministic channel model is adopted to model a downlink channel of the unmanned aerial vehicle-robot, and the method specifically comprises the following steps:
in the method, in the process of the invention,is->Channel gain of unmanned aerial vehicle-robot downlink channel in "sense calculation control" closed loop, +.>For reference channel gain at a distance of 1m, < >>Is a road loss factor->Is->The distance between the drone and the robot in the individual "sense and calculate" closed loops.
S32, determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the channel gain of the downlink channel of the unmanned aerial vehicle-robot.
It should be noted that, the period rate refers to the number of bits transmitted by the unmanned aerial vehicle-robot downlink channel in each control period under the condition of limited code length transmission, and the expression of the period rate is a function of the transmit power and the transmission code length of the unmanned aerial vehicle. The expression of the cycle rate is specifically as follows:
in the method, in the process of the invention,is->Periodic rate of unmanned aerial vehicle-robot downlink channel in "sensing calculation control" closed loop, +.>Is->Individual "sensing calculationControlling the transmit power of the unmanned aerial vehicle in the closed loop, < ->Variance of noise for unmanned aerial vehicle-robot downlink channel>Is->Maximum bit error rate allowed by the unmanned aerial vehicle-robot downlink channel in the 'sensing calculation control' closed loop, +.>Is->Inverse of the function>。
S4, determining constraint on transmission code length according to the control period, wherein the constraint is specifically as follows: determining the transmission time of the control command according to the transmission code length and the channel bandwidth; the constraints on the transmission code length are: the transmission time of the control command is less than or equal to the control period. In this step, it is necessary to transmit the control command in short packets, considering that the control command needs to be sent to the corresponding field robot in each control cycle. According to the control period of each sensing calculation control closed loop, establishing the transmission code length constraint of the unmanned aerial vehicle-robot downlink channel in each sensing calculation control closed loop, wherein the transmission code length constraint is as follows:
in the method, in the process of the invention,is->Control period of the "sense-and-calculate" closed loop, ">Is->And the transmission code length of the downlink channel of the unmanned aerial vehicle-robot in the closed loop of the sensing calculation control.
S5, determining a state equation of a system controlled by each sensing calculation control closed loop, and establishing stability constraint of the system controlled by the sensing calculation control closed loop, wherein the stability constraint is as follows:
according to a system matrix in a state equation of a system controlled by a sensing calculation control closed loop, calculating an intrinsic entropy rate of the system controlled by the sensing calculation control closed loop; wherein, the system stability constraint controlled by the sensing calculation control closed loop is as follows: the cycle rate of the unmanned plane-robot downlink channel is greater than or equal to the intrinsic entropy rate of a system controlled by a sensing calculation control closed loop, and the method specifically comprises the following steps:
wherein,represents->The intrinsic entropy rate of the system controlled by the closed loop of the sensing algorithm is intrinsic entropy.
S6, constructing a control cost function designed based on a Linear Quadratic Regulator (LQR) problem, and constructing a cost-rate function based on an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop, wherein the expression is specifically as follows:
the relationship between the lower bound of LQR cost and the cycle rate exists as follows:
wherein,is constant, the +.>，。/>And->Calculated from the following Riccati equation:
according to equation (7), a cost-rate function is defined, specifically as follows:
in the method, in the process of the invention,representing the minimum value of the linear secondary control cost of a system controlled by a "sensing algorithm" closed loop at a given cycle rate.
S7, constructing a communication resource allocation problem about a downlink channel of the unmanned aerial vehicle-robot based on a cost-rate function according to a transmission code length constraint and a stability constraint of a system controlled by a sensing calculation control closed loop, wherein the communication resource allocation problem comprises the following specific steps:
the goal of determining the communication resource allocation problem is: the sum of linear secondary control costs of a plurality of closed loops controlled by sensing calculation control is represented by a cost-rate function; the variables that determine the communication resource allocation problem are: transmitting power and transmission code length of a downlink channel of the unmanned aerial vehicle-robot in each sensing calculation control closed loop; the constraint conditions for determining the communication resource allocation problem are: constraint of transmission code length, stability constraint of the system controlled by the "sensing calculation control" closed loop and transmission power constraint; wherein, the transmit power constraint is: and the sum of the downlink signal transmitting power of the unmanned aerial vehicle is smaller than or equal to the maximum transmitting power of the unmanned aerial vehicle.
Based on cost-rate function toCorresponding to the 'sensing calculation control' closed loop +.>The minimum sum of linear secondary control cost of each control task is used as a target, and the problem of communication resource allocation is established, specifically as follows:
in the method, in the process of the invention,is->The sum of the control-cost functions of the "sense-and-calculate" closed-loop represents the sum minimum of the linear secondary control costs of the system controlled by the "sense-and-calculate" closed-loop,/->Is the maximum value of the transmitting power of the unmanned aerial vehicle.
S8, solving the problem of communication resource allocation, and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel.
S91, calculating the optimal code lengthThe method is characterized by comprising the following steps:
in the method, in the process of the invention,representing a rounding down operation at an optimal code length +.>On the basis of the determination, obtainAnd +.>。
S92, simplifying stability constraint (6), and solving through a dichotomy. Namely, the zero point of the solution formula (12) is obtained to obtain the firstMinimum value of the transmitting power of the unmanned aerial vehicle of the individual "sensing calculation control" closed loop ≡>The formula (12) is specifically as follows:
s93, solving the following power distribution problem by utilizing a convex optimization tool, namely solving the problem (13) to obtain the optimal transmitting power distribution of the unmanned aerial vehicle in all sensing calculation control closed loopsThe method is characterized by comprising the following steps:
it can be found that the invention realizes that the control parameters are considered into the optimization of the communication resources by taking the control task performance as a target and the control period as a constraint. Compared with the traditional scheme taking communication performance as a target, the invention can identify parameter differences among different control systems, allocate communication resources among different 'sensing calculation control' closed loops in a mode of adapting to control tasks, and improve the capacity of a machine operation network for bearing the control tasks compared with the traditional communication resource allocation scheme.
For example, the invention is applied in a robot-to-robot cooperative machine work network as in fig. 1. Suppose that the unmanned plane and the field robot together formAnd a sensing calculation control closed loop. The bandwidth of each unmanned aerial vehicle-robot downlink channel is +.>Reference channel gain->Road loss attenuation factor->Channel noiseBit error Rate->. The parameters related to control are set as. In addition to this, we set the distance between the drone-robot to +.>The intrinsic entropy rate of the controlled system is。
Under the simulation conditions, setting the maximum transmitting power of the unmanned aerial vehicle to be in a range of [10dBW,15dBW ] and 1dBW as intervals, and carrying out simulation under the scheme of the invention and three traditional communication-oriented resource allocation schemes (a maximization scheme, a rate scheme, a user fairness scheme and a power sharing scheme respectively) to obtain the sum of LQR costs of a system controlled by a closed loop of sensing calculation control in a cooperative machine operation network of the unmanned aerial vehicle and the robot. As shown in fig. 3, where the dotted line represents that the LQR cost is infinite, the system controlled by the unmanned aerial vehicle-robot network cannot be stabilized. As can be seen from simulation results, compared with three traditional communication resource allocation schemes, the method and the device can obviously reduce the control cost of the system, and prove that the method and the device can improve the bearing capacity of a machine operation network to control tasks.
Based on the above-mentioned communication resource allocation method for the delay sensitive control task, as shown in fig. 4, the present invention further provides a communication resource allocation system for the delay sensitive control task, which includes a first computing unit 1, a second computing unit 2, a third computing unit 3, a fourth computing unit 4, a fifth computing unit 5, and a sixth computing unit 6.
The first computing unit 1 is configured to determine an expression of a periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission according to the downlink channel model of the unmanned aerial vehicle-robot; a second calculation unit 2, configured to determine a constraint on a transmission code length according to a control period; a third calculation unit 3, configured to determine a state equation of the system controlled by each "sensing calculation control" closed loop, and establish a stability constraint of the system controlled by the sensing calculation control "closed loop; the fourth calculation unit 4 is used for constructing a control cost function designed based on the problem of the linear quadratic regulator, and establishing a cost-rate function by combining an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop; a fifth calculation unit 5, configured to construct a problem of communication resource allocation for the downlink channel of the unmanned aerial vehicle-robot based on the cost-rate function according to the constraint of the transmission code length and the stability constraint of the system controlled by the "sensing calculation control" closed loop; and a sixth calculation unit 6, configured to solve the communication resource allocation problem, and determine an optimal code length and a transmit power of each unmanned aerial vehicle-robot downlink channel.
Compared with the traditional communication resource allocation scheme, the method and the device can better improve the bearing capacity of the network to the time delay sensitive control task. In addition, the invention decomposes the complex non-convex problem, provides a low-complexity solving algorithm, so that the problem can be quickly solved, and the algorithm is easy to be practically deployed and realized.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The communication resource allocation method for the delay sensitive control task is characterized by comprising the following steps:
according to the unmanned aerial vehicle-robot downlink channel model, determining an expression of a periodic rate of the unmanned aerial vehicle-robot downlink channel under the condition of limited code length transmission, wherein the expression comprises the following steps: establishing a downlink channel model of the unmanned plane-robot; determining the channel gain of the downlink channel of the unmanned aerial vehicle-robot according to the downlink channel model of the unmanned aerial vehicle-robot; according to the channel gain of the downlink channel of the unmanned aerial vehicle-robot, determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission;
determining a constraint on a transmission code length according to the control period;
determining a state equation of a system controlled by each sensing calculation control closed loop, and establishing stability constraint of the system controlled by the sensing calculation control closed loop;
constructing a control cost function designed based on the problem of a linear quadratic regulator, and combining an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop to construct a cost-rate function;
based on the cost-rate function, constructing a communication resource allocation problem about a downlink channel of the unmanned aerial vehicle-robot according to a transmission code length constraint and a stability constraint of a system controlled by a sensing calculation control closed loop;
and solving the communication resource allocation problem, and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel.
2. The method for allocating communication resources for a delay-sensitive control task according to claim 1, wherein determining a constraint on a transmission code length according to a control period comprises the steps of:
determining the transmission time of the control command according to the transmission code length and the channel bandwidth;
the constraints on the transmission code length are: the transmission time of the control command is less than or equal to the control period.
3. The method for allocating communication resources for a delay-sensitive control task according to claim 1, wherein establishing a stability constraint of a system controlled by a "sensing computation control" closed loop comprises the steps of:
according to a system matrix in a state equation of a system controlled by a sensing calculation control closed loop, calculating an intrinsic entropy rate of the system controlled by the sensing calculation control closed loop;
wherein, the stability constraint of the system controlled by the sensing calculation control closed loop is as follows: the periodic rate of the downlink channel of the unmanned plane-robot is greater than or equal to the intrinsic entropy rate of a system controlled by a closed loop of sensing calculation control.
4. The method of claim 1, wherein the cost-rate function characterizes a minimum of linear quadratic control costs for a system controlled by a "sense-and-compute" closed loop at a given periodic rate.
5. The method for allocating communication resources for a delay-sensitive control task according to claim 1, wherein the method for allocating communication resources for a downlink channel of an unmanned aerial vehicle-robot is constructed based on a cost-rate function according to a transmission code length constraint and a stability constraint of a system controlled by a "sensing calculation control" closed loop, and comprises the following steps:
the goal of determining the communication resource allocation problem is: the sum of linear secondary control costs of a system controlled by a plurality of sensing calculation control closed loops, wherein the linear secondary control costs are represented by cost-rate functions;
the variables that determine the communication resource allocation problem are: transmitting power and transmission code length of a downlink channel of the unmanned aerial vehicle-robot in each sensing calculation control closed loop;
the constraint conditions for determining the communication resource allocation problem are: constraint of transmission code length, stability constraint of the system controlled by the "sensing calculation control" closed loop and transmission power constraint; wherein, the transmit power constraint is: and the sum of the downlink signal transmitting power of the unmanned aerial vehicle is smaller than or equal to the maximum transmitting power of the unmanned aerial vehicle.
6. The method for allocating communication resources for a delay-sensitive control task according to claim 1, wherein a downlink channel model of an unmanned plane-robot is established, specifically as follows:
in the method, in the process of the invention,is->Channel gain of unmanned aerial vehicle-robot downlink channel in "sense calculation control" closed loop, +.>For reference channel gain at a distance of 1m, < >>Is a road loss factor->Is->The distance between the drone and the robot in the individual "sense and calculate" closed loops.
7. The method for allocating communication resources for a delay-sensitive control task according to claim 6, wherein the expression of the periodic rate of the unmanned aerial vehicle-robot downlink channel in the case of limited code length transmission is specifically as follows:
in the method, in the process of the invention,is->The periodic rate of the drone-robot downstream channel in a "sense-and-compute" closed loop,is->Channel gain of unmanned aerial vehicle-robot downlink channel in "sense calculation control" closed loop, +.>Is->Transmission code length of unmanned aerial vehicle-robot downlink channel in 'sensing calculation control' closed loop, < +.>Is->Transmitting power of unmanned aerial vehicle in 'sensing calculation control' closed loop, < ->Variance of noise for unmanned aerial vehicle-robot downlink channel>Is->Maximum bit error rate allowed by the unmanned aerial vehicle-robot downlink channel in the 'sensing calculation control' closed loop, +.>Is->The inverse of the function is used to determine,。
8. the method for distributing communication resources for delay-sensitive control tasks according to any of claims 1-7, wherein the unmanned aerial vehicle and the robot form a plurality of "sensor-operator" closed loops, and jointly execute the control tasks, and wherein each "sensor-operator" closed loop executes one control task.
9. A communication resource allocation system for a delay sensitive control task, comprising:
a first calculation unit, configured to determine, according to a downlink channel model of the unmanned aerial vehicle-robot, an expression of a periodic rate of the downlink channel of the unmanned aerial vehicle-robot in a case of limited code length transmission, where the first calculation unit includes: establishing a downlink channel model of the unmanned aerial vehicle-robot: determining the channel gain of the downlink channel of the unmanned aerial vehicle-robot according to the downlink channel model of the unmanned aerial vehicle-robot; according to the channel gain of the downlink channel of the unmanned aerial vehicle-robot, determining an expression of the periodic rate of the downlink channel of the unmanned aerial vehicle-robot under the condition of limited code length transmission;
a second calculation unit, configured to determine a constraint on a transmission code length according to the control period;
the third calculation unit is used for determining a state equation of a system controlled by each sensing calculation control closed loop and establishing a stability constraint of the system controlled by the sensing calculation control closed loop;
the fourth calculation unit is used for constructing a control cost function designed based on the problem of the linear quadratic regulator, and establishing a cost-rate function by combining an expression of a state equation and a periodic rate of a system controlled by a sensing calculation control closed loop;
the fifth calculation unit is used for constructing a communication resource allocation problem about the downlink channel of the unmanned aerial vehicle-robot based on the cost-rate function according to the constraint of the transmission code length and the constraint of the stability of the system controlled by the closed loop of the sensing calculation control;
and the sixth calculation unit is used for solving the communication resource allocation problem and determining the optimal code length and the transmitting power of each unmanned aerial vehicle-robot downlink channel.
10. The communication resource allocation system for delay-sensitive control tasks according to claim 9, characterized in that the fifth calculation unit is specifically configured to:
the goal of determining the communication resource allocation problem is: the sum of linear secondary control costs of a system controlled by a plurality of sensing calculation control closed loops, wherein the linear secondary control costs are represented by the sum of cost-rate functions;
the variables that determine the communication resource allocation problem are: transmitting power and transmission code length of a downlink channel of the unmanned aerial vehicle-robot in each sensing calculation control closed loop;
the constraint conditions for determining the communication resource allocation problem are: constraint of transmission code length, stability constraint of the system controlled by the "sensing calculation control" closed loop and transmission power constraint; wherein, the transmit power constraint is: and the sum of the downlink signal transmitting power of the unmanned aerial vehicle is smaller than or equal to the maximum transmitting power of the unmanned aerial vehicle.
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