无线网络控制系统滤波器设计
发布时间：2018-08-31 10:44
【摘要】：在无线网络控制系统中,由于网络节点受处理器、通信宽带以及存储空间的约束,由此带来了网络诱导时延、数据丢包等现象,严重影响系统的控制性能以及稳定性,时延是影响无线网络控制系统性能至关重要的因素之一。无线网络控制系统中信号在测量和传输的过程中,易受外界环境噪声等因素的干扰,且考虑系统部分状态的不可观测性,需要对对象进行状态估计,以使测量噪声和过程噪声对系统影响降至最小。为此,本文结合国内外相关领域的最新科研成果,设计了卡尔曼、H∞两种滤波器,并基于ZigBee构建了半实物仿真平台对实验验证。主要研究工作包含以下几个方面：(1)对于含有高斯白噪声和丢包的线性离散系统,将丢包建模成一个具有伯努利(Bernouli)分布的随机过程,并通过保持输入的方法进行补偿,设计了卡尔曼滤波器以消除噪声和丢包对系统的干扰影响,最后给出数值算例验证算法的有效性。(2)针对存在噪声干扰和具有一步时延、丢包率的无线网络控制系统,且噪声能量有界,将时延和丢包建模成独立同分布Bernouli过程,利用线性矩阵不等式方法求解H∞滤波器的参数,推导出滤波误差系统均方意义下指数稳定性条件,同时使H∞滤波器具有一定的性能指标,数值仿真结果表明所给算法能够消除噪声、时延和丢包的影响。(3)综合无线ZigBee和虚拟仪器技术,设计出ZigBee无线网络节点和LabVIEW的无线网络控制系统的半实物仿真平台,进一步验证本文结论,实验结果表明在统计特性未知的情况下H∞滤波性能要优于卡尔曼滤波。
[Abstract]:In wireless networked control systems, network nodes are constrained by processor, communication broadband and storage space, which leads to network-induced delay, data packet loss and other phenomena, seriously affecting the control performance and stability of the system. Delay is one of the most important factors affecting the performance of wireless networked control systems. In order to minimize the influence of measurement noise and process noise on the system, the signal in the system is susceptible to the interference of external environment noise and other factors. Considering the non-observability of some states of the system, it is necessary to estimate the state of the object in order to minimize the impact of measurement noise and process noise on the system. Kalman filter and H infinity filter are studied, and a hardware-in-the-loop simulation platform is constructed based on ZigBee. The main research work includes the following aspects: (1) For linear discrete systems with Gaussian white noise and packet loss, packet loss is modeled as a Bernouli distribution stochastic process, and the input side is preserved. A Kalman filter is designed to eliminate the influence of noise and packet loss. Finally, a numerical example is given to verify the effectiveness of the algorithm. (2) For wireless network control systems with noise interference and one-step delay, packet loss rate, and bounded noise energy, the delay and packet loss are modeled as independent and identically distributed Bernouli. The exponential stability condition in the mean square sense of the filtering error system is derived. At the same time, the H filter The hardware-in-the-loop simulation platform of ZigBee wireless network node and LabVIEW wireless network control system is designed. The experimental results show that the H
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN713
本文编号：2214742
[Abstract]:In wireless networked control systems, network nodes are constrained by processor, communication broadband and storage space, which leads to network-induced delay, data packet loss and other phenomena, seriously affecting the control performance and stability of the system. Delay is one of the most important factors affecting the performance of wireless networked control systems. In order to minimize the influence of measurement noise and process noise on the system, the signal in the system is susceptible to the interference of external environment noise and other factors. Considering the non-observability of some states of the system, it is necessary to estimate the state of the object in order to minimize the impact of measurement noise and process noise on the system. Kalman filter and H infinity filter are studied, and a hardware-in-the-loop simulation platform is constructed based on ZigBee. The main research work includes the following aspects: (1) For linear discrete systems with Gaussian white noise and packet loss, packet loss is modeled as a Bernouli distribution stochastic process, and the input side is preserved. A Kalman filter is designed to eliminate the influence of noise and packet loss. Finally, a numerical example is given to verify the effectiveness of the algorithm. (2) For wireless network control systems with noise interference and one-step delay, packet loss rate, and bounded noise energy, the delay and packet loss are modeled as independent and identically distributed Bernouli. The exponential stability condition in the mean square sense of the filtering error system is derived. At the same time, the H filter The hardware-in-the-loop simulation platform of ZigBee wireless network node and LabVIEW wireless network control system is designed. The experimental results show that the H
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN713
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