具有信道受限和通信能量约束的网络化系统协同设计

发布时间：2018-06-23 03:06

  本文选题：网络化协同设计 + 信道受限　； 参考：《大连理工大学》2016年博士论文

【摘要】：网络化控制系统的出现,使得多个子系统能够通过无线网络实现资源共享和协调协作。然而,由于带宽等资源限制,在任意时刻只有部分子系统可以同时接入网络并进行数据交换。当子系统接入网络时,由于信道噪声影响,数据在传输过程中会发生丢包。提高节点发送功率可以减少丢包概率,但也会增加系统的通信能耗,缩短节点的使用寿命。因此,为了保证所有子系统的同时稳定,在设计控制器的时候需要兼顾网络的信道接入策略和发送功率的分配策略。针对以上网络化系统中出现的信道受限、丢包和通信能量约束三个问题,本文以线性时不变网络化控制系统为研究对象,通过设计信道接入序列、控制器增益和发送功率分配策略,使得系统在保证理想控制性能的同时满足通信能耗要求。具体研究内容如下。1.针对信道受限下的网络化控制系统,分别以控制器到执行器和传感器到控制器这两部分为例,考虑随机信道接入序列对系统稳定性的影响。利用Lyapunov方法和随机系统理论,建立了数据包成功传输概率、信道转移概率和系统衰减率三者之间的数值关系。以所得结果为基础,分别设计序列相关和序列不相关控制器。为了验证方法的有效性,以车载网络控制系统为应用实例,通过设计序列不相关控制器,使得车队在保证整体稳定性的同时,跟踪误差满足H∞性能指标。2.针对通信能量约束下网络化控制系统的稳定性问题进行研究。通过建立信道丢包模型,得到发送功率和丢包率的数值关系。以此为基础,分别以静态和随机这两种功率分配策略为例,提出了两种发送功率分配和控制器增益的协同设计算法。仿真实验表明,以上两种算法均可以使得系统在满足通信能耗约束的前提下,具有理想的控制性能。3.针对同时存在信道受限和通信能量约束的网络化控制系统,研究了静态和随机这两种信道接入序列下系统的稳定性问题。对静态信道接入序列下的网络化控制系统,利用切换系统理论和凸优化方法,提出了一种信道接入序列、控制器增益和发送功率分配的协同设计算法。对随机信道接入序列下的网络化控制系统,利用随机系统理论和Lyapunov方法,提出了一种信道接入概率、控制器设计和发送功率分配的协同设计算法。理论研究表明,以上两种算法均可保证每个子系统具有理想的衰减率,并且满足系统通信能耗要求。
[Abstract]:With the appearance of networked control system, many subsystems can share resources and coordinate with each other through wireless network. However, due to resource constraints such as bandwidth, only some subsystems can access the network and exchange data at any time. When the subsystem is connected to the network, the data will lose packets during transmission due to the influence of channel noise. Increasing the transmission power can reduce the probability of packet loss, but it can also increase the communication energy consumption and shorten the service life of the node. Therefore, in order to ensure the stability of all subsystems at the same time, both the channel access strategy and the transmission power allocation strategy should be taken into account in the design of controller. Aiming at the three problems of channel limitation, packet loss and communication energy constraint in the above networked systems, the linear time-invariant networked control system is taken as the research object, and the channel access sequence is designed. The controller gain and transmission power allocation strategy make the system meet the requirements of communication energy consumption while ensuring the ideal control performance. The specific contents of the study are as follows. For networked control systems with limited channels, the effects of random channel access sequences on the stability of the system are considered by taking the controller to actuator and sensor to controller as examples respectively. Based on Lyapunov method and stochastic system theory, the numerical relationships among packet successful transmission probability, channel transfer probability and system attenuation rate are established. Based on the obtained results, sequence correlation and sequence uncorrelated controllers are designed respectively. In order to verify the effectiveness of the method, the vehicle network control system is taken as an application example, and the sequence independent controller is designed to ensure the overall stability of the motorcade and the tracking error to meet the H 鈭，

本文编号：2055477