基于安全路径及丢包补偿的无线控制系统的丢包控制
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摘要
工业无线传感器网络(IWSN)可以为控制系统提供无线通信,然而,工业环境和攻击引发的数据包丢失等问题会显著降低IWSN控制系统的性能,甚至会破坏整个系统的稳定性.对此,采用构造通信数据路由的安全路径以降低丢包率与改进的PID控制器进行丢包补偿的组合方案,减小攻击对IWSN控制系统稳定性的影响.在OPNET和Simulink/TrueTime平台进行联合仿真实验,以倒立摆作为被控对象,模拟控制系统在具有不同攻击节点数目的IWSN中的系统稳定性能.仿真结果表明,安全路由路径和改进的PID控制器能够极大地提高控制系统的稳定性.
Industrial wireless sensor network(IWSN) can provide wireless communication for the control system.However, packet losses caused by industrial environments and attacks can significantly degrade the performance of IWSN and can even destabilize an entire system. Therefore, a security path of the communication data's routing to reduce the packet losses rate and a modified PID controller to compensate for packet losses are proposed to reduce the influence of the network attack on the stability of IWSN control system. The control system applying the two proposed programs is simulated under various number of attack nodes by using OPNET and Simulink/TrueTime. An inverted pendulum is used as the object of the controller. Simulation results show that the combination of the optimal path and the modified PID controller can greatly improve the stability of the control system.
Industrial wireless sensor network(IWSN) can provide wireless communication for the control system.However, packet losses caused by industrial environments and attacks can significantly degrade the performance of IWSN and can even destabilize an entire system. Therefore, a security path of the communication data's routing to reduce the packet losses rate and a modified PID controller to compensate for packet losses are proposed to reduce the influence of the network attack on the stability of IWSN control system. The control system applying the two proposed programs is simulated under various number of attack nodes by using OPNET and Simulink/TrueTime. An inverted pendulum is used as the object of the controller. Simulation results show that the combination of the optimal path and the modified PID controller can greatly improve the stability of the control system.
引文
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[14]Wang Jia-Jun.Simulation studies of inverted pendulum based on PID controllers[J].Simulation Modelling Practice and AMP Theory,2011,19(1):440-449.
[15]陈寅,宋杨,费敏锐.基于Simulink和OPNET的NCS联合仿真平台的设计与开发[J].系统仿真学报,201325(7):1518-1523.(Chen Y,Song Y,Fei M R.Design and development of cosimulation platform for NCS based on Simulink and OPNET[J].J of System Simulation,2013,25(7):1518-1523.)
[2]Song Jianping,Aloysius K Mok,Chen Deji,et al Improving PID control with unreliable communications[C].ISA EXPO Technical Conf Houston,2006:17-19.
[3]Millán Y A,Vargas F,Molano F,et al.Awireless networked control systems review[C].Robotics Symposium 2011 IEEE Ix Latin American and IEEEColombian Conf on Automatic Control and Industry Applications[C].Bogota:IEEE,2011:1-6.
[4]Bian Y,Jia J,Xu X,et al.Research on inverted pendulum network control technology[C].The 3rd Int Conf on Measuring Technology and Mechatronics Automation Shanghai:IEEE,2011:11-13.
[5]Kaltiokallio O,Eriksson L M,Bocca M.On the performance of the PIDPLUS controller in wireless control systems[C].Control and Automation.Marrakech:IEEE,2010:707-714.
[6]王天堃,周黎辉,韩璞,等.基于灰色广义预测控制的网络化控制系统丢包补偿[J].信息与控制,200736(3):322-327.(Wang T K,Zhou L H,Han P,et al.Compensation for packet dropout in networked control systems based on grey generalized predictive control[J].Information and Control,2007,36(3):322-327.)
[7]张男.基于无线传输的网络控制系统研究[D].秦皇岛:燕山大学信息科学与工程学院,2007.(Zhang N.Research on network control system based on wireless transmission[D].Qinhuangdao:School of Information Science and Engineering,Yanshan University,2007.)
[8]Nguyen Vu-Anh-Quang.Packet loss compensation for control systems over industrial wireless sensor networks[J].Int J of Distributed Sensor Networks,20152015(1):1-9.
[9]Stojanovski S,Kulakov A.Efficient attacks in industrial wireless sensor networks[M].ICT Innovations 2014Cham:Springer,2014:289-298.
[10]Barac F,Gidlund M,Zhang T.PREED:Packet recovery by exploiting the determinism in industrial WSNcommunication[C].Int Conf on Distributed Computing in Sensor Systems.Fortaleza:IEEE,2015:81-90.
[11]孙业国,秦世引.网络控制系统研究进展[J].科技导报,2010,28(2):109-115.(Sun Y G,Qin S Y.Progress of networked control systems[J].Science and Technology Review,2010,28(2):109-115.)
[12]Zhuo S,Shokri-Ghadikolaei H,Fischione C,et al Adaptive congestion control in cognitive industrial wireless sensor networks[C].Int Conf on Industrial Informatics.Cambridge:IEEE,2016:900-907.
[13]Ju Ren.Adaptive and channel-aware detection of selective forwarding attacks in wireless sensor networks[J].IEEETrans on Wireless Communications,2016,15(5):3718-3731.
[14]Wang Jia-Jun.Simulation studies of inverted pendulum based on PID controllers[J].Simulation Modelling Practice and AMP Theory,2011,19(1):440-449.
[15]陈寅,宋杨,费敏锐.基于Simulink和OPNET的NCS联合仿真平台的设计与开发[J].系统仿真学报,201325(7):1518-1523.(Chen Y,Song Y,Fei M R.Design and development of cosimulation platform for NCS based on Simulink and OPNET[J].J of System Simulation,2013,25(7):1518-1523.)