基于Zigbee技术的无线网络系统的建模与控制
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摘要
网络控制系统是计算机技术、通讯技术和控制技术等发展与融合的产物,作为控制系统发展的新阶段,它体现了控制系统向网络化、集成化、智能化发展的趋势。网络控制系统由于其成本低、便于安装维护、信息共享、便于扩展等优点,在工业自动化、航空航天领域、智能家居系统、智能交通等方面得到了广泛的应用。无线网络作为有线网络的补充和延伸也得到了广泛的应用。然而,由于无线通讯网络被引入到控制系统中,许多新问题也随之而生,如：网络诱导时延、数据丢包、乱序等。传统的控制理论需要经过重新评估才能被应用到无线网络控制系统中。
针对无线网络控制系统中存在的问题,本论文研究了一类基于Zigbee技术的无线网络控制系统的建模与控制问题。
首先,为了更好地理解无线网络的传输特性,我们搭建了一个基于无线网络控制系统的实验平台。通过大量的实验,建立了无线网络在单跳和多跳拓扑结构下传输时延的泊松分布参数模型。并通过无线网络环境下的状态估计,验证了该模型的有效性。
其次,针对于无线网络中同时存在数据时延和数据丢包的现象,讨论了无线网络控制系统的建模问题。提出了带有时变时延的切换系统的新的模型,并基于建立的模型,研究了使闭环系统镇定的控制器的设计和H∞控制问题。数值仿真验证了算法的有效性。
最后,研究了当被控对象为不稳定对象时,使无线网络控制系统镇定的条件。通过引入增广状态的方法建立了整个闭环系统的切换模型。并采用异步动态系统理论,得到了依赖于数据时延和数据丢包的控制器的设计方法。数值仿真验证了算法的有效性。
Networked Control systems (NCSs) have been attracted many attentions as a new develop-ment stage of the control theory. They are a combination of computer technology, communication technique and control theory, standing for the developing tendency of the control systems to the the networked, integrated and intellectual systems. NCSs have many advantages, such as low cost, easy installation and maintenance, information sharing, flexibility. They have been applied in many area, i.e. industrial automation, aerospace field, smart home, intelligent transportation system et al. Meanwhile, as the extension and complement of the wired networks, wireless based networked control systems also have a wide applications. However, as the introduction of the networks to the control systems, many challenging problems arise, such as, network induced delay, data loss, packet disordering and so on. And the traditional control theory can't be applied to the NCSs, they must be reevaluated before applying to the NCSs.
We study the problems of modeling and control of a Zigbee based wireless networked control systems.
Firstly, we establish a wireless networked control system platform to test the communication properties of the wireless network and propose the Poisson distribution models to describe the network induced delay under the topology of one hop or multi hops. The effectiveness of the proposed models are verified by an estimation experiment.
Secondly, we consider the case when data delay and data loss exist simultaneously in the wireless network. The wireless networked control system is modeled to be a switched system with time varying delays. And the stabilization and H∞control problems are solved based on the obtained model. Numerical examples illustrate the effectiveness of the proposed methods.
Finally, the stabilization problem of the wireless networked control system when the con-trolled plant is unstable is considered. A switched system model is developed via augmented the system states. A controller design approach is obtained by the asynchronous dynamic system the-ory. Numerical examples illustrate the effectiveness of the proposed approach.
针对无线网络控制系统中存在的问题,本论文研究了一类基于Zigbee技术的无线网络控制系统的建模与控制问题。
首先,为了更好地理解无线网络的传输特性,我们搭建了一个基于无线网络控制系统的实验平台。通过大量的实验,建立了无线网络在单跳和多跳拓扑结构下传输时延的泊松分布参数模型。并通过无线网络环境下的状态估计,验证了该模型的有效性。
其次,针对于无线网络中同时存在数据时延和数据丢包的现象,讨论了无线网络控制系统的建模问题。提出了带有时变时延的切换系统的新的模型,并基于建立的模型,研究了使闭环系统镇定的控制器的设计和H∞控制问题。数值仿真验证了算法的有效性。
最后,研究了当被控对象为不稳定对象时,使无线网络控制系统镇定的条件。通过引入增广状态的方法建立了整个闭环系统的切换模型。并采用异步动态系统理论,得到了依赖于数据时延和数据丢包的控制器的设计方法。数值仿真验证了算法的有效性。
Networked Control systems (NCSs) have been attracted many attentions as a new develop-ment stage of the control theory. They are a combination of computer technology, communication technique and control theory, standing for the developing tendency of the control systems to the the networked, integrated and intellectual systems. NCSs have many advantages, such as low cost, easy installation and maintenance, information sharing, flexibility. They have been applied in many area, i.e. industrial automation, aerospace field, smart home, intelligent transportation system et al. Meanwhile, as the extension and complement of the wired networks, wireless based networked control systems also have a wide applications. However, as the introduction of the networks to the control systems, many challenging problems arise, such as, network induced delay, data loss, packet disordering and so on. And the traditional control theory can't be applied to the NCSs, they must be reevaluated before applying to the NCSs.
We study the problems of modeling and control of a Zigbee based wireless networked control systems.
Firstly, we establish a wireless networked control system platform to test the communication properties of the wireless network and propose the Poisson distribution models to describe the network induced delay under the topology of one hop or multi hops. The effectiveness of the proposed models are verified by an estimation experiment.
Secondly, we consider the case when data delay and data loss exist simultaneously in the wireless network. The wireless networked control system is modeled to be a switched system with time varying delays. And the stabilization and H∞control problems are solved based on the obtained model. Numerical examples illustrate the effectiveness of the proposed methods.
Finally, the stabilization problem of the wireless networked control system when the con-trolled plant is unstable is considered. A switched system model is developed via augmented the system states. A controller design approach is obtained by the asynchronous dynamic system the-ory. Numerical examples illustrate the effectiveness of the proposed approach.
引文
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