无线传感器/执行器网络协同感知与控制研究
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摘要
无线传感器/执行器网络是近年来发展起来的新型无线传感器网络，它结合了无线传感器网络与网络控制系统的优点，从而使得传统意义上的无线传感器网络不仅具有了监测功能，还具有了控制和执行功能。因此无线传感器/执行器网络在救灾工作、精准农业、智能家居等领域具有广泛的应用前景。由于无线传感器/执行器网络能够极大地改变人们获取信息和交互环境的方式，因此在国内外它都是一个研究热点。
感知与控制是无线传感器/执行器网络的重要组成部分，两者相辅相成，构成了一个完整的反馈控制系统。虽然网络中每个节点的能力和资源都是有限的，但是通过节点间的协同感知与控制，就能够完成点个节点所不能完成的复杂任务。然而，现有的很多研究只是注重其中某一方面，没有进行全面的考虑，所以其中有很多问题亟需解决。本文在国内外现有研究的基础上，研究了面向控制应用的无线传感器/执行器网络协同机制和评价标准，在此基础上，提出了协同感知与控制算法。本文的主要工作以及贡献包括以下几个方面：
1.搭建了基于无线传感器网络的移动目标跟踪平台并设计了在平台上运行的协同信息处理算法。在目标移动的过程中，根据目标的位置在其周围调度相应的传感器共同来完成目标的检测与跟踪任务。为了提高网络能效，建立了基于节点硬件的能量模型，并提出了能量优化的传感器调度策略，在保证跟踪精度的同时能够均衡节点的能量消耗。
2.对于存在通信时延的无线传感器/执行器网络，设计了一种时延补偿算法来估计实时数据。在此基础上，根据需要完成的任务来对执行器进行分簇。对于簇内的执行器，通过一种分布式的控制策略来协同它们的工作。给出了保持系统稳定的条件并分析了控制参数选择对系统性能的影响。
3．针对需要移动执行器来需要完成任务的情况，设计了一种基于系统能控性的执行器优化部署方案，通过虚拟力来把执行器移动到合适的位置上。在这样的一个动态网络中，提出了一种基于事件驱动的任务分配机制，综合考虑了时间、能量、控制要求等因数，为每个执行器分配最合适的工作量。
4.为了提高系统运行的可靠性，分别使用了自适应联邦滤波器和PID神经网络来协同传感器与执行器、执行器与执行器之间的工作。根据每个节点的特点，把上述的估计及控制任务平均分配给每个节点，让节点并行完成任务，这种分布式的结构在保证控制质量的同时能够提高系统响应速度。同时，为了验证以及改进算法，搭建了基于无线传感器/执行器网络的智能灯光照明平台。
Wireless sensor and actuator networks (WSANs) are emgering rapidly as a newgeneration of wireless sensor networks (WSNs). Taking the advantage of WSNs and networkcontrol system, the novel architecture of WSANs performs not only read operations, but alsowrite operations. WSANs can be deployed for a great variety of applications, such as urbanresearch and rescue, precision agriculture, smart home, etc. Since WSANs provide a moreconcretely exchange between human and surrounding environment, more and more attentionswill be paied in this newborn area.
Sensing and control, which are essential parts to construct a feedback control system, aretwo important elements of WSANs. Although nodes’resources and capabilities are limited inWSANs, complex tasks will be accomplished through the collbaorative sensing and controlamong the nodes that are far beyond signal node reach. However, most related works onlyfocus on one of them, and the jointly research on collaborative sensing and control isnecessary but rare. As an attempt in this direction, this thesis analyzes the coordinationmechsnism and performance criteria design for WSANs in control applications. On this basis,the collaborative sensing and control algorithms are proposed to deal with node coordinationproblem. The main works and contributions are summarized as follows
1. A mobile target tracking platform based on WSNs is constructed and a propercollaborative processing method is designed to coordinate wireless sensor nodes. During themovement of mobile target, sensor nodes that are around it will be scheduled and theseclustered nodes are responsible for mobile target sensing and tracking tasks. In order to reduceenergy consumption and enhance system real-time tracking performance, energy model basedon hareware over wireless sensor node is established to design energy optimization sensorscheduling scheme.
2. A predictor-controller algorithm based on distributed estimation is designed tomitigate the effects of network-induced delay. On this basis, a distributed collaborativeprocessing method is proposed to meet the desired system requirements and improve theoverall control performance. This approach will group sensors and actuators to work inparallel so as to reduce computation complexity and enhance system reacting time. In order to improve control quality, the condition to keep system stable is introduced and the controlstrategy parameters related to the system performance is analyzed.
3. In some applications of WSANs, it is often require for the actuators to relocate. So, aregional controllability based virtual force algorithm is introduced as an actuator deploymentstrategy to improve actuator coverage. In this dynamic environment, a strategy is proposed toassign tasks to actuators and control their actions in a coordinated way to accomplish the tasksbased on the requirements of current events.
4. In order to enhance system reliability, adaptive federated Kalman filter and PID neuralnetwork is adopted to coordinate sensor-actuator and actuator-actuator, respectively. Takingthe characteristics of different nodes into consideration, the estimation and control tasks areallocated in grouped sensor and actuator clusters, and the control decisions can be madelocally. The distributed architecture will enhance control quality as well as real-timeperformance. At the same time, a wireless lighting platform based on WSANs is designed totest and improve the proposed algorithms.
感知与控制是无线传感器/执行器网络的重要组成部分，两者相辅相成，构成了一个完整的反馈控制系统。虽然网络中每个节点的能力和资源都是有限的，但是通过节点间的协同感知与控制，就能够完成点个节点所不能完成的复杂任务。然而，现有的很多研究只是注重其中某一方面，没有进行全面的考虑，所以其中有很多问题亟需解决。本文在国内外现有研究的基础上，研究了面向控制应用的无线传感器/执行器网络协同机制和评价标准，在此基础上，提出了协同感知与控制算法。本文的主要工作以及贡献包括以下几个方面：
1.搭建了基于无线传感器网络的移动目标跟踪平台并设计了在平台上运行的协同信息处理算法。在目标移动的过程中，根据目标的位置在其周围调度相应的传感器共同来完成目标的检测与跟踪任务。为了提高网络能效，建立了基于节点硬件的能量模型，并提出了能量优化的传感器调度策略，在保证跟踪精度的同时能够均衡节点的能量消耗。
2.对于存在通信时延的无线传感器/执行器网络，设计了一种时延补偿算法来估计实时数据。在此基础上，根据需要完成的任务来对执行器进行分簇。对于簇内的执行器，通过一种分布式的控制策略来协同它们的工作。给出了保持系统稳定的条件并分析了控制参数选择对系统性能的影响。
3．针对需要移动执行器来需要完成任务的情况，设计了一种基于系统能控性的执行器优化部署方案，通过虚拟力来把执行器移动到合适的位置上。在这样的一个动态网络中，提出了一种基于事件驱动的任务分配机制，综合考虑了时间、能量、控制要求等因数，为每个执行器分配最合适的工作量。
4.为了提高系统运行的可靠性，分别使用了自适应联邦滤波器和PID神经网络来协同传感器与执行器、执行器与执行器之间的工作。根据每个节点的特点，把上述的估计及控制任务平均分配给每个节点，让节点并行完成任务，这种分布式的结构在保证控制质量的同时能够提高系统响应速度。同时，为了验证以及改进算法，搭建了基于无线传感器/执行器网络的智能灯光照明平台。
Wireless sensor and actuator networks (WSANs) are emgering rapidly as a newgeneration of wireless sensor networks (WSNs). Taking the advantage of WSNs and networkcontrol system, the novel architecture of WSANs performs not only read operations, but alsowrite operations. WSANs can be deployed for a great variety of applications, such as urbanresearch and rescue, precision agriculture, smart home, etc. Since WSANs provide a moreconcretely exchange between human and surrounding environment, more and more attentionswill be paied in this newborn area.
Sensing and control, which are essential parts to construct a feedback control system, aretwo important elements of WSANs. Although nodes’resources and capabilities are limited inWSANs, complex tasks will be accomplished through the collbaorative sensing and controlamong the nodes that are far beyond signal node reach. However, most related works onlyfocus on one of them, and the jointly research on collaborative sensing and control isnecessary but rare. As an attempt in this direction, this thesis analyzes the coordinationmechsnism and performance criteria design for WSANs in control applications. On this basis,the collaborative sensing and control algorithms are proposed to deal with node coordinationproblem. The main works and contributions are summarized as follows
1. A mobile target tracking platform based on WSNs is constructed and a propercollaborative processing method is designed to coordinate wireless sensor nodes. During themovement of mobile target, sensor nodes that are around it will be scheduled and theseclustered nodes are responsible for mobile target sensing and tracking tasks. In order to reduceenergy consumption and enhance system real-time tracking performance, energy model basedon hareware over wireless sensor node is established to design energy optimization sensorscheduling scheme.
2. A predictor-controller algorithm based on distributed estimation is designed tomitigate the effects of network-induced delay. On this basis, a distributed collaborativeprocessing method is proposed to meet the desired system requirements and improve theoverall control performance. This approach will group sensors and actuators to work inparallel so as to reduce computation complexity and enhance system reacting time. In order to improve control quality, the condition to keep system stable is introduced and the controlstrategy parameters related to the system performance is analyzed.
3. In some applications of WSANs, it is often require for the actuators to relocate. So, aregional controllability based virtual force algorithm is introduced as an actuator deploymentstrategy to improve actuator coverage. In this dynamic environment, a strategy is proposed toassign tasks to actuators and control their actions in a coordinated way to accomplish the tasksbased on the requirements of current events.
4. In order to enhance system reliability, adaptive federated Kalman filter and PID neuralnetwork is adopted to coordinate sensor-actuator and actuator-actuator, respectively. Takingthe characteristics of different nodes into consideration, the estimation and control tasks areallocated in grouped sensor and actuator clusters, and the control decisions can be madelocally. The distributed architecture will enhance control quality as well as real-timeperformance. At the same time, a wireless lighting platform based on WSANs is designed totest and improve the proposed algorithms.
引文
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