无线网络控制系统传输模型研究
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摘要
目前,无线网络的应用变得越来越广泛,这主要是由于无线网络具有许多优点,如:应用方便、组网和维护便利、容易拓展等。无线网络已经成为许多网络环境的首选形式,尤其是当应用对象是运动的或是所处的环境无法用有线网络进行连接时,无线网络起着不可替代的作用。无线网络在控制系统中的适用性引起了国内外研究工作者的极大关注。目前,无线网络控制系统(Wireless Network Control System,WlNCS)已经成为控制界的一个热门话题。
但是无线网络也存在着一些自身的局限性,如具有随机的延时和数据丢包,通信中断,时变的信道增益和干扰,带宽相对较小,误码率较高等问题。无线网络控制系统的研究重点之一是分析现有无线网络控制系统的性能,设计出较好的控制器,这就需要充分考虑无线通信信道的特性。目前应用于控制系统方面的网络主要是有线的或者是非移动的,很少涉及到网络节点的移动、网络结构的动态变化以及由于节点的能源耗尽而造成的节点随机死亡带来的种种困难。
本文做的主要工作和取得的成果如下:
1.利用网络仿真工具箱TrueTime构建了一个基于AODV(Ad Hoc On-Demand Distance Vector Routing)路由协议的移动无线网络的仿真模型,实现两个节点的通信。
2.通过仿真,研究了不同的节点移动速率及节点发包率对网络延时和数据丢包等主要网络特性的影响。
3.通过对AODV路由协议和仿真无线网络通信过程的分析,提出利用排队论中有服务台出现故障的带休假排队模型来描述该无线网络的节点通信过程,并建立了网络延时的数学模型。
4.通过已建立的无线网络仿真模型对建立的网络延时数学模型进行验证,实验数据证明了本文建立的无线网络延时数学模型的有效性。
At present, because of the convenience of the wireless network applications, the convenience of the mesh and the maintenance, and the favorable expansibility, the applications of the wireless network are becoming more and more widely. In a lot of new network environment, the wireless network has become the first web choice form, particularly in the environment where application objects are mobile or difficult to connect using the wire network. The wireless network plays an irreplaceable function. The adequacy of the wireless network in control system has aroused many research workers’concern. Now, WlNCS has become a hot topic in control field.
But the wireless network has some limitations of its own, for example: random delay and lost data packet, the communication interrupt, the time-variant channel gain and interference, the relatively small bandwidth and a higher error rate. One of the research key of WlNCS is to analysis its performance, to design a better controller. It is necessary to comprehend the characteristics of the communication channel. Now, the network applying in control system mainly is wired or immobile, rarely related to a lot of difficulties brought by node’s mobility, network topology’s dynamic variation and node’s random death as a result of energy drain.
The main work and creative results of this text as follows:
1. This text made use of the network simulation toolbox TrueTime under the Matlab/Simulink establishing an Ad Hoc network simulation model based on AODV routing.
2. Analyzed the main network characteristics of this network, for example: network delay and lost data packet in different node travelling speed and sending rate.
3. On the basis of analyzing AODV routing protocols and wireless network communication process, established wireless network delay mathematical model based on queuing theory with vacation.
4. We use established network simulation model validating established network delay mathematical model correctly.
但是无线网络也存在着一些自身的局限性,如具有随机的延时和数据丢包,通信中断,时变的信道增益和干扰,带宽相对较小,误码率较高等问题。无线网络控制系统的研究重点之一是分析现有无线网络控制系统的性能,设计出较好的控制器,这就需要充分考虑无线通信信道的特性。目前应用于控制系统方面的网络主要是有线的或者是非移动的,很少涉及到网络节点的移动、网络结构的动态变化以及由于节点的能源耗尽而造成的节点随机死亡带来的种种困难。
本文做的主要工作和取得的成果如下:
1.利用网络仿真工具箱TrueTime构建了一个基于AODV(Ad Hoc On-Demand Distance Vector Routing)路由协议的移动无线网络的仿真模型,实现两个节点的通信。
2.通过仿真,研究了不同的节点移动速率及节点发包率对网络延时和数据丢包等主要网络特性的影响。
3.通过对AODV路由协议和仿真无线网络通信过程的分析,提出利用排队论中有服务台出现故障的带休假排队模型来描述该无线网络的节点通信过程,并建立了网络延时的数学模型。
4.通过已建立的无线网络仿真模型对建立的网络延时数学模型进行验证,实验数据证明了本文建立的无线网络延时数学模型的有效性。
At present, because of the convenience of the wireless network applications, the convenience of the mesh and the maintenance, and the favorable expansibility, the applications of the wireless network are becoming more and more widely. In a lot of new network environment, the wireless network has become the first web choice form, particularly in the environment where application objects are mobile or difficult to connect using the wire network. The wireless network plays an irreplaceable function. The adequacy of the wireless network in control system has aroused many research workers’concern. Now, WlNCS has become a hot topic in control field.
But the wireless network has some limitations of its own, for example: random delay and lost data packet, the communication interrupt, the time-variant channel gain and interference, the relatively small bandwidth and a higher error rate. One of the research key of WlNCS is to analysis its performance, to design a better controller. It is necessary to comprehend the characteristics of the communication channel. Now, the network applying in control system mainly is wired or immobile, rarely related to a lot of difficulties brought by node’s mobility, network topology’s dynamic variation and node’s random death as a result of energy drain.
The main work and creative results of this text as follows:
1. This text made use of the network simulation toolbox TrueTime under the Matlab/Simulink establishing an Ad Hoc network simulation model based on AODV routing.
2. Analyzed the main network characteristics of this network, for example: network delay and lost data packet in different node travelling speed and sending rate.
3. On the basis of analyzing AODV routing protocols and wireless network communication process, established wireless network delay mathematical model based on queuing theory with vacation.
4. We use established network simulation model validating established network delay mathematical model correctly.
引文
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[4]王艳,张东彪,纪志成.无线网络控制系统建模与鲁棒控制分析[J].系统工程与电子技术, 2009, (9): 2189-2194.
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[3]邬春学,韩文冬. AODV在移动自组网络控制系统中的应用研究[J].算机应用, 2007, 27(10): 2388-2390.
[4]王艳,张东彪,纪志成.无线网络控制系统建模与鲁棒控制分析[J].系统工程与电子技术, 2009, (9): 2189-2194.
[5]岳东,彭晨, Qinglong Han.网络控制系统的分析与综合[M].北京:科学出版社, 2007.
[6]郭小华.基于无线传感器网络的无线网络控制系统研究[D].杭州:浙江大学电气工程学院, 2007.
[7] ARRANZ M G, AGUERO R, MUNOZ L, MAHO NEN P. Behavior of UDP-based applications over IEEE 802.11 wireless networks.Personal Indoor and Mobile Radio Communication, 2001.
[8] KELVIN K L, SAMUEL T C. Packet loss probability real-time traffic through delay for busy wireless model [J]. IEEE Transactions on Vehicular Technology, 2004, 53(3): 929-938.
[9] ZHANG W, BRANICKY M S, PHILLIPS S M. Stability of networked control systems [J]. IEEE Control Systems Magazine, 2001: 84-99.
[10]樊卫华,蔡骅,陈庆伟,等.时延网络控制系统的稳定性[J].控制理论与应用, 2004, 21(6): 880-896.
[11]樊卫华,蔡骅,吴晓蓓,等.具有时延和数据包丢失的网络控制系统的稳定性[J].南京理工大学学报, 2004, 28(5): 465-470.
[12]邱占芝,张庆灵,刘明.有延时和数据包丢失的网络控制系统控制器设计[J].控制与决策, 2006, 21(6): 625-630.
[13]朱其新,胡寿松.网络控制系统的分析与建模[J].信息与控制, 2003, 32(1): 5-8.
[14] Drew M C, Networked control system design over a wireless LAN [D]. Berkeley: University of California, 2005.
[15] Drew M C, Liu X H, Goldsmith, etal. Networked control system design over a wireless LAN [C]. Proceeding of the 44th IEEE Conference on Decision and Control and European Control Conference, Seville: IEEE Press, 2005: 6704-6709.
[16] Cheng C W, Lai C L, Wang B C, etal. The time-delay effect of multiple-network systems in NCS [C]. Proc of the SICE Annual Conference. Japan: Kagawa University, 2007: 929-934.
[17]朱其新,胡寿松.网络控制系统的随机状态反馈控制[J].南京航空寒天大学学报, 2003, 35(6):616-620.
[18]王艳,胡维礼,樊卫华.非线性时延网络控制系统的模糊建模与控制[J].控制工程, 2006, 13(3): 233-236.
[19]彭晨,岳东.网络环境下不确定时滞系统鲁棒H ?控制[J].自动化学报, 2007, 33(1): 1093-1096.
[20]朱其新,胡寿松,刘亚.无限时间长时延网络控制系统的随机最优控制[J].控制理论与应用, 2004, 21(3): 321-326.
[21]李金娜,张庆灵,张永平.具有长时延和数据丢包的NCS的分析与建模[J].沈阳化工学院学报, 2007, 21(2): 129-133.
[22] Colandairaj J, Irwinand G W, Scanlon W G. Wireless networked control systems with Qos-based sampling [J]. IET Control Theory and Application, 2007, 1(1): 430-438.
[23] Liu X H, Goldsmith A.Wireless communication tradeoffs in distributed control [C].Maui Hawaii Proceeding of the 42nd IEEE Conference on Decision and Control, 2003.
[24] Liu X H, Goldsmith A. Wireless medium access control in distributed control [C]. Monticello: the 41th Annal Allerton Conference on Communication, Control and Computing, 2003.
[25] Liu X H, Goldsmith A. Wireless medium access control in networked control systems [C]. Boston Massachusetts: Proc IEEE American Control Conference, 2004.
[26] Kumar S, Raghavan V S, Deng J. Medium access control protocols for ad hoc wireless networks: a survey [J]. Ad Hoc Networks, 2004, 4(3): 326-358.
[27] Ling Q, Lemmon M. Optimal dropout compensation in networked control systems [C]. Maui Hawaii: Proceedings of the IEEE Conference on Decision and Control, 2003.
[28] Liu X H, Goldsmith A. Wireless network design for distributed control [C]. Atlantis Paradise Island Baha mas: the 43rd IEEE Conference on Decision and Control, 2004.
[29]彭丽萍,彭晨,岳东.无线网络环境下控制系统的仿真研究[J].工业控制计算机, 2007, 20(1): 43-45.
[30]彭丽萍,岳东.基于TrueTime的无线网络控制系统仿真设计[J].现代电子技术, 2008.
[31]王磊,吴怀技,徐军,张硕.基于无线网络的电机控制器设计与仿真[J].测控技术, 2009, 28(2): 55-57,61.
[32]赵贤林.基于状态空间模型的无线网络控制仿真研究[J].控制工程, 2010, 17(1): 20-23,27.
[33] Jubin J, Tornow J D. The DARPA Packet Radio Network Protocols [J]. in Proceedings of the IEEE, Special Issue on Packet Radio Networks: 75(1), January 1987, 21-32.
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