基于无线传感器网络的无线网络控制系统研究
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摘要
利用无线通讯网络实现地域上分布的、可移动的现场传感器、控制器及执行器之间的信息相互交换，以达到被控对象的实时反馈控制，这样的一类被称为“无线网络控制系统”的新型控制系统近年来得到了广泛的关注。与传统的点对点控制系统或有线网络控制系统相比，基于控制技术、网络技术、射频通讯技术和计算机技术实现的无线网络控制系统具有可实现资源共享、高的诊断能力、高度移动性、减少系统布线、增加系统的柔性和鲁棒性、安装维护方便等诸多优点，在众多领域得到广泛应用，成为控制领域的研究热点之一。然而，无线网络中的随机延时、丢包、低通讯带宽、通讯约束等问题也使无线网络控制系统的分析和设计变得异常复杂。
本文针对一类在无线传感器网络基础上实现的无线网络控制系统，结合现代控制理论和射频通讯理论，以实验手段对该类无线网络控制系统进行了研究，设计了一种基于IEEE 802.15.4／Zigbee通讯协议的、可用于无线网络控制系统和无线传感器网络研究的实验平台，着眼于提高闭环控制系统的稳定性、减少网络延时对闭环控制系统性能的影响，从控制和网络两个角度提出了新的延时补偿算法。
A great deal of attention has recently been focused on a class of wireless networked control systems (WiNCS) wherein the control loops are closed through wireless communication networks. This family of systems is an integration of plants, sensors, controllers, actuators and wireless communication networks of certain local field. It aims to ensure data transmission and coordination manipulation among spatially distributed and mobile components. Compared with conventional point-to-point control systems and wired networked control systems, the advantages of WiNCS based on the control, network, radio frequency communication and computer technology are the elimination of wiring, lower install cost, greater mobility as well as greater agility and robustness in diagnosis and maintenance. Because of these distinctive benefits, typical application of these WiNCS ranges over various fields, such as automotive, mobile robotics, advanced aircraft, mechanical and process control, and so on. The WiNCS becomes a hotspot in the control field.
However, the introduction of wireless communication networks in the control loops makes the analysis and design of WiNCS complex. The requirements of stable feedback control with wireless network are not yet satisfied duo to random network-induced delays, higher bit-error, jitter, packet losses as well as limited communication bandwidth.
In this dissertation, the WiNCS in the frame of modern control theory and radio frequency communication theory are studied through experimental methods for a class of WiNCS built around wireless sensor networks (WSN). Based on the IEEE 802.15.4/Zigbee protocols stack, a novel prototype testbed is designed and used to study the WiNCS and WSN. With an aim to improve the stability of closed-loop WiNCS and decrease the impact of the network-induced delay on closed-loop WiNCS. the novel algorithms compensated the network-induced delay are presented from the viewpoint of control and wireless networks.
本文针对一类在无线传感器网络基础上实现的无线网络控制系统，结合现代控制理论和射频通讯理论，以实验手段对该类无线网络控制系统进行了研究，设计了一种基于IEEE 802.15.4／Zigbee通讯协议的、可用于无线网络控制系统和无线传感器网络研究的实验平台，着眼于提高闭环控制系统的稳定性、减少网络延时对闭环控制系统性能的影响，从控制和网络两个角度提出了新的延时补偿算法。
A great deal of attention has recently been focused on a class of wireless networked control systems (WiNCS) wherein the control loops are closed through wireless communication networks. This family of systems is an integration of plants, sensors, controllers, actuators and wireless communication networks of certain local field. It aims to ensure data transmission and coordination manipulation among spatially distributed and mobile components. Compared with conventional point-to-point control systems and wired networked control systems, the advantages of WiNCS based on the control, network, radio frequency communication and computer technology are the elimination of wiring, lower install cost, greater mobility as well as greater agility and robustness in diagnosis and maintenance. Because of these distinctive benefits, typical application of these WiNCS ranges over various fields, such as automotive, mobile robotics, advanced aircraft, mechanical and process control, and so on. The WiNCS becomes a hotspot in the control field.
However, the introduction of wireless communication networks in the control loops makes the analysis and design of WiNCS complex. The requirements of stable feedback control with wireless network are not yet satisfied duo to random network-induced delays, higher bit-error, jitter, packet losses as well as limited communication bandwidth.
In this dissertation, the WiNCS in the frame of modern control theory and radio frequency communication theory are studied through experimental methods for a class of WiNCS built around wireless sensor networks (WSN). Based on the IEEE 802.15.4/Zigbee protocols stack, a novel prototype testbed is designed and used to study the WiNCS and WSN. With an aim to improve the stability of closed-loop WiNCS and decrease the impact of the network-induced delay on closed-loop WiNCS. the novel algorithms compensated the network-induced delay are presented from the viewpoint of control and wireless networks.
引文
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