【作者】 张颖；

【导师】 陈彩莲；

【作者基本信息】 上海交通大学 ， 控制工程， 2020， 硕士

【摘要】 创新科技与技术的蓬勃发展推动了第三次工业革命,其中信息通信技术的进步与发展表现突出。无线通信技术的不断提升以及无线设备的不断完善使得在工业自动化生产和管理现场中,使用无线设备和无线通信技术的范围越来越广。由此产生了由现代工业控制网络和无线通信网络构成的工业网络系统。尽管无线通信技术和设备可以部署到有线网络难以进入的区域,实现了无盲区覆盖以及低成本的无间断监控等有利于生产或管理现场的功能,但是与有线设备相比,由于无线传输受信道质量的影响比较大同时也带来了网络诱导时延、丢包以及更易受到干扰等问题。尽管系统可以通过估计或控制方法被动地抑制,也可以通过传输机制的设计主动改善网络诱导时延、丢包等因素对系统带来的影响。然而,由此带来的额外的能量消耗是由此衍生的另外一个问题。因此,为了达到期望的控制效果并且尽可能降低控制代价和通信能耗,建立衡量工业网络系统内包括采样周期、信道质量、控制器设计等因素对于控制-通信能耗和控制系统性能影响的联合性能函数是一个值得研究的问题。此外,针对特殊的网络结构,设计新的通信机制可以节约更多的通信能耗。而针对无线信道质量容易受到工业复杂干扰环境的影响导致信道质量下降的问题,分析干扰与控制-传输联合性能之间的关系以及干扰对控制-传输联合性能带来的影响对今后针对性地设计抗干扰方案也具有重要意义。因此,本文以工业网络系统为背景,针对两种结构的工业网络系统进行了控制-传输联合性能函数的建模,分析了网络参数对控制-传输联合性能的影响,其中在本文中考虑的控制-传输联合性能包括:控制代价,传输能耗以及估计精度三个方面。将工业复杂干扰环境分为弱干扰环境和强干扰环境两类,给出了两类环境发生的条件及对系统性能的影响。本论文的主要成果包括:首先,我们针对一个内部无耦合的一般工业网络系统进行了衡量系统控制-传输联合性能的函数并分析了系统内参数对联合性能的影响。针对具有时变时延的工业网络系统设计了具有α-指数衰减率的最优控制;给出了保证S个子系统,在给定采样周期内均完成一次成功传输的成功解码率的取值范围以及在给定成功解码率时的期望时延;利用匈牙利算法设计了最小化单次传输能耗的传感器-信道配对算法。仿真分析了不同衰减率对控制系统稳定性的影响,以及工业网络系统内的各个参数对控制系统稳定性,控制代价和传输能耗的影响。其次,针对具有顺序连接结构的离散顺序系统设计了在无线不确定性传输下的分布式估计方法,并给出了稳定性条件;给出了成功解码率与估计精度之间的关系。以钢铁企业出炉传送锟道的节能方案设计为例,设计了基于钢板状态估计的调度策略和控制方法,最后给出了整个系统的控制-通信能耗函数。仿真分析了估计方法的有效性。并给出了在引入工业网络系统后出炉传送锟道的能耗的节约分析比较。最后,将工业复杂干扰环境分为两类:弱干扰环境和强干扰环境。给出了判断两种环境发生的条件;针对不改变系统稳定性但会提高系统通信能耗的弱干扰环境,我们给出了系统的性能的改变与干扰源收益的差异函数,并给出对于系统而言受到的最差的干扰情况。针对会影响系统稳定性并且使得传感器单次传输能耗最大的强干扰环境,我们给出了强干扰环境中信道成功解码率受损后系统控制能耗的增加以及对估计性能的影响。更多还原

【Abstract】 The vigorous development of innovative science and technology has promoted the development of the third industrial revolution.Among them,the development of information and transmission technology has been outstanding.The continuous improvement of wireless transmission technology and wireless equipment provides more opportunities for engineers to deploy these equipment and technologies in industrial automation production and management sites.As a result,Industrial Network System(INS)is usually the integration of wireless network and existing control system.Although wireless network brings some advantages that are conducive to production or management,like being deployed in areas to which wired network is hard to access,achieving no-blind spot coverage and monitoring without stop at a relatively low cost,it also induces some negative effect on system,such as network-induced delay,uncertain transmission,and vulnerability to attack.System can be passively suppressed the impacts of network-induced delay and packet loss by designing a proper estimator or controller and can also be actively mitigated the impacts by designing transmission algorithms.However,the additional cost is a derivative problem.Therefore,establishing a control-transmission cost function to analyze the additional cost of control and transmission caused by introducing the wireless network is a question worthy to study.System factors like sampling period,channel quality and updated controller should also be noticed when we consider the system stability performance and cost.Also,when designing transmission algorithms,we should consider the topology of the network which sometimes provides us some new ideas to save costs.Jamming problems caused by vulnerable wireless channels are also a hot and important topic.Analyzing the relationship between jamming-source cost and additional system cost is of great significance in guiding the design of defense solutions now and in the future.Based on the industrial network system,this paper modeled the joint control-transmission performance function for two types of industrial network systems,and analyzed how network parameters influence the control-transmission performance.In this thesis,the joint performance includes three aspects: control cost,transmission energy consumption,and estimation accuracy.Besides,the industrial complex interference environment will be considered as two types: weak interference environment and strong interference environment.The conditions of the two styles of environment and how they affect the system performance are given.The main results of this thesis include:First of all,an optimal controller with an α-exponential decay is designed for the system with time changing delay;the range of the probability of successful decoding that guarantees each of the S subsystems to complete once successful transmission within a given sampling period is given.The expected delay is also given based on the probability of successful decoding.Hungarian algorithm is used to design a sensor-channel pairing algorithm that minimizes the transmission cost within a sampling period.Finally,we establish a control-transmission cost function for a previously decoupled industrial network system.Simulation analyzes the influence of different control degrees on control performance,the influence of system parameters on control performance and cost,and the influence of different probability of successful decoding on the system cost.Secondly,a distributed estimation method under wireless uncertainty transmission is designed for discrete sequential system,and stability condition is also given.The relationship between the probability of successful decoding and the estimation accuracy is given.Taking the energy-saving mechanism design of the conveying roller system in steel enterprises as an example,the scheduling strategy and control method based on the steel plate state estimation are designed.Finally,the control-transmission energy consumption function of the entire system is given.The validity of the estimation method is analyzed by simulation.The analysis and comparison of the energy saving of the delivery tunnel after the introduction of the industrial network system are also given.Finally,the industrial complex interference environment is considered as two styles: weak interference environment and strong interference environment.The conditions on which the two environments happen are given.For weak interference environment which does not change the stability of the system but increases the energy consumption of the system transmission,we give the difference function of the changing performance of the system and the profit of the interference source.Strong interference environment,which affects the stability of the system and maximizes the transmission energy consumption within a time slot,we give the increase in system control energy consumption and how it influences the estimation accuracy after the channel’s probability of successful decoding is impaired.更多还原