【摘要】：網(wǎng)絡(luò)控制系統(tǒng)是指利用通信網(wǎng)絡(luò)來交換位于不同地理位置的控制器、傳感器和執(zhí)行器等多個(gè)節(jié)點(diǎn)之間的數(shù)據(jù)信息而構(gòu)成的閉環(huán)控制系統(tǒng),具有智能化、網(wǎng)絡(luò)化和分布化等特點(diǎn),可滿足大型工業(yè)的控制系統(tǒng)結(jié)構(gòu)復(fù)雜、規(guī)模大和遠(yuǎn)程控制等需求,因此備受中外學(xué)者和工程技術(shù)人員的關(guān)注。然而由于網(wǎng)絡(luò)控制系統(tǒng)引入共享網(wǎng)絡(luò)作為通信介質(zhì),必然存在諸如帶寬受限、數(shù)據(jù)包丟失、節(jié)點(diǎn)驅(qū)動(dòng)方式和網(wǎng)絡(luò)誘導(dǎo)時(shí)延等問題,相比傳統(tǒng)控制系統(tǒng)的設(shè)計(jì)與分析顯得更為復(fù)雜,現(xiàn)已成為國內(nèi)外的研究熱點(diǎn)。網(wǎng)絡(luò)控制系統(tǒng)中多個(gè)控制回路共享有限的網(wǎng)絡(luò)帶寬資源,勢(shì)必產(chǎn)生對(duì)有限帶寬資源的競爭,當(dāng)某一控制回路帶寬占用率過高,就會(huì)影響到其他控制回路以及整個(gè)系統(tǒng)的性能。為了保證網(wǎng)絡(luò)控制系統(tǒng)的控制性能和穩(wěn)定性,不僅需要優(yōu)越的控制算法,而且還需要合理調(diào)度策略,所以如何動(dòng)態(tài)分配各控制回路的帶寬、調(diào)整并發(fā)優(yōu)先級(jí)是權(quán)衡網(wǎng)絡(luò)帶寬資源競爭與控制性能之間的關(guān)鍵。本文從網(wǎng)絡(luò)帶寬受限的角度出發(fā),對(duì)網(wǎng)絡(luò)控制系統(tǒng)中的帶寬管理和優(yōu)先級(jí)調(diào)度進(jìn)行研究,分別提出了基于帶寬約束的帶寬管理策略和基于帶寬管理的雙參數(shù)優(yōu)先級(jí)調(diào)度策略,有效地提高了系統(tǒng)的控制性能和帶寬資源利用率,主要研究工作內(nèi)容如下:第一,針對(duì)多控制回路的網(wǎng)絡(luò)控制系統(tǒng)如何將回路的富余帶寬逐步及時(shí)地回饋以及整體期望帶寬超限的優(yōu)化分配問題,提出了基于帶寬約束的帶寬管理策略。通過建立全局網(wǎng)絡(luò)調(diào)度器,根據(jù)各控制回路的控制性能預(yù)估回路控制誤差,利用模糊推理方法并按照帶寬分配原則(控制性能差的回路逐步獲取帶寬,提高其控制性能;控制性能良好的回路將多余帶寬逐步回饋到網(wǎng)絡(luò)中,供其他回路使用)周期性地確定各控制回路的期望帶寬,分別對(duì)期望帶寬在帶寬約束內(nèi)和帶寬約束外兩種情況進(jìn)行實(shí)際帶寬分配量的設(shè)計(jì)。實(shí)驗(yàn)分析驗(yàn)證了該調(diào)度策略能夠有效地提高系統(tǒng)的帶寬利用率和控制性能。第二,針對(duì)優(yōu)先級(jí)調(diào)度的任務(wù)重要特性參數(shù)單一的穩(wěn)定性不足以及帶寬管理策略與優(yōu)先級(jí)調(diào)度策略難以充分結(jié)合的問題,提出了基于帶寬管理策略的雙參數(shù)優(yōu)先級(jí)調(diào)度策略。在帶寬管理策略進(jìn)行集中帶寬調(diào)度的基礎(chǔ)上,在各傳感器節(jié)點(diǎn)進(jìn)行分布式地優(yōu)先級(jí)調(diào)度,將帶寬管理策略中全局網(wǎng)絡(luò)調(diào)度器輸出的采樣周期作為網(wǎng)絡(luò)需求度參數(shù)和將任務(wù)傳輸?shù)目臻e時(shí)間作為網(wǎng)絡(luò)緊急度參數(shù)聯(lián)合確定優(yōu)先級(jí)參數(shù),其優(yōu)先級(jí)參數(shù)調(diào)整的原則為:較大負(fù)載的控制回路的優(yōu)先級(jí)主要由網(wǎng)絡(luò)需求度決定,其次取決于網(wǎng)絡(luò)緊急度;并提出基于CAN擴(kuò)展幀的標(biāo)識(shí)符分段規(guī)劃方法,既體現(xiàn)策略的動(dòng)態(tài)特性,又體現(xiàn)其固定唯一性,增大系統(tǒng)的節(jié)點(diǎn)容納量。實(shí)驗(yàn)分析驗(yàn)證了該調(diào)度策略能夠周期性地動(dòng)態(tài)調(diào)整各通信節(jié)點(diǎn)的優(yōu)先級(jí)并進(jìn)一步提高了系統(tǒng)的控制性能。
[Abstract]:Network control system is a closed loop control system which uses communication network to exchange data information between controllers, sensors, actuators and other nodes located in different geographical locations. It has the characteristics of intelligence, network and distribution. It can meet the needs of complex structure, large scale and remote control in large industry, so it has attracted the attention of Chinese and foreign scholars and engineers. However, due to the introduction of shared network as communication medium in networked control systems, there are bound to be some problems, such as bandwidth limitation, packet loss, node-driven mode and network-induced delay, etc. Compared with the design and analysis of traditional control system, it has become a research hotspot at home and abroad. Multiple control loops in networked control systems share limited network bandwidth resources, which will inevitably result in competition for limited bandwidth resources. If the bandwidth utilization of one control loop is too high, the performance of other control circuits and the whole system will be affected. In order to ensure the control performance and stability of the networked control system, not only the superior control algorithm is needed, but also the reasonable scheduling strategy is needed, so how to dynamically allocate the bandwidth of each control loop, Adjusting concurrent priority is the key to balance the competition of network bandwidth resources and control performance. In this paper, bandwidth management and priority scheduling in networked control systems are studied from the point of view of bandwidth constraints. Bandwidth management strategies based on bandwidth constraints and two-parameter priority scheduling strategies based on bandwidth management are proposed respectively. The control performance and bandwidth resource utilization of the system are improved effectively. The main contents of the research are as follows: first, A bandwidth management strategy based on bandwidth constraint is proposed to solve the problem of how to feedback the excess bandwidth of the loop step by step and to optimize the allocation of the overall desired bandwidth in the networked control system with multiple control loops. By establishing a global network scheduler, the control error of each control loop is estimated according to the control performance of the control loop, and the control performance is improved by using the fuzzy reasoning method and according to the principle of bandwidth allocation (the loop with poor control performance can obtain the bandwidth step by step; The loop with good control performance returns the excess bandwidth step by step to the network for use by other circuits) and periodically determines the desired bandwidth of each control loop. The actual bandwidth allocation is designed for two cases: the expected bandwidth is within the bandwidth constraint and the other is outside the bandwidth constraint. The experimental results show that the scheduling strategy can effectively improve the bandwidth utilization and control performance of the system. Secondly, a two-parameter priority scheduling strategy based on bandwidth management strategy is proposed to solve the problem of the lack of stability of single important characteristic parameter of priority scheduling and the difficulty of combining bandwidth management strategy with priority scheduling strategy. On the basis of centralized bandwidth scheduling based on bandwidth management strategy, distributed priority scheduling is carried out on each sensor node. The sampling period of the global network scheduler in the bandwidth management strategy is taken as the network requirement parameter and the idle time of the task transmission is taken as the network emergency parameter to determine the priority parameter. The principle of the priority parameter adjustment is: the priority of the control loop with large load is mainly determined by the network requirement degree, the second is the network emergency degree, and the method of segmental planning of the identifier based on the extended frame of CAN is proposed. It not only embodies the dynamic characteristics of the strategy, but also reflects its fixed uniqueness, and increases the node capacity of the system. The experimental results show that the scheduling strategy can dynamically adjust the priority of each communication node periodically and further improve the control performance of the system.
【學(xué)位授予單位】：西南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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本文編號(hào)：2147317