无线网络控制系统中链路层参数研究

Study on Link Layer Parameters in Wireless Networked Control Systems

在无线网络控制系统优化设计的研究中,系统的设计包括控制器的设计和无线网络的设计两部分,为使控制效果达到最优,不仅要考虑控制器的设计还需考虑网络对控制系统的影响。无线网络传输不可避免的引入时延和丢包,根据通信参数的选择对无线网络控制系统的性能有着重要的影响。研究了链路层中数据率、时延和丢包率对控制系统性能的影响,分析了无线网络传输延时的划分及Markov模型的建立,以一级倒立摆为被控对象,通过Matlab仿真得到使控制系统性能达到最优的链路层参数设计。

In wireless networked control systems, the design of systems includes two parts： the controller design and the network design. In order to achieve optimal control performance, controller and wireless network should be considered jointly. The choice of communication parameters can greatly affect the performance of the wireless net- worked control systems. By analyzing the trade-offs of data rate, delay and packet loss rate in the link layer design, the division of wireless network transmission delay and Markov model, we achieved the link layer design that makes the control systems to obtain optimal performance and illustrated this with a numerical example of an inverted pendu- lum.