摘要
由于低成本、易维护和频带免授权等优点,IEEE 802.11ax网络被广泛用于工业控制应用。针对基于IEEE802.11ax的无线网络化控制系统,提出一种控制感知的资源调度方法以支持对多个控制系统的无线高速控制。首先,考虑IEEE802.11ax网络的传感数据丢包问题,给出控制系统的最优估计器和线性二次高斯(LQG)控制。然后,分析LQG指标与IEEE 802.11ax传输可靠性的依赖关系,给出期望LQG指标最小化的资源调度问题模型,进而提出一种面向LQG控制的资源调度(LCARS)方法。最后,通过大量仿真验证LCARS的有效性。LCARS可用于自动导引车集群导航、机器人远程控制等智能工厂应用。
Due to the advantages in low cost,ease of maintenance and license-exempt spectrum,etc,IEEE 802.11ax is widely adopted in industrial control applications.For a wireless networked control system based on IEEE 802.11ax,a control-aware resource scheduling method was proposed to support the wireless high-speed control of multiple control systems.Firstly,considering the packet dropout problem of sensing data in IEEE 802.11ax,the optimal state estimator and the linear quadratic Gaussian(LQG)control of the studied control system were given.Secondly,the dependency between the LQG performance and the transmission reliability of IEEE 802.11ax was analyzed,the expected LQG performance minimization problem of resource scheduling was formulated,and further,an LQG control-aware resource scheduling(LCARS)method was proposed.Finally,the effectiveness of the LCARS method was demonstrated via extensive simulations.LCARS can be applied to smart factory applications including navigation of automated guided vehicles,remote control of robots and so on.
作者
郑萌
张雷
梁炜
ZHENG Meng;ZHANG Lei;LIANG Wei(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Key Laboratory of Networked Control Systems,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;School of Computer Science and Technology,University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《通信学报》
EI
CSCD
北大核心
2024年第3期81-91,共11页
Journal on Communications
基金
国家重点研发计划基金资助项目(No.2021YFB3301000)
兴辽英才计划基金资助项目(No.XLYC2203148)
沈阳市中青年科技创新人才支持计划基金资助项目(No.RC210482,No.RC210314)。
