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研究生： 黃炫喬
Husan-Chiao Huang
論文名稱： 基於廣義預測控制理論應用於無線網路式 控制系統
Generalized Predictive Control in a Wireless Networked Control System
指導教授： 李敏凡
Min-Fan Ricky Lee
口試委員: 周宜雄
Yi-Shyong Chou
邱士軒
Shih-Hsuan Chiu
學位類別： 碩士
Master
系所名稱： 工程學院 - 自動化及控制研究所
Graduate Institute of Automation and Control
論文出版年： 2010
畢業學年度： 98
語文別： 英文
論文頁數： 84
中文關鍵詞： 封包丟失 、時延 、網路式控制系統 、廣義預測控制
外文關鍵詞： Packet Loss Generalized Predictive Control, Network-induced Delay, Networked Control system, Network Simulator version 2
相關次數： 點閱：351  下載：14 
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    • 網路式控制系統(Networked Control System, NCS) 於1999年由馬里蘭大學(University of Maryland) Walsh, G. C.等人所提出。 網路式控制系統有別於傳統之控制系統，其為網路通訊技術和自動化控制技術兩個學術領域的融合。 系統可分為控制器端與制動器/感測器端，前述兩者以網路(如:有線網路、無線網路等)連結的方式，互相傳送控制訊號與感測器資料而形成閉迴路控制系統。 其意為位於遠端之控制系統只包含制動器、感測器與受控廠，控制器位於本地並以網路通訊作為媒介之控制。在通訊網路中，由於網路不確定性時延與封包丟失等因素，使控制系統無法即時性運作並造成系統性能降低或使系統不穩定。 本文分析網路中影響系統性能之因素，並將網路中時延與封包丟失之現象模型化。
    廣義預測控制理論(Generalized Predictive Control, GPC)為模式預估控制(Model Predictive Control) 理論中的一種，且廣義預測控制對於不確定性時延系統的適應力強。 本文提出基於廣義預測控制理論為基礎之方法，以網路式控制系統模型與NS2實現於無線網路(IEEE 802.11b)式控制系統(Wireless NCS, WiNCS)，探討無線網路不同的時延與不同的封包丟失率對系統的影響。

    The conception of “Networked Control Systems (NCS)” was presented by Walsh G. C. et al. from the University of Maryland in 1999. The NCSs are different to the traditional control systems which are the integration of the automation and control area and network communication area. The simple NCS architecture composed of controller node and the actuator/sensor node, and each node transmitted data such as control signal and sensor measurement in the form of information packages through a real-time network (i.e. wired network, wireless network or CAN bus etc.).
    When a NCS operates over the communication network, one of the major challenges is the network-induced delay in data transfer among the controllers, actuators, and sensors. This delay may degrade system performance and even cause an unstable system.
    This thesis proposes a Generalized Predictive Control (GPC) with the Kalman state estimator to cope with network-induced delay and packet loss. The GPC is implemented in Wireless NCS (WiNCS) based on IEEE 802.11b, using a NCS model and Network Simulator version 2 (NS2) for simulation and analyzing the performance with the condition of different delay and packets loss rate.

    Abstract I 中文摘要 II Acknowledgements III Contents IV List of Figure VI List of Table VIII List of Symbols IX Chapter 1 Introduction 1 1.1 Background 1 1.2 Overview of Networked Control System 4 1.2.1 NCS Architecture 5 1.2.2 Wireless Network 6 1.3 Overview of Model Predictive Control 9 1.4 Literature Review 11 1.5 Purpose 13 1.6 Thesis Organization and Contribution 14 Chapter 2 Analysis of NCS 16 2.1 Effects of Delay in Control Loop 16 2.2 Problem Description of NCS 20 2.2.1 Networked-Induced Delay 21 2.2.2 Network Scheduling 21 2.2.3 Single-Packet and Multiple-Packet Transmission 22 2.2.4 Packet Loss 22 2.3 Formulation of the NSC Model 23 2.3.1 Delay Characteristic in NCS Model 24 2.3.2 Packets Loss Model 26 2.3.3 State Feedback Control of NCS Model with Delay and Packet Loss 27 2.3.4 Output Feedback Control of NCS Model with Delay and Packet Loss 31 Chapter 3 NCS Controller Design 35 3.1 Basic Principles of MPC 35 3.2 GPC Foundation 37 3.2.1 Formulation of GPC 37 3.2.2 GPC Control Strategy 42 3.3 GPC in State-Space Formulation 44 3.4 State Estimator 50 Chapter 4 Experiments and Results 54 4.1 Experimental Setup 54 4.2 Implement GPC in WiNCS 57 4.2.1 Wireless Network Environment Setup 59 4.3 Results 62 4.3.1 System Response with Random Delay and Packets Loss 62 4.3.2 System Response with Networked-Induced Delay in NS2 70 Chapter 5 Discussion and Conclusion 77 5.1 Discussion 77 5.2 Conclusion 78 5.3 Future Works 79 References 80 Biography 84

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