Resource configuration method, device, equipment, medium and product for closed-loop control

Abstract

The present application relates to a resource configuration method, device, equipment, medium and product for closed-loop control. The method includes: obtaining the control period of the "sensing-transmission-computing-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost; taking the minimum LQR cost of the control task undertaken by the closed loop as the goal, establishing an objective function according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost; the objective function represents the functional relationship between the closed-loop information volume and the LQR cost of the closed loop; according to the objective function, determining the resource configuration information of the closed loop; and according to the resource configuration information of the closed loop, performing resource configuration on the closed loop. The use of this method can improve the control performance of the closed loop.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a resource configuration method, device, equipment, medium and product for closed-loop control. Background Art

[0002] The future 6G network will need to include a closed loop of “sensing-transmission-computing-control” to support various unmanned operations such as marine resource development, environmental monitoring, emergency rescue, and industrial production.

[0003] In the related art, the "sense-transmission-calculation-control" closed loop includes a perception unit, a calculation unit and an execution unit, as well as an uplink between the perception unit and the calculation unit and a downlink between the calculation unit and the execution unit. The perception unit and the execution unit in the "sense-transmission-calculation-control" closed loop are usually configured with orthogonal communication resources. Then, during the control cycle, the perception unit obtains the perception information and transmits the perception information to the calculation unit. The calculation unit processes the received perception information to obtain the control command and sends the control command to the execution unit. After receiving the control command, the execution unit will execute the action corresponding to the control command.

[0004] However, current communication networks treat different links as independent data pipelines, without considering the coupling relationship between tasks in the uplink and downlink in the closed loop, resulting in insufficient utilization of communication resources and poor closed-loop control performance. Summary of the invention

[0005] Based on this, it is necessary to provide a closed-loop control-oriented resource configuration method, device, equipment, medium and product that can improve the closed-loop control performance in response to the above technical problems.

[0006] In a first aspect, the present application provides a closed-loop control-oriented resource configuration method, comprising:

[0007] Obtain the control cycle of the "sense-transmission-calculation-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control cost (LQR cost); the uplink and downlink include the uplink between the sensing unit and the calculation unit in the closed loop and the downlink between the calculation unit in the closed loop and the execution unit in the closed loop; the system control parameters of the controlled system include the system dimension, state matrix, input matrix, and covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost;

[0008] Taking the minimum LQR cost of the control task undertaken by the closed loop as the goal, an objective function is established according to the control cycle, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost; the objective function represents the functional relationship between the closed loop information amount of the closed loop and the LQR cost;

[0009] Determine closed-loop resource configuration information based on the objective function;

[0010] According to the closed-loop resource configuration information, resources are configured for the closed-loop.

[0011] In one embodiment, an objective function is established according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost, including:

[0012] Determine the closed-loop information volume of the closed-loop according to the control period, transmission parameters of the uplink and downlink, and calculation parameters;

[0013] The objective function is established according to the closed-loop information amount, the matrix information of the LQR cost and the system control parameters of the controlled system.

[0014] In one embodiment, the transmission parameters of the uplink and downlink include the maximum transmission power of the perception unit, the maximum transmission power of the calculation unit, the channel gain of the uplink and downlink, the available bandwidth resources, and the channel noise power spectrum density of the uplink and downlink; the calculation parameters include the information extraction ratio, the number of processor frequencies required to process the unit bit perception data and the maximum frequency of the processor of the calculation unit, and the channel gain of the uplink and downlink includes the uplink channel gain and the downlink channel gain; according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters, the closed-loop information amount of the closed loop is determined, including:

[0015] Determine the uplink transmission power according to the maximum transmission power of the sensing unit;

[0016] Determining the transmission power of the downlink according to the maximum transmission power of the calculation unit;

[0017] Determining the processor frequency of the computing unit according to the maximum processor frequency of the computing unit;

[0018] Determine the bandwidth of the uplink and the bandwidth of the downlink according to the transmit power of the uplink, the transmit power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources;

[0019] Determine the transmission time of the uplink and the transmission time of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit;

[0020] Determine the amount of information transmitted without error in the uplink within the control period according to the uplink and downlink channel noise power spectrum density, the uplink channel gain, the uplink transmit power, the uplink bandwidth, and the uplink transmission time;

[0021] Determine the amount of information transmitted without error in the downlink within the control period according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the transmission power of the downlink, the bandwidth of the downlink, and the transmission time of the downlink;

[0022] The closed-loop information volume of the closed-loop is determined according to the information volume of the uplink error-free transmission, the information volume of the downlink error-free transmission and the information extraction ratio.

[0023] In one embodiment, the channel gain of the uplink and downlink includes the channel gain of the uplink and the channel gain of the downlink; determining the bandwidth of the uplink and the bandwidth of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources includes:

[0024] Determine a first function expression of the uplink according to the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, and the uplink transmission power; the first function expression is a function expression of the uplink transmission rate with respect to the uplink bandwidth;

[0025] Determine a second function expression of the downlink according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, and the transmission power of the downlink; the second function expression is a function expression of the transmission rate of the downlink with respect to the bandwidth of the downlink;

[0026] The bandwidth of the uplink and the bandwidth of the downlink are determined according to the first function expression, the characteristic data of the uplink, the information extraction ratio, the available bandwidth resources and the second function expression.

[0027] In one embodiment, the channel gain of the uplink and downlink includes the channel gain of the uplink and the channel gain of the downlink; determining the transmission time of the uplink and the transmission time of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit includes:

[0028] Determine the transmission rate of the uplink according to the channel gain of the uplink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the uplink and the bandwidth of the uplink;

[0029] Determine the transmission rate of the downlink according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the downlink and the bandwidth of the downlink;

[0030] The transmission time of the uplink and the transmission time of the downlink are determined according to the transmission rate of the uplink, the transmission rate of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the calculation unit.

[0031] In one embodiment, the closed loop resource configuration information includes uplink and downlink resource configuration information and computing unit resource configuration information, and performing resource configuration on the closed loop according to the closed loop resource configuration information includes:

[0032] Perform resource configuration on the computing unit according to the resource configuration information of the computing unit;

[0033] The uplink and downlink resources are configured according to the uplink and downlink resource configuration information.

[0034] In a second aspect, the present application further provides a closed-loop control-oriented resource configuration device, comprising:

[0035] The parameter acquisition module is used to obtain the control cycle of the "sense-transmission-calculation-control" closed loop, the control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost; the uplink and downlink include the uplink between the sensing unit and the calculation unit in the closed loop and the downlink between the calculation unit and the execution unit in the closed loop; the control parameters of the controlled system include the system dimension, state matrix, input matrix, and covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost;

[0036] The objective function establishment module is used to establish the objective function based on the control cycle, the system control parameters of the control system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost with the goal of minimizing the LQR cost of the control task undertaken by the closed loop; the objective function represents the functional relationship between the closed loop information amount of the closed loop and the LQR cost;

[0037] A calculation module, used to determine closed-loop resource configuration information according to the objective function;

[0038] The configuration module is used to configure resources for the closed loop according to the resource configuration information of the closed loop.

[0039] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0041] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the steps of any one of the methods in the first aspect when executed by a processor.

[0042] For the above-mentioned resource configuration method, device, equipment, medium and product for closed-loop control, the smaller the LQR cost, the better the control performance of the closed loop, and the resource configuration information of the closed loop is solved with the goal of minimizing the LQR cost of the control task undertaken by the closed loop. Therefore, when the closed loop is configured with resources according to the closed loop resource configuration information, the control performance of the closed loop can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a structural diagram of the "sensing-transmission-calculation-control" closed loop in the relevant technology;

[0045] Figure 2 is an application environment diagram of a closed-loop control-oriented resource configuration method in one embodiment;

[0046] Figure 3 A schematic diagram of a flow chart of a closed-loop control-oriented resource configuration method in one embodiment;

[0047] Figure 4 A schematic diagram of a closed loop structure in one embodiment;

[0048] Figure 5 A flow chart of establishing an objective function according to a control cycle, system control parameters of a controlled system, transmission parameters of uplinks and downlinks, calculation parameters and matrix information of LQR costs in one embodiment;

[0049] Figure 6 is a flow chart of a closed-loop control-oriented resource configuration method in an exemplary embodiment;

[0050] Figure 7 is a schematic diagram of simulation results in an exemplary embodiment;

[0051] Figure 8 is a structural block diagram of a resource configuration device for closed-loop control in one embodiment;

[0052] Fig. 9 An internal structure diagram of a server in one embodiment;

[0053] Fig.10 FIG. 4 is a diagram showing the internal structure of a terminal in an embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In order to support various unmanned operation applications such as marine resource development, environmental monitoring, emergency rescue, industrial production, etc., the 6G network needs to include a "sensing-transmission-computing-control" closed loop.

[0056] In the related art, the “sense-transmit-calculate-control” closed loop includes a sensing unit, a computing unit, and an execution unit, as well as an uplink between the sensing unit and the computing unit and a downlink between the computing unit and the execution unit. The structure of the closed loop is as follows: Figure 1 In the control cycle, the perception unit obtains perception information from the environment and transmits the perception information to the computing unit. The computing unit processes the received perception information, obtains the control command, and sends the control command to the execution unit. After receiving the control command, the execution unit executes the action corresponding to the control command.

[0057] In the prior art, when allocating communication resources for the "sense-transmission-computation-control" closed loop, the perception unit and the execution unit are usually regarded as two independent units and configured with orthogonal communication resources, ignoring the relationship between the perception unit, the calculation unit and the execution unit at the task level in the "sense-transmission-computation-control" closed loop. As a result, the control performance of the "sense-transmission-computation-control" closed loop is poor.

[0058] Based on this, the embodiments of the present application provide a resource configuration method, apparatus, computer equipment, storage medium and product for closed-loop control, which allocates communication resources for the "sensing-transmission-computing-control" closed loop under the premise of considering the association between the perception unit, computing unit and execution unit at the task level in the "sensing-transmission-computing-control" closed loop, so as to improve the control performance of the "sensing-transmission-computing-control" closed loop.

[0059] The closed-loop control resource method provided in the embodiment of the present application can be applied to Figure 2 In the application environment shown. Among them, the terminal obtains the control cycle of the "sense-transmission-calculation-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic regulator cost (Linear Quadratic Regulator Cost, LQR cost); the uplink and downlink include the uplink between the sensing unit and the calculation unit in the closed loop and the downlink between the calculation unit and the execution unit in the closed loop; the control parameters of the controlled system include the system dimension, state matrix, input matrix, and covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost; with the minimum LQR cost of the control task undertaken by the closed loop as the goal, according to the control cycle, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost, the objective function is established; the objective function represents the functional relationship between the closed loop information amount and the LQR cost of the closed loop; according to the objective function, the resource configuration information of the closed loop is determined; according to the resource configuration information of the closed loop, the closed loop is resource configured. The terminal may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices and portable wearable devices. IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc.

[0060] In one embodiment, Figure 3 As shown in FIG. 1 , a resource configuration method for closed-loop control is provided. The method is applied to Figure 2The terminal in is taken as an example to illustrate, including the following steps 302 to 308. Among them:

[0061] Step 302, obtain the control period of the "sense-transmit-calculate-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost.

[0062] The closed loop includes a sensing unit, a computing unit, and an execution unit. The structure of the closed loop is as follows: Figure 4 As shown, the communication link between the perception unit and the computing unit is the uplink of the joint unit, and the communication link between the computing unit and the execution unit is the downlink of the joint unit. The system control parameters of the controlled system include the system dimension, state matrix, input matrix, and covariance matrix of system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost.

[0063] In the embodiment of the present application, the uplink and downlink transmission parameter information characterizes the transmission performance of the uplink and the transmission performance of the downlink. The uplink transmission parameter information may be one or more of the signal strength, signal attenuation, and bit error rate of the uplink, and the downlink transmission parameter information may be one or more of the signal strength, signal attenuation, and bit error rate of the downlink, which is not limited in this embodiment. The calculation parameter reflects the performance of the calculation unit, for example, the calculation parameter may be one or more of the parameters of power consumption, cache, and clock cycle, which is not limited in this embodiment.

[0064] In a possible implementation, a network testing tool is used to measure uplinks and downlinks in a closed loop to obtain transmission parameter information of uplinks and downlinks in the closed loop, and a performance monitoring tool is used to monitor a computing unit to obtain computing parameters of the computing unit.

[0065] In another possible implementation, a statistical analysis is performed on the system log of the closed-loop control system to obtain uplink and downlink transmission parameter information and calculation parameters of the calculation unit in the closed-loop.

[0066] Assuming that the closed-loop controlled system is a linear time-invariant system, based on the linear time-invariant system, the dimension, state matrix, input matrix, and covariance matrix of the system noise of the linear time-invariant system are determined. The discrete equation of the state evolution of the linear time-invariant system can be expressed as formula (1).

[0067] x i+1 =Ax i +Bu i +v i (1)

[0068] In formula (1), represents the state of the linear time-invariant system at the i-th moment, represents a real vector of dimension n, represents the control input, represents the noise of the linear time-invariant system, and its covariance matrix is ​​defined as A represents the state matrix of the linear time-invariant system, and B represents the input matrix of the linear time-invariant system. The dimensions of A and B are both n. The dimension of the linear time-invariant system is Represents the state of the linear time-invariant system at the i+1th moment.

[0069] This application uses the linear quadratic regulator (LQR) cost as the performance indicator of the closed loop. The calculation formula of the linear quadratic regulator cost is shown in formula (2).

[0070]

[0071] In formula (2), E represents the average, Q represents the weight matrix of the balance control state deviation in the LQR cost, and R represents the weight matrix of the control cost in the LQR cost. represents the state of the linear time-invariant system at the i-th moment, represents a real vector of dimension n, represents the control input, Represents x i The transpose of Indicates u i The transpose of .

[0072] Step 304, with the goal of minimizing the LQR cost of the control task undertaken by the closed loop, establish an objective function based on the control cycle, system control parameters of the controlled system, transmission parameters of the uplink and downlink, calculation parameters and matrix information of the LQR cost; the objective function represents the functional relationship between the closed-loop information amount of the closed loop and the LQR cost.

[0073] The transmission parameters of the uplink and downlink include transmission parameters of the uplink and transmission parameters of the downlink. The transmission parameter of the uplink may be at least one of the transmission time of the uplink, the transmission power of the uplink, and the transmission bandwidth of the uplink. The transmission parameter of the downlink may be at least one of the transmission time of the downlink, the transmission power of the downlink, and the transmission bandwidth of the downlink. The calculation parameter may be at least one of the information extraction ratio, the number of processor frequencies required to process the unit bit perception data, and the maximum frequency of the processor of the calculation unit.

[0074] Optionally, the closed-loop information volume of the closed-loop is determined according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters. The objective function is established according to the closed-loop information volume, the matrix information of the LQR cost, and the system control parameters of the controlled system. The formula of the objective function is shown in formula (3).

[0075]

[0076] In formula (3), l represents the LQR cost, n represents the dimension of the closed-loop system, and log 2 |det A| represents the intrinsic entropy rate, which indicates the instability of the closed-loop system. The larger the intrinsic entropy rate, the more unstable the closed-loop system is and the more difficult it is to control. It represents the amount of information in the closed-loop system that is ultimately used for the control task, that is, the amount of closed-loop information of the closed loop. The calculation formula of N(v) is shown in formula (4), and S and M are calculated by the Riccati equation, as shown in formulas (5) and (6).

[0077]

[0078] S=Q+A T (SM)A (5)

[0079] M=S T B(R+BSB) -1 B T S (6)

[0080] In formula (4), the calculation formula of h(v) is shown in formula (7).

[0081] In formula (5), Q represents the weight matrix of the first balance control state deviation and control cost, A represents the state matrix, and A T represents the transpose of A.

[0082] In formula (6), R represents the weight matrix of the second balance control state deviation and control cost, B represents the input matrix, and B T represents the transpose of B.

[0083]

[0084] In formula (7), f X (x) is a preset function determined by the closed-loop control system.

[0085] Step 306: Determine closed-loop resource configuration information according to the objective function.

[0086] Optionally, according to formula (3), the minimum value of the LQR cost is solved, and the solution formula is shown in formula (8).

[0087]

[0088] In formula (8), S and M are determined by formulas (5) and (6), N(v) is determined by formula (4), ∑ v represents the covariance matrix of the closed-loop controlled system, n represents the dimension of the closed-loop controlled system, (R u ) * It represents the transmission rate of the uplink, which can be calculated based on the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, the uplink transmission power and the uplink bandwidth. (R d ) * represents the transmission rate of the downlink, which can be calculated based on the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the downlink and the bandwidth of the downlink. ρ represents the information extraction ratio. (f) * represents the processor frequency of the computing unit, α represents the frequency required to process the unit bit of perceived data, and l * represents the minimum value of the LQR cost, and A represents the state matrix of the closed-loop controlled system.

[0089] At least one of the resource configuration information of the computing unit and the resource configuration information of the uplink and downlink corresponding to the minimum value is used as the closed-loop resource configuration information. The resource configuration information of the computing unit includes but is not limited to the processor frequency of the computing unit, and the resource configuration information of the uplink and downlink includes but is not limited to the transmission power of the uplink, the transmission power of the downlink, the bandwidth of the uplink, the bandwidth of the downlink, the transmission time of the uplink, and the transmission time of the downlink.

[0090] Step 308: Perform resource configuration on the closed loop according to the closed loop resource configuration information.

[0091] Optionally, the resource configuration information of the computing unit corresponding to the minimum value is used as closed-loop resource configuration information, and the resource configuration of the computing unit is performed according to the resource configuration information of the computing unit.

[0092] Optionally, the uplink and downlink resource configuration information corresponding to the minimum value is used as closed-loop resource configuration information, and the uplink and downlink resources are configured according to the uplink and downlink resource configuration information.

[0093] In the closed-loop control-oriented resource configuration method provided in the embodiment of the present application, the control period of the "sense-transmit-calculate-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost are obtained; the uplink and downlink include the uplink between the sensing unit and the calculation unit in the closed loop and the downlink between the calculation unit and the execution unit in the closed loop; the system control parameters of the controlled system include the system dimension, the state matrix, the input matrix, and the covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balanced control state deviation and the control cost; with the minimum LQR cost of the control task undertaken by the closed loop as the goal, an objective function is established according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost; the objective function represents the functional relationship between the closed-loop information amount of the closed loop and the LQR cost; according to the objective function, the resource configuration information of the closed loop is determined; according to the resource configuration information of the closed loop, the closed loop is resource configured. Among them, the smaller the LQR cost, the better the control performance of the closed loop, and the resource configuration information of the closed loop is solved with the goal of minimizing the LQR cost of the control task undertaken by the closed loop. Therefore, when the closed loop is resource configured according to the closed loop resource configuration information, the control performance of the closed loop can be improved.

[0094] In one embodiment, Figure 5 As shown, according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost, the objective function is established, including:

[0095] Step 502, determining the closed-loop information volume of the closed-loop according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters.

[0096] Among them, the transmission parameters of the uplink and downlink include the uplink transmission time, the uplink transmission power, the uplink transmission bandwidth, the downlink transmission time, the downlink transmission power, and the downlink transmission bandwidth; the calculation parameters include the information extraction ratio, the processor frequency required to process the unit bit perception data, and the maximum processor frequency of the computing unit.

[0097] Optionally, the amount of information transmitted without error in the uplink is determined based on the uplink transmission power, the uplink bandwidth, and the uplink transmission time; the amount of information transmitted without error in the downlink is determined based on the downlink transmission power, the downlink bandwidth, and the downlink transmission time; the amount of closed-loop information of the closed-loop is determined based on the amount of information transmitted without error in the uplink, the amount of information transmitted without error in the downlink, and the information extraction ratio.

[0098] Step 504: Establish an objective function based on the closed-loop information volume, the matrix information of the LQR cost and the system control parameters of the controlled system.

[0099] The system control parameters of the controlled system include the system dimension, state matrix, input matrix, and covariance matrix of system noise, and the matrix information of the LQR cost includes the weight matrix of the balanced control state deviation and the control cost.

[0100] Optionally, an objective function is established according to the system dimension, state matrix, input matrix, covariance matrix of system noise, weight matrix of balanced control state deviation, weight matrix of control cost and closed-loop information amount of the closed loop, as shown in formula (3).

[0101] In an embodiment of the present application, the closed-loop information amount of the closed-loop is determined based on the control period, transmission parameters of the uplink and downlink, and calculation parameters; and the objective function is established based on the closed-loop information amount, matrix information of the LQR cost, and system control parameters of the controlled system.

[0102] In one embodiment, the transmission parameters of the uplink and downlink include the maximum transmission power of the perception unit, the maximum transmission power of the calculation unit, the channel gain of the uplink and downlink, the available bandwidth resources, and the channel noise power spectrum density of the uplink and downlink; the calculation parameters include the information extraction ratio, the number of processor frequencies required to process the unit bit perception data, and the maximum frequency of the processor of the calculation unit; the channel gain of the uplink and downlink includes the uplink channel gain and the downlink channel gain; according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters, the closed-loop information amount of the closed loop is determined, including:

[0103] The uplink transmission power is determined according to the maximum transmission power of the sensing unit.

[0104] Optionally, the maximum transmit power of the sensing unit is used as the transmit power of the uplink, as shown in formula (9).

[0105] (P u ) * =P umax (9)

[0106] In formula (9), (P u ) * Indicates the uplink transmission power, P umax Indicates the maximum transmit power of the sensing unit.

[0107] The transmission power of the downlink is determined according to the maximum transmission power of the calculation unit.

[0108] Optionally, the maximum transmit power of the calculation unit is used as the transmit power of the downlink, as shown in formula (10).

[0109] (P d ) * =P dmax (10)

[0110] In formula (10), (P d ) * represents the downlink transmission power, P dmax Indicates the maximum transmit power of the computing unit.

[0111] The processor frequency of the computing unit is determined according to the maximum processor frequency of the computing unit.

[0112] Optionally, the maximum frequency of the processor of the computing unit is used as the processor frequency of the computing unit, as shown in formula (11).

[0113] (f) * =f max (11)

[0114] In formula (11), f max Indicates the maximum processor frequency of the computing unit, (f) * Indicates the processor frequency of the compute unit.

[0115] The bandwidth of the uplink and the bandwidth of the downlink are determined according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources.

[0116] Optionally, the bandwidth of the uplink is determined according to the transmit power of the uplink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the information extraction ratio and the available bandwidth resources. The bandwidth of the downlink is determined according to the transmit power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the information extraction ratio and the available bandwidth resources.

[0117] The transmission time of the uplink and the transmission time of the downlink are determined according to the transmission power of the uplink, the transmission power of the downlink, the channel gains of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit.

[0118] Optionally, the transmission time of the uplink is determined according to the transmission power of the uplink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the bandwidth of the uplink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit. The transmission time of the downlink is determined according to the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit.

[0119] The amount of information transmitted without error in the uplink within the control period is determined according to the uplink and downlink channel noise power spectrum density, the uplink channel gain, the uplink transmit power, the uplink bandwidth, and the uplink transmission time.

[0120] The amount of uplink error-free transmission information is the actual amount of information that can be transmitted without error in the uplink during the control period, as shown in formula (12).

[0121] D u ≤t u R(p u , B u )(12)

[0122] In formula (12), D u Indicates the amount of uplink error-free transmission information, t u represents the uplink transmission time, B u represents the uplink bandwidth, p u represents the uplink transmission power, R(p u , B u ) represents the uplink transmission rate, which is calculated based on the uplink and downlink channel noise power spectrum density, uplink channel gain, transmit power and bandwidth. For details, please refer to the following formula (16).

[0123] The amount of information transmitted without error in the downlink within the control period is determined according to the transmission power of the downlink, the bandwidth of the downlink, and the transmission time of the downlink.

[0124] The amount of information transmitted without error in the downlink within the control period is determined according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the transmission power of the downlink, the bandwidth of the downlink, and the transmission time of the downlink.

[0125] The amount of downlink error-free transmission information is the actual amount of information that can be transmitted without error in the downlink during the control period, as shown in formula (13).

[0126] D d ≤t dR(p d , B d ) (13)

[0127] In formula (13), D d Indicates the amount of downlink error-free transmission information, t d represents the downlink transmission time, B d represents the downlink bandwidth, p d represents the downlink transmission power, R(p d , B d ) represents the transmission rate of the downlink, which is calculated based on the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the transmission power and the bandwidth. For details, please refer to the description of the following formula (17).

[0128] The closed-loop information volume of the closed-loop is determined according to the information volume of the uplink error-free transmission, the information volume of the downlink error-free transmission and the information extraction ratio.

[0129] In this application, the calculation process of the calculation unit is an information extraction process, that is, the perception data collected by the perception unit is processed to obtain the control command, which can be expressed as D u →ρD u , where ρ represents the information extraction ratio, ρD u represents the amount of information carried by the control command. If the processor frequency of the computing unit is f, then the time required for the computing process of the computing unit is as shown in formula (14).

[0130]

[0131] In formula (14), α represents the frequency of the processor required to process the unit bit of perception data, t c Indicates the time required for the calculation process of the computing unit, D u It represents the amount of information that can actually be transmitted without errors in the uplink, and f represents the processor frequency of the computing unit.

[0132] The amount of information that the execution unit can obtain is the minimum value between the amount of information carried by the control command and the amount of information that can actually be transmitted without error in the downlink, as shown in formula (15).

[0133]

[0134] In formula (15), It represents the amount of information that the execution unit can obtain, that is, the amount of closed-loop information of the closed loop, ρD u Indicates the amount of information carried by the control command, D d Indicates the amount of information that can actually be transmitted without errors in the downlink.

[0135] In the embodiment of the present application, the transmission power of the uplink is determined according to the maximum transmission power of the sensing unit; the transmission power of the downlink is determined according to the maximum transmission power of the computing unit; the processor frequency of the computing unit is determined according to the maximum frequency of the processor of the computing unit; the bandwidth of the uplink and the bandwidth of the downlink are determined according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the information extraction ratio and the available bandwidth resources; according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio and the available bandwidth resources The transmission time of the uplink and the transmission time of the downlink are determined according to the ratio, the processor frequency number and the processor frequency of the computing unit; the amount of information transmitted without error in the uplink during the control period is determined according to the channel noise power spectrum density of the uplink and downlink, the uplink channel gain, the uplink transmission power, the uplink bandwidth and the uplink transmission time; the amount of information transmitted without error in the downlink during the control period is determined according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the downlink transmission power, the downlink bandwidth and the downlink transmission time; the amount of closed-loop information of the closed-loop is determined according to the amount of error-free transmission of the uplink, the amount of error-free transmission of the downlink and the information extraction ratio.

[0136] In one embodiment, the channel gain of the uplink and downlink includes the channel gain of the uplink and the channel gain of the downlink; determining the bandwidth of the uplink and the bandwidth of the downlink according to the transmit power of the uplink, the transmit power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources, including:

[0137] A first function expression of the uplink is determined according to the uplink channel gain, the power spectrum density of the uplink and downlink channel noise and the uplink transmission power; the first function expression is a function expression of the uplink transmission rate with respect to the uplink bandwidth.

[0138] The first function expression of the uplink characterizes the transmission characteristics of the uplink. The first function expression of the uplink is calculated by substituting the transmission power of the uplink into the calculation formula of the transmission rate of the uplink.

[0139] Optionally, the calculation formula for the uplink transmission rate is shown in formula (16).

[0140]

[0141] In formula (16), p uIndicates the uplink transmission power, B u Indicates the uplink bandwidth, N 0 represents the power spectral density of the uplink and downlink channel noise, h u Indicates the uplink channel gain.

[0142] The maximum transmission power of the sensing unit is taken as the transmission power of the uplink, and combined with formulas (9) and (16), let p u =(p u ) * , let R(B u )=R((p u ) * ,B u ), R(B u ) as the characteristic data of the uplink.

[0143] A second function expression of the downlink is determined according to the channel gain of the downlink, the power spectrum density of the link channel noise and the transmission power of the downlink; the second function expression is a function expression of the transmission rate of the downlink with respect to the bandwidth of the downlink.

[0144] The second function expression of the downlink characterizes the transmission characteristics of the downlink. The second function expression of the downlink is calculated by substituting the transmission power of the downlink into the calculation formula of the transmission rate of the downlink.

[0145] Optionally, the calculation formula for the downlink transmission rate is shown in formula (17).

[0146]

[0147] In formula (17), p d represents the downlink transmission power, B d Represents the downlink bandwidth, N 0 represents the power spectral density of the uplink and downlink channel noise, h d Indicates the channel gain of the downlink.

[0148] The maximum transmit power of the calculation unit is taken as the transmit power of the downlink, and combined with formulas (10) and (17), let p d =(p d ) * , let R(B d )=R((p d ) * ,B d ), R(B d ) as the characteristic data of the downlink.

[0149] The bandwidth of the uplink and the bandwidth of the downlink are determined according to the first function expression, the information extraction ratio, the available bandwidth resources and the second function expression.

[0150] Optionally, the first function expression, the second function expression, the information extraction ratio and the available bandwidth resources of the uplink are substituted into formulas (18) and (19), and the convex optimization tool is used to solve them to obtain the bandwidth of the uplink and the bandwidth of the downlink.

[0151]

[0152] B u +B d ≤B max (19)

[0153] In formula (18), B u Indicates the uplink bandwidth, B d Represents the bandwidth of the downlink, R(B u ) represents the characteristic data of the uplink, R(B d ) represents the characteristic data of the downlink, and ρ represents the information extraction ratio.

[0154] In formula (19), B u Indicates the uplink bandwidth, B d represents the downlink bandwidth, B max Indicates available bandwidth resources.

[0155] In the embodiment of the present application, the characteristic data of the uplink is determined according to the channel gain of the uplink, the power spectrum density of the channel noise of the uplink and downlink, and the transmission power of the uplink; the characteristic data of the downlink is determined according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, and the transmission power of the downlink; the bandwidth of the uplink and the bandwidth of the downlink are determined according to the characteristic data of the uplink, the information extraction ratio, the available bandwidth resources, and the characteristic data of the downlink. The bandwidth of the uplink and the bandwidth of the downlink comprehensively consider the characteristic data of the uplink, the information extraction ratio, the available bandwidth resources, and the characteristic data of the downlink, and are therefore more accurate and reasonable.

[0156] In one embodiment, the channel gain of the uplink and downlink includes the channel gain of the uplink and the channel gain of the downlink; determining the transmission time of the uplink and the transmission time of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit, including:

[0157] The uplink transmission rate is determined according to the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, the uplink transmission power and the uplink bandwidth.

[0158] Optionally, the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, the uplink transmission power and the uplink bandwidth are substituted into formula (16) to obtain the uplink transmission rate, which is expressed as (R u ) * .

[0159] The transmission rate of the downlink is determined based on the channel gain of the downlink, the power spectrum density of the link channel noise, the transmission power of the downlink, and the bandwidth of the downlink.

[0160] Optionally, the downlink channel gain, the power spectrum density of the uplink and downlink channel noise, the downlink transmission power and the downlink bandwidth are substituted into formula (17) to obtain the downlink transmission rate, which is expressed as (R d ) * .

[0161] The transmission time of the uplink and the transmission time of the downlink are determined according to the transmission rate of the uplink, the transmission rate of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the calculation unit.

[0162] Optionally, the transmission rate of the uplink, the transmission rate of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit are substituted into formula (20) to obtain the transmission time of the uplink. Formula (20) is as follows:

[0163]

[0164] In formula (20), (t u ) * represents the transmission time of the uplink, T represents the control period, (R u ) * Indicates the uplink transmission rate, (R d ) * represents the transmission rate of the downlink, ρ represents the information extraction ratio, (f) * represents the processor frequency of the computing unit, and α represents the number of frequencies required to process a unit bit of perceived data.

[0165] Substituting the uplink transmission rate, downlink transmission rate, control period, information extraction ratio, processor frequency number and processor frequency of the computing unit into formula (21), the downlink transmission time is obtained. Formula (21) is as follows:

[0166]

[0167] In formula (21), (t d ) * represents the transmission time of the downlink, T represents the control period, (R u ) * Indicates the uplink transmission rate, (R d ) * represents the transmission rate of the downlink, ρ represents the information extraction ratio, (f) * represents the processor frequency of the computing unit, and α represents the number of frequencies required to process a unit bit of perceived data.

[0168] In the embodiment of the present application, the transmission rate of the uplink is determined according to the channel gain of the uplink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the uplink and the bandwidth of the uplink; the transmission rate of the downlink is determined according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the downlink and the bandwidth of the downlink; the transmission time of the uplink and the transmission time of the downlink are determined according to the transmission rate of the uplink, the transmission rate of the downlink, the control cycle, the information extraction ratio, the processor frequency and the processor frequency of the computing unit. Among them, the transmission time of the uplink and the transmission time of the downlink comprehensively consider the transmission rate of the uplink, the transmission rate of the downlink, the control cycle, the information extraction factor and the processor frequency, which is more scientific and reasonable.

[0169] In one embodiment, the closed-loop resource configuration information includes uplink and downlink resource configuration information and computing unit resource configuration information. According to the closed-loop resource configuration information, resource configuration is performed on the closed-loop, including:

[0170] Perform resource configuration on the computing unit according to the resource configuration information of the computing unit.

[0171] The computing unit resource configuration information includes the processor frequency of the computing unit.

[0172] Optionally, closed-loop control-oriented resource configuration is performed on the processor of the computing unit according to the processor frequency of the computing unit in the computing unit resource configuration information.

[0173] The uplink and downlink resources are configured according to the uplink and downlink resource configuration information.

[0174] The uplink and downlink resource configuration information includes the uplink transmission power, the uplink bandwidth, the uplink transmission time, the downlink transmission power, the downlink bandwidth and the downlink transmission time.

[0175] Optionally, closed-loop control-oriented resource configuration is performed on the uplink according to the uplink transmit power, the uplink bandwidth, and the uplink transmission time, and downlink resource configuration is performed according to the downlink transmit power, the downlink bandwidth, and the downlink transmission time.

[0176] In the embodiment of the present application, the computing unit is resource configured according to the resource configuration information of the computing unit; the uplink and downlink are resource configured according to the resource configuration information of the uplink and downlink, so as to realize the reasonable configuration of the closed-loop communication resources and improve the control performance of the closed-loop.

[0177] In an exemplary embodiment, a closed-loop control-oriented resource configuration method is provided, the process is as follows: Figure 6 As shown, including:

[0178] Step 601, obtain the control period of the "sense-transmit-calculate-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost.

[0179] Step 602, with the goal of minimizing the LQR cost of the control task undertaken by the closed loop, determine the uplink transmission power according to the maximum transmission power of the sensing unit.

[0180] Step 603: Determine the transmission power of the downlink according to the maximum transmission power of the calculation unit.

[0181] Step 604, determining the processor frequency of the computing unit according to the maximum processor frequency of the computing unit.

[0182] Step 605: determine a first function expression of the uplink according to the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, and the uplink transmission power.

[0183] The first function expression is a function expression of the uplink transmission rate with respect to the uplink bandwidth.

[0184] Step 606: Determine a second function expression of the downlink according to the downlink channel gain, the power spectrum density of the uplink and downlink channel noise, and the transmission power of the downlink.

[0185] The second function expression is a function expression of the transmission rate of the downlink with respect to the bandwidth of the downlink.

[0186] Step 607: Determine the uplink bandwidth and the downlink bandwidth according to the first function expression, the information extraction ratio, the available bandwidth resources and the second function expression.

[0187] Step 608: Determine the uplink transmission rate according to the uplink channel gain, the power spectrum density of the uplink and downlink channel noise, the uplink transmission power and the uplink bandwidth.

[0188] Step 609: Determine the transmission rate of the downlink according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the downlink and the bandwidth of the downlink.

[0189] Step 610, determining the uplink transmission time and the downlink transmission time according to the uplink transmission rate, the downlink transmission rate, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit.

[0190] Step 611, determining the amount of information for error-free transmission of the uplink according to the uplink and downlink channel noise power spectrum density, the uplink channel gain, the uplink transmit power, the uplink bandwidth, and the uplink transmission time.

[0191] Step 612, determining the amount of information transmitted without error in the downlink according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the transmission power of the downlink, the bandwidth of the downlink, and the transmission time of the downlink.

[0192] Step 613: Determine the closed-loop information volume of the closed-loop according to the information volume of the uplink error-free transmission, the information volume of the downlink error-free transmission, and the information extraction ratio.

[0193] Step 614, establishing an objective function based on the closed-loop information volume, the matrix information of the LQR cost and the system control parameters of the controlled system; the objective function represents the functional relationship between the closed-loop information volume of the closed loop and the LQR cost.

[0194] Step 615: Determine closed-loop resource configuration information according to the objective function.

[0195] Step 616: Perform resource configuration on the computing unit according to the resource configuration information of the computing unit.

[0196] Step 617: Perform resource configuration for the uplink and downlink according to the resource configuration information for the uplink and downlink.

[0197] In the resource configuration method for closed-loop control in this exemplary embodiment, the smaller the LQR cost, the better the control performance of the closed loop, and the resource configuration information of the closed loop is solved with the goal of minimizing the LQR cost of the control task undertaken by the closed loop. Therefore, when the closed loop is resource configured according to the closed loop resource configuration information, the control performance of the closed loop can be improved.

[0198] In an exemplary embodiment, the closed-loop control-oriented resource configuration method of the present application is used for simulation, and the constraint conditions are shown in formula (22).

[0199]

[0200] D u ≤t u R(p u , B u )

[0201] D d ≤t d R(p d , B d )

[0202] t u +t c +t d ≤T

[0203] B u +B d ≤B max

[0204] p u ≤P umax

[0205] p d ≤P dmax

[0206] f≤f max (twenty two)

[0207] In formula (22), l represents the linear control cost of the closed loop, n represents the dimension of the closed loop, and log 2 |det A| represents the intrinsic entropy rate, the calculation formula of N(v) is shown in formula (4), S and M are calculated by the Riccati equation, as shown in formulas (5) and (6), represents the amount of information that the execution unit can obtain, ρD u Indicates the amount of information carried by the control command, D d Indicates the amount of information that can be transmitted without error in the downlink, t u represents the uplink transmission time, R(p u , B u ) represents the uplink transmission rate, t d represents the downlink transmission time, R(p d , B d ) represents the transmission rate of the downlink, t u represents the transmission time of the uplink, t d represents the transmission time of the downlink, t crepresents the calculation time, T represents the control cycle, B u Indicates the uplink bandwidth, B d represents the downlink bandwidth, B max represents the maximum link bandwidth, p u Represents the uplink transmit power, P umax Indicates the maximum uplink transmit power, p d represents the downlink transmission power, P dmax represents the maximum downlink transmit power, f max represents the maximum processor frequency of the computing unit, and f represents the processor frequency of the computing unit.

[0208] When simulating, set n = 100, log 2 |det A|=40,Q=I n ,∑ v =0.01I n , B=R=0 n , T = 30ms, P umax =0.1w,P dmax =1w,|h u | 2 =3.6×10 -11 ,|h d | 2 =3.6×10 -11 , N 0 =-174dBm / Hz, f max =1GHz, ρ=0.01, α=1000Hz / bit. In this exemplary embodiment, the maximum bandwidth is distributed in the interval of [300,1200]kHz, with an interval of 15kHz, and is compared with the uplink and downlink bandwidth equal division scheme of the frequency division duplex (3rd Generation Partnership Project Frequency Division Dual, 3GPP FDD) under the third generation partnership project. The simulation results are as follows: Figure 7 As shown. Figure 7 It can be seen that the closed-loop control-oriented resource allocation method of the present application can significantly reduce the linear quadratic control cost and improve the closed-loop control performance compared to the 3GPP FDD uplink and downlink bandwidth equalization scheme.

[0209] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0210] Based on the same inventive concept, the embodiment of the present application also provides a closed-loop control-oriented resource configuration device for implementing the closed-loop control-oriented resource configuration method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more closed-loop control-oriented resource configuration device embodiments provided below can refer to the limitations of the closed-loop control-oriented resource configuration method above, and will not be repeated here.

[0211] In one embodiment, Figure 8 As shown, a closed-loop control-oriented resource configuration device 800 is provided, comprising: a parameter acquisition module 820, an objective function establishment module 840, a calculation module 860 and a configuration module 880, wherein:

[0212] The parameter acquisition module 820 is used to perform the following functions: obtain the control period of the "sense-transmit-calculate-control" closed loop, the control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost; the uplink and downlink include the uplink between the sensing unit and the calculation unit in the closed loop and the downlink between the calculation unit and the execution unit in the closed loop; the control parameters of the controlled system include the dimension of the system, the state matrix, the input matrix, and the covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost;

[0213] The objective function establishment module 840 is used to establish an objective function based on the control period, the system control parameters of the control system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost with the goal of minimizing the LQR cost of the control task undertaken by the closed loop; the objective function represents the functional relationship between the closed loop information amount of the closed loop and the LQR cost;

[0214] A calculation module 860, used to determine closed-loop resource configuration information according to the objective function;

[0215] The configuration module 880 is used to perform resource configuration on the closed loop according to the resource configuration information of the closed loop.

[0216] In one embodiment, the objective function establishing module 840 is also used to determine the closed-loop information volume of the closed-loop according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters; and to establish the objective function according to the closed-loop information volume, the matrix information of the LQR cost, and the system control parameters of the controlled system.

[0217] In one embodiment, the objective function establishment module 840 is also used to determine the transmission power of the uplink according to the maximum transmission power of the perception unit; determine the transmission power of the downlink according to the maximum transmission power of the calculation unit; determine the processor frequency of the calculation unit according to the maximum frequency of the processor of the calculation unit; determine the bandwidth of the uplink and the bandwidth of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the information extraction ratio and the available bandwidth resources; determine the bandwidth of the uplink and the bandwidth of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectral density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control The transmission time of the uplink and the transmission time of the downlink are determined according to the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit; the amount of information transmitted without error in the uplink during the control period is determined according to the channel noise power spectrum density of the uplink and downlink, the uplink channel gain, the uplink transmission power, the uplink bandwidth and the uplink transmission time; the amount of information transmitted without error in the downlink during the control period is determined according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the downlink transmission power, the downlink bandwidth and the downlink transmission time; the closed-loop information amount of the closed-loop is determined according to the amount of information transmitted without error in the uplink, the amount of information transmitted without error in the downlink and the information extraction ratio.

[0218] In one embodiment, the objective function establishing module 840 is also used to determine a first function expression for the uplink according to the channel gain of the uplink, the power spectral density of the channel noise of the uplink and downlink, and the transmission power of the uplink; determine a second function expression for the downlink according to the channel gain of the downlink, the power spectral density of the channel noise of the uplink and downlink, and the transmission power of the downlink; determine the bandwidth of the uplink and the bandwidth of the downlink according to the first function expression, the information extraction ratio, the available bandwidth resources and the second function expression; wherein the first function expression is a function expression of the uplink transmission rate with respect to the bandwidth of the uplink; and the second function expression is a function expression of the downlink transmission rate with respect to the bandwidth of the downlink.

[0219] In one embodiment, the objective function establishing module 840 is also used to determine the uplink transmission rate based on the uplink channel gain, the power spectral density of the uplink and downlink channel noise, the uplink transmission power and the uplink bandwidth; determine the downlink transmission rate based on the downlink channel gain, the power spectral density of the uplink and downlink channel noise, the downlink transmission power and the downlink bandwidth; determine the uplink transmission time and the downlink transmission time based on the uplink transmission rate, the downlink transmission rate, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the computing unit.

[0220] In one embodiment, the configuration module 880 is further used to perform resource configuration on the computing unit according to the resource configuration information of the computing unit; and perform resource configuration on the uplink and downlink according to the resource configuration information of the uplink and downlink.

[0221] Each module in the above-mentioned closed-loop control-oriented resource configuration device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0222] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a resource configuration method for closed-loop control is implemented.

[0223] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, a resource configuration method for closed-loop control is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0224] Those skilled in the art will understand that Fig. 9 and Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0225] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0226] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0227] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0228] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0229] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0230] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A closed-loop control-oriented resource configuration method, characterized in that: The method comprises: Acquire the control period of the "sense-transmit-calculate-control" closed loop, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost; the uplink and downlink include the uplink between the sensing unit in the closed loop and the calculation unit in the closed loop and the downlink between the calculation unit in the closed loop and the execution unit in the closed loop; the system control parameters of the controlled system include the dimension of the system, the state matrix, the input matrix, and the covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost; Taking the minimum LQR cost of the control task undertaken by the closed loop as the goal, an objective function is established according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost; the objective function represents the functional relationship between the closed-loop information amount of the closed loop and the LQR cost; Determine the closed-loop resource configuration information according to the objective function; the closed-loop resource configuration information includes the uplink and downlink resource configuration information and the computing unit resource configuration information; According to the resource configuration information of the closed loop, resources are configured for the closed loop.

2. The method according to claim 1, characterized in that The establishing of an objective function according to the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost comprises: Determining the closed-loop information amount of the closed-loop according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters; The objective function is established according to the closed-loop information amount, the matrix information of the LQR cost and the system control parameters of the controlled system.

3. The method according to claim 2, characterized in that The transmission parameters of the uplink and downlink include the maximum transmission power of the perception unit, the maximum transmission power of the calculation unit, the channel gain of the uplink and downlink, the available bandwidth resources, and the channel noise power spectrum density of the uplink and downlink; the calculation parameters include the information extraction ratio, the number of processor frequencies required to process the unit bit perception data, and the maximum frequency of the processor of the calculation unit; the channel gain of the uplink and downlink includes the uplink channel gain and the downlink channel gain; the closed-loop information amount of the closed loop is determined according to the control period, the transmission parameters of the uplink and downlink, and the calculation parameters, including: Determining the uplink transmission power according to the maximum transmission power of the sensing unit; Determining the transmit power of the downlink according to the maximum transmit power of the calculation unit; Determining a processor frequency of the computing unit according to a maximum processor frequency of the computing unit; Determine the bandwidth of the uplink and the bandwidth of the downlink according to the transmit power of the uplink, the transmit power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources; Determine the transmission time of the uplink and the transmission time of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the calculation unit; Determine the amount of information transmitted without error in the uplink within the control period according to the channel noise power spectrum density of the uplink and downlink, the uplink channel gain, the transmit power of the uplink, the bandwidth of the uplink, and the transmission time of the uplink; Determine the amount of information transmitted without error in the downlink within the control period according to the channel noise power spectrum density of the uplink and downlink, the downlink channel gain, the transmit power of the downlink, the bandwidth of the downlink, and the transmission time of the downlink; The closed-loop information volume of the closed-loop is determined according to the information volume of the uplink error-free transmission, the information volume of the downlink error-free transmission and the information extraction ratio.

4. The method according to claim 3, characterized in that The channel gains of the uplink and downlink include the channel gain of the uplink and the channel gain of the downlink; the determining the bandwidth of the uplink and the bandwidth of the downlink according to the transmit power of the uplink, the transmit power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the information extraction ratio and the available bandwidth resources includes: Determine a first function expression of the uplink according to the channel gain of the uplink, the power spectrum density of the channel noise of the uplink and downlink, and the transmit power of the uplink; the first function expression is a function expression of the transmission rate of the uplink with respect to the bandwidth of the uplink; Determine a second function expression of the downlink according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, and the transmit power of the downlink; the second function expression is a function expression of the transmission rate of the downlink with respect to the bandwidth of the downlink; The bandwidth of the uplink and the bandwidth of the downlink are determined according to the first function expression, the information extraction ratio, the available bandwidth resources and the second function expression.

5. The method according to claim 3, characterized in that: The channel gain of the uplink and downlink includes the channel gain of the uplink and the channel gain of the downlink; the determining the transmission time of the uplink and the transmission time of the downlink according to the transmission power of the uplink, the transmission power of the downlink, the channel gain of the uplink and downlink, the channel noise power spectrum density of the uplink and downlink, the bandwidth of the uplink, the bandwidth of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the calculation unit includes: Determining the transmission rate of the uplink according to the channel gain of the uplink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the uplink and the bandwidth of the uplink; Determine the transmission rate of the downlink according to the channel gain of the downlink, the power spectrum density of the channel noise of the uplink and downlink, the transmission power of the downlink and the bandwidth of the downlink; The transmission time of the uplink and the transmission time of the downlink are determined according to the transmission rate of the uplink, the transmission rate of the downlink, the control period, the information extraction ratio, the processor frequency number and the processor frequency of the calculation unit.

6. The method according to any one of claims 1 to 5, characterized in that: The performing resource configuration on the closed loop according to the resource configuration information of the closed loop includes: Performing resource configuration on the computing unit according to the resource configuration information of the computing unit; The uplink and downlink resources are configured according to the uplink and downlink resource configuration information.

7. A closed-loop control-oriented resource allocation device, characterized in that: The device comprises: A parameter acquisition module is used to acquire the control period of the "sense-transmit-calculate-control" closed loop, the control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters of the calculation unit, and the matrix information of the linear quadratic control LQR cost; the uplink and downlink include the uplink between the sensing unit in the closed loop and the calculation unit in the closed loop and the downlink between the calculation unit in the closed loop and the execution unit in the closed loop; the control parameters of the controlled system include the dimension of the system, the state matrix, the input matrix, and the covariance matrix of the system noise; the matrix information of the LQR cost includes the weight matrix of the balance control state deviation and the control cost; An objective function establishment module is used to establish an objective function based on the control period, the system control parameters of the controlled system, the transmission parameters of the uplink and downlink, the calculation parameters and the matrix information of the LQR cost, with the goal of minimizing the LQR cost of the control task undertaken by the closed loop; the objective function represents the functional relationship between the closed-loop information amount of the closed loop and the LQR cost; A calculation module, used to determine the closed-loop resource configuration information according to the objective function; the closed-loop resource configuration information includes the uplink and downlink resource configuration information and the calculation unit resource configuration information; A configuration module is used to perform resource configuration on the closed loop according to the resource configuration information of the closed loop.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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