19 results about "Networked control system" patented technology

The invention belongs to the field of industrial automation control, and particularly provides a control method of a networked control system adaptive to random time delay, an internal dynamic variable (IDV), a trigger threshold and an envelope function are introduced on the basis of traditional state feedback, the IDV is used for accumulating error information, the trigger threshold is used for determining whether to send data, and the envelope function is used for determining whether to send the data. The envelope function is used for limiting the change range of the IDV; compared with simple periodic sampling control and conventional SETM and TETM, the method has the advantages that triggering can be automatically adjusted according to state errors and changes of network time delay, and unnecessary communication is obviously reduced on the premise that system stability and control precision are guaranteed; meanwhile, the internal dynamic variable is moderately reset during each triggering through a partial reset strategy, so that unbounded growth and violent oscillation of the internal dynamic variable are avoided, and the robustness of the system to random time delay and external disturbance is enhanced.

A robot joint module and networked control system includes an actuator unit, a control unit, and a relay unit. The control unit includes a computing module, a power drive module, a signal acquisition module, an I / O module, a power supply module, a wired communication module, and a wireless communication module. The relay unit includes a communication bridge module and a drive relay module. This invention addresses the problem of restoring system capabilities by reconfiguring the electrical and control networks in the event of communication or drive failures, thereby improving the reliability of the robot system.

The application belongs to the field of automation control, and particularly relates to a preset performance based adaptive backstepping sliding mode control method for a network control system, comprising the following steps: converting a nonlinear network control system model with uncertain time delay into a system model without uncertain time delay; defining a system tracking error index and a preset performance trajectory, and converting the constrained system tracking error index into a new unconstrained error index; defining a new system state error containing an intermediate virtual control signal, and performing coordinate conversion on the system model; designing a sliding mode function and a Lyapunov function, and estimating network disturbance by using an adaptive neural network function to obtain a system input signal control rate; the application effectively solves the time delay problem of the network control system without limiting the upper limit of the time delay or the time delay derivative by using the network disturbance concept, and completes the control of the system by designing a preset performance index, so that the dynamic and steady state performance of the system is ensured.

This invention discloses a method and apparatus for accurate disturbance prediction and compensation in networked control systems. It includes treating the impact of time delay on the networked control system and external disturbances together as a lumped disturbance, and establishing an equivalent input disturbance state-space model for the networked control system. This method and apparatus target networked control systems with external disturbances, time delays, and packet loss. Through an EID estimator, it effectively reduces the impact of time delay on the performance of the networked control system. A disturbance predictor based on multiple LSTM neural networks is designed to achieve accurate multi-step disturbance prediction, improving the disturbance suppression capability of the networked control system. Furthermore, a networked predictive controller is employed to compensate for the impact of packet loss on the performance of the networked control system in real time, even with continuous packet loss, using multi-step control input prediction values. This improves the control accuracy of the networked control system and meets the requirements of high-performance networked control systems.

The application discloses an event-triggered random parameter perturbation networked system fault-tolerant control method and belongs to the field of networked systems; the application studies an integrated design strategy for fault estimation and fault-tolerant control of a networked control system with faults and random parameter perturbations under an event-triggered mechanism; on the basis of identification and fault estimation, a dynamic output feedback control law is reconstructed on line to correct and compensate for the control rate, so that the fault system can maintain the performance under normal operation as much as possible. The information transmission frequency at the sensor end is reduced through event-triggered sampling, and a corresponding fault observer is constructed to realize joint estimation of the system state and faults; then, based on the result of the augmented state estimation, an augmented system method is applied to complete the integrated design scheme of the fault observer and a dynamic fault-tolerant controller based on signal compensation, so as to reduce the influence of faults on the system performance; finally, the effectiveness of the method is verified through a simulation example of an unmanned aerial vehicle lateral device.

The invention provides a networked control system tracking performance optimization method and system, and relates to communication signal tracking control, and the method comprises the steps: building a two-degree-of-freedom networked control system model; according to the two-degree-of-freedom networked control system model, obtaining an output signal and an error signal of the two-degree-of-freedom networked control system; according to the output signal, co-prime decomposition based on a rational transfer function matrix, a Bezout equation and a Youla parameterization form of a two-degree-of-freedom controller are calculated; the error signal is simplified; calculating an optimal performance expression of the two-degree-of-freedom networked control system model according to the simplified error signal; the optimal performance expression is simplified; calculating an optimal tracking performance expression of the two-degree-of-freedom networked control system model according to the simplified optimal performance expression; and optimizing the tracking performance of the networked control system according to the optimal tracking performance expression of the two-degree-of-freedom networked control system model.

The application discloses an identity authentication method and system applied to a PLC system, wherein the PLC system comprises at least one monitoring device and at least one executing device connected with the monitoring device, each monitoring device and each executing device is solidified with a corresponding identity certificate; before the monitoring device and the executing device communicate, it is judged whether the monitoring device and the executing device are connected with an external third-party authentication device; in the case that the monitoring device and the executing device are connected with the third-party authentication device, the monitoring device and the executing device interchange the identity certificates, and the authenticity of the identity certificates is verified through the third-party authentication device; in this way, the devices in the PLC system are authenticated through digital certificates in a networked state, and are manually authenticated in a network interruption state, so that the security authentication between the devices in the PLC network architecture is realized, and the security of the networked PLC control system and the convenience of the identity authentication are effectively enhanced.

The invention discloses a disturbance prediction accurate compensation method and device for a networked control system, and the method comprises the steps: taking the influence of time delay on the networked control system and the external interference of the networked control system as lumped disturbance, and building an equivalent input interference state space model of the networked control system. According to the method and the device, for the networked control system with external interference, time delay and data packet loss, the influence of the time delay on the performance of the networked control system can be effectively reduced through the EID estimator. And a disturbance predictor based on a plurality of LSTM neural networks is designed, so that multi-step accurate prediction of disturbance can be realized, and the disturbance suppression capability of the networked control system is improved. And through the networked prediction controller, the influence of packet loss on the performance of the networked control system can be compensated in real time by using a multi-step control input prediction value under the condition that the data packets are continuously lost, so that the control precision of the networked control system is improved, and the requirements of the high-performance networked control system are met.

This invention discloses a self-triggered predictive control method for continuous-time networked control systems. The invention includes the following steps: first, constructing a model of the continuous-time networked control system; designing and solving a finite-time optimization control problem to obtain t. k The optimal control sequence at time t and t k The optimal cost function value at time t is obtained; then, candidate feasible control sequences at time t are constructed, and a feasibility analysis is performed on the finite-time domain optimization control problem at time t using the candidate feasible control sequences to obtain the feasible cost function value at time t; then, based on the feasible cost function value at time t and t k The deviation of the optimal cost function value at any given time is used to construct a self-triggering mechanism. Finally, the update time of the optimal control input sequence and the control input applied to the system are determined based on the self-triggering mechanism. This invention can effectively reduce the number of state updates of the controlled system, alleviate the computational burden on the controller and the communication burden on the communication network, while ensuring the control performance of the system.

The invention discloses an all-digital networked control system fault detection method and application, and relates to the field of control system fault detection, and the method comprises the steps: collecting original sensor data of a control system, carrying out the standardization processing, and outputting the standardized data; processing the standardized data through a transform self-attention mechanism to generate global features, performing feature enhancement on the global features by adopting a neural network, and outputting fusion features; generating a dynamic fault threshold by adopting learnable parameters and an exponential moving average algorithm according to the fusion features; and calculating the fault probability according to the dynamic fault threshold and the fusion feature. The method can solve the problems that the existing DCS fault detection coverage rate is low, and the algorithm has long-term dependence and lacks security demand dynamic adaptive capacity.

The application relates to a kind of multi-channel networked control system asymptotic stability control law design method and system, comprising: establishing the first system model of networked control system with delay and packet loss simultaneously and equivalent expansion to the first system model to obtain the second system model;Establishing intermediate state and equivalent constraint condition to build the third system model;According to the expression of the control law designed by the third system model;Construct Riccati equation and obtain positive definite solution, substitute the positive definite solution into the expression of the control law, obtain the third system control law;Delete the channel information not transmitting information in the third system control law to obtain the first system control law;According to the first system control law, multi-channel information transmission can be carried out, so as to solve the problem of multiple transmission delay and random packet loss coexistence, improve the integrity of transmission information during channel transmission.

Compared with the prior art, the fuzzy H-infinity closed-loop control method for the implantable wearable medical equipment, provided by the invention, has the advantages that multiple types of network induction phenomena are innovatively coupled, and the fuzzy H-infinity closed-loop control method for the implantable wearable medical equipment is realized in a T-S fuzzy system communication network with parameter uncertainty and disturbance noise for the first time; meanwhile, dynamic quantization and random communication protocol (SCP) scheduling are considered, the limitation that multiple network induction phenomena are independently or partially considered in existing research is broken through, the method is more suitable for the scene of multi-class interference coupling in an actual networked control system, and the application range of a T-S fuzzy system in a complex network environment is expanded.

The invention discloses a networked control system spoofing attack detection method and device and a medium, and the method comprises the steps: deploying a center detector in a remote control center, and achieving the anomaly detection based on the Kalman filtering residual error and chi-square detection; deploying a local detector at a controlled object end, independently generating a residual error by using a remotely issued control signal and local sensor data, and realizing anomaly detection through chi-square test; under normal conditions, control signals generated by the central controller and control signals generated by the local controllers are kept consistent, and it is guaranteed that the system performance is not changed; when an attack occurs, the detection indexes of the central detector and the local detector are obviously increased, and spoofing attack detection is realized. The security of the networked control system is improved through a dual detection mechanism, spoofing attacks can be effectively detected and defended, and stable operation of the system is guaranteed.

The application relates to a multi-threshold network attack detection method integrating an ellipsoid and a polytope state estimation domain, and comprises the following steps: a discrete time-varying form of a networked control system is constructed; a prediction filter and an observer are respectively designed for the case that the networked control system is subjected to a false information injection attack, so that a system state prediction set and a system state observation set are obtained, wherein the system state prediction set is described by using a central symmetric polytope, and the system state observation set is described by using an ellipsoid; the intersection area of the central symmetric polytope and the ellipsoid is calculated; the relationship between the intersection area and different set thresholds is judged; and a network attack detection result containing an attacked degree is obtained. Compared with the prior art, the application has the advantages of avoiding excessive calculation amount while ensuring accuracy and real-time performance.

The invention discloses a data-driven switching type dynamic event trigger control method and device, and the method comprises the steps: constructing a convex optimization problem based on the measurable input state data of an offline open-loop system for an unknown linear networked control system under a denial of service attack; solving an optimal control gain matrix of the system based on the optimal solution of the convex optimization problem; deriving an expression of unknown parameters based on the optimal solution and the optimal control gain matrix; designing a switching type dynamic event triggering mechanism, and obtaining a preliminary constraint condition of a to-be-designed parameter in the switching type dynamic event triggering mechanism in combination with the expression of the unknown parameter under the condition of no denial of service attack; and aiming at the condition that the denial of service attack exists, on the basis of the initial constraint condition of the to-be-designed parameter, obtaining a sufficient condition for the index stability of the unknown linear networked control system, so that the closed-loop system model is exponentially stable at the balance point. According to the method, the problem of effectively reducing the communication load of the networked control system with unknown parameters under the denial of service attack is solved.

The present application relates to the technical field of aero-engine control, and particularly relates to a fault diagnosis method for an aero-engine networked control system, which comprises constructing a networked control system fault diagnosis architecture based on intelligent nodes, the networked control system fault diagnosis architecture comprising a plurality of sensor intelligent nodes and a plurality of actuator intelligent nodes, and a system layer diagnosis node; a sub-filter independent of each other is designed for each intelligent node, and a residual quantity and a fault estimation quantity corresponding to each intelligent node are obtained; whether the aero-engine networked control system enters a fault state is judged according to the residual quantity and the fault estimation quantity corresponding to each intelligent node; and a fault source is determined based on fault isolation and positioning of a minimization strategy. The present application performs robust fusion on multi-channel residual quantities, and constructs an adaptive diagnosis threshold based on a fault-free statistical baseline, so as to realize unified judgment of a fault occurrence, isolation and end process.

The present application relates to the technical field of aero-engine control, and particularly relates to a fault diagnosis method for an aero-engine networked control system, which comprises constructing a networked control system fault diagnosis architecture based on intelligent nodes, the networked control system fault diagnosis architecture comprising a plurality of sensor intelligent nodes and a plurality of actuator intelligent nodes, and a system layer diagnosis node; a sub-filter independent of each other is designed for each intelligent node, and a residual quantity and a fault estimation quantity corresponding to each intelligent node are obtained; whether the aero-engine networked control system enters a fault state is judged according to the residual quantity and the fault estimation quantity corresponding to each intelligent node; and a fault source is determined based on fault isolation and positioning of a minimization strategy. The present application performs robust fusion on multi-channel residual quantities, and constructs an adaptive diagnosis threshold based on a fault-free statistical baseline, so as to realize unified judgment of a fault occurrence, isolation and end process.

The application relates to the technical field of network security, and provides a dynamic event triggering fault detection method of a networked control system.The technical scheme steps of the application comprise the following steps of: S10, establishing a linear system model of the network control system; S20, establishing a fault detection filtering model; S30, describing denial of service and false data injection attack signals suffered by the network control system; S40, constructing a dynamic event triggering scheme; S50, designing a fault detection evaluation function; and S60, establishing a time delay residual system model to perform fault detection on the network control system.The application can effectively detect faults of the system by being applied to the network control system simultaneously affected by mixed network attacks and disturbances, can improve the effective utilization rate of the network channel, can reduce adverse effects of the network attacks and the disturbances on the system, and can maintain the stability of the system in a complex environment.