Recursion in short-time signal analysis

The problem of finding a recursive structure for the evaluation of features through a ‘running’ window is investigated. A general closed form expression is found for features satisfying a direct or indirect recursion condition. It is shown that most of the commonly used features (mean value, energy, autocorrelation function, DFT, Z-transform, entropy, etc.) satisfy these analytic expressions. The recursive, step by step, feature evaluation method is compared with the conventional method where features are evaluated for positions of the observation window with a 50% overlap. These two methods are equivalent in computation time for features satisfying the direct recursion condition. However, there might be some loss of information when using the last approach. The use of indirect recursion is advantageous for small window sizes. The results are then generalised to bidimensional signal processing.     

时延网络控制系统控制方法研究综述

本文介绍了网络控制系统的基本概念,分析了网络控制系统的优缺点,并主要针对网路控制系统中的时延问题,论述了6种时延网络控制系统控制方法:增广状态离散时间模型法、缓冲队列法、摄动法、随机最优控制方法、鲁棒控制方法、模糊逻辑调节法.本文对6种控制方法各自的特点和适用范围进行了较为详细地讨论,并对各自的优缺点进行了对比分析,对进一步研究适合于时延网络控制系统自身特点的控制方法进行了展望.本文研究的内容是当今控制领域研究的热点问题之一,无论对网络控制系统的研究与应用,还是对网络控制系统中时延问题的解决都具有一定的意义和参考价值.     

State feedback controller design of networked control systems

This paper is concerned with the controller design of networked control systems (NCS). A new model of the NCSs is provided under consideration of both the network-induced delay and the data packet dropout in the transmission. In terms of the given model, a controller design method is proposed based on a delay-dependent approach. The feedback gain of a memoryless controller and the maximum allowable value of the network-induced delay can be derived by solving a set of linear matrix inequalities. Two examples are given to show the effectiveness of our method.     

Chaotic communication systems in the presence of parametric uncertainty and mismatch

A recently developed synchronization scheme in (Phys. Lett. A 2007; 361 :108–114) is applied to design a secure communication system with parametric uncertainties and mismatches in this paper. Based on the bounds of the uncertainties and mismatches and a pre‐specified bound of the synchronization error, a scheme is given to determine an upper bound of impulsive intervals. With the scheme, the synchronization error is ensured to approach to and stay within the given pre‐specified bound and this in turn guarantees that signals can be decoded accurately. To further enhance system security, it is also proposed to transmit functions of the chaotic states at impulsive instants, instead of the states directly. The designed system is tested and verified with text, audio and image encryption and transmission with comparisons to some existing schemes. Copyright © 2008 John Wiley & Sons, Ltd.     

Optimizing controller location in networked control systems with packet drops

In networked control, there is locational freedom in choosing the node at which to locate the controller, so as to mitigate the effects of packet losses in the network. What is the optimal location for the placement of the control logic? Second, what is the optimal control law in that position? The difficulty in answering these two questions is that analysis of optimality in networked control systems subject to random packet drops suffers from Witsenhausen's 'non-classical information pattern'. Thus, the general problem is considered intractable. We make headway on this problem by using a "Long Packet Assumption", LPA, which allows packets to be arbitrarily long. This is not intended for implementation, but only to develop a lower bound on the cost. In particular, under this assumption the optimal controller location can be shown to be collocated with the actuator. For this position, under the LPA, we can also calculate the optimal cost, which is then a lower bound on the optimal cost for the original problem for all locations. Despite the apparent strength of the LPA, we have found that this lower bound is often close to currently realizable upper bounds. This establishes the near optimality of currently implementable controllers in such instances. Using the lower bound on cost we obtain a necessary condition for stabilizability over all controller locations. This condition matches known sufficient conditions for some special cases, thus establishing a necessary and sufficient condition for location optimized stabilizability of networked control systems with packet loss.     

Markov chain model of fault-tolerant wireless networked control systems

Wireless Networks - Wireless networked control systems (WNCS) are composed of spatially distributed sensors, actuators, and controllers communicating through wireless networks instead of...     

Frequency estimation of electric signals based on the adaptive short-time Fourier transform

Frequency is an important parameter in the monitoring, control, and protection of power systems and electric equipment. In this article, based on the adaptive short-time Fourier transform, a new digital algorithm is presented to estimate the frequency of electric signals. The novel window, called the Rectangle Self-Convolution Window, is adapted to eliminate the impact of harmonics, and the window length is adjusted according to the variation of signal frequency. The algorithm is easy to implement with high precision and short response time as well as a wide measuring range. It is thus suitable for real-time detection, especially when the frequency changes abruptly and the signal is corrupted by harmonics. Simulation results and practical application show that it is feasible and effective under different conditions.     

基于短时分析的数字调制信号识别方法的研究

研究了一种新的数字调制信号识别方法。该方法用短时分析提取数字调制信号在幅度、频率和相位随时间变化的特征，并利用这些特征对各种数字调制信号进行识别。在加性高斯白噪声条件下给出了相应的最佳阈值，并通过仿真研究了该识别方法的性能。仿真结果表明该方法对噪声不敏感，在SNR为OdB时仍能获得90％以上的正确识别率。     

IEEE1588协议在网络测控系统中的应用

在基于网络的测量与控制系统中,对分散节点间的时钟同步有很高的要求.IEEE 1588标准的精确时钟协议为测控系统的时钟同步提供了一种简单可行的途径.分析了精确时钟协议实现的原理和算法,针对测控系统中对时钟同步精度的需求,研究了系统内选择最优主时钟的算法和实现,以及硬件辅助检测时间戳的方法和应用.最后以以太网为例,对设计...     

QoS-based remote control of networked control systems via Profibus token passing protocol

This paper focuses on a quality-of-service (QoS)-based remote control scheme for networked control systems via the Profibus token passing protocol. Typically, token passing experiences random network delay due to uncertainties in token circulation, but the protocol has in-built upper and lower bounds of network delay. Thus, to ensure the control performance of networked control systems via the Profibus token passing protocol, the network delay should be maintained below the allowable delay level. As the network delay is affected by protocol parameters, such as target rotation time, we present here an algorithm for selection of target rotation time using a genetic algorithm to ensure QoS of control information. We also discuss the performance of the QoS-based remote control scheme under conditions of controlled network delay. To evaluate its feasibility, a networked control system for a feedback control system using a servo motor was implemented on a Profibus-FMS network.     

Adaptive control of uncertain nonlinear teleoperation systems

Kinematic parameters of a robotic manipulator are hard to measure precisely and the varying size and shape of tools held by the robot end-effector introduce further kinematic uncertainties. Moreover, the exact knowledge of the robot nonlinear dynamics may be unavailable due to model uncertainties. While adaptive master–slave teleoperation control strategies in the literature consider the dynamic uncertainties in the master and the slave robots, they stop short of accounting for the robots’ kinematic uncertainties, which can undermine the transparency of the teleoperation system. In this paper, for a teleoperation system that is both dynamically and kinematically uncertain, we propose novel nonlinear adaptive controllers that require neither the exact knowledge of the kinematics of the master and the slave nor the dynamics of the master, the slave, the human operator, and the environment. Therefore, the proposed controllers can provide the master and slave robots with a high degree of flexibility in dealing with unforeseen changes and uncertainties in their kinematics and dynamics. A Lyapunov function analysis is conducted to mathematically prove the stability and master–slave asymptotic position tracking. The validity of the theoretical results is verified through simulations as well as experiments on a bilateral teleoperation test-bed of rehabilitation robots.     

Specifying interdependence in networked systems

Realistic assessments of the reliability of networked systems, series and parallel systems being special cases, require that we account for interdependence between the component life-lengths. The key to doing this is the specification and use of a suitable probability model in two or more dimensions. Consequently, several multivariate probabilistic models have been proposed in the literature. Many of these models have marginal distributions that are exponential; the ones by Gumbel, and by Marshall and Olkin being some of the earliest and the best known. The purpose of this paper is two fold: The first purpose is to articulate the nature of dependence encapsulated by such models, using a perspective which is best appreciated by a user. Specifically, we anchor on the bivariate case, and focus attention on the conditional mean as a measure of dependence. The second purpose, motivated by the first, is to introduce a new family of multivariate distributions with exponential marginals, whose conditional mean fills a void in the general forms of the conditional means of the available models. The method of "copulas" is used to generate this new family of distributions. Attention is focused on the case of exponential marginals, because the notion of "hazard potentials" enables us to use multivariate distributions with exponential marginals as a seed for generating multivariate distributions with marginals other than the exponential.     

基于动态不确定度评定的加权数据融合算法

加权融合算法的AR模型,采用遗忘因子递推最小二乘法估计出测量方差.根据测量方差对单一导航传感器信息进行动态不确定度评定,进而确定组合导航系统的组合不确定度.在满足组合不确定度最小的情况下,利用拉格朗日乘数法进行加权值的求解.通过实例仿真表明该法具有较高的融合精度,对提高组合导航系统的定位精度具有实际意义.     

Detection of interruption attack in the wireless networked closed loop industrial control systems

Telecommunication Systems - Due to tremendous growth in the network, security is a major concern and it is gaining a high level of attention in the system. In the Industrial control systems such as...     

基于短时傅立叶变换的跳频序列瞬时频率估计

采用了G函数的方法来模拟跳频序列，然后利用短时傅立叶变换对它进行分析与瞬时频率的估计。该方法能够有效地描绘出跳频信号的频率随时间跳变的规律（跳频图案），具有很高的时间一频率分辨率。计算机仿真验证了应用短时傅立叶变换分析跳频序列的有效性和实用性。     

基于信息物理融合系统的紧耦合网络控制方法

从信息物理融合系统(CPS,cyber physical system)的设计理念来看,要求系统中的通信计算部分和被控制物理对象进行紧密耦合操作。遵照这种紧耦合操作原则,针对无线网络控制系统(WNCS,wireless networked control system),提出一种紧耦合自适应模糊控制方法。模拟实验数据显示这种设计方法能根据实时的NCS紧迫度和网络的拥塞度有效地调整被控系统的采样周期及网络信道占用优先级,从而优化利用了有限的网络资源,改善了整个网络控制系统的性能。     

一类不确定混沌系统时滞反馈控制

针对一类不确定性混沌系统,提出了一种具有很好鲁棒性的时滞反馈控制。基于Lyapunov稳定性理论,设计了控制器,实现了快速跟踪混沌系统的不稳定周期轨道。利用梯度下降法获得不稳定周期值,解决了需要预先知道不稳定周期的困难。最后,以Lorenz系统为例,进行了数值仿真,结果证明了该方法的有效性。     

多时滞Lurie网络控制系统动态输出反馈控制器设计

针对一类具有非理想网络状况,如时变网络时滞、分组丢失和乱序等问题的基于动态输出反馈控制器的网络控制系统,建立了多时滞Lurie网络控制系统模型,应用Lyapunov-Krasovskii泛函方法,保留Lyapunov-Krasovskii泛函导数中经常被忽略的有用项,提出了一种具有更低保守性的多时滞Lurie网络控制系统时滞相关稳定条件。并通过增加一等式约束将非线性矩阵不等式转化为线性矩阵不等式表示的可解性问题,给出了一种动态输出反馈控制器的设计方法。数值实例表明该设计方法具有更低的保守性。     

电子天平示值误差测量结果的不确定度评定

一切测量结果都不可避免地具有不确定度，结合实际应用的情况，详细介绍了电子天平示值误差测量结果的不确定度评定方法。