Adaptive Design of Real-Time Control Systems subject to Sporadic Overruns
Adaptive Design of Real-Time Control Systems subject to Sporadic Overruns
复制标题
受偶发性超限影响的实时控制系统的自适应设计
DOI：
10.23919/date51398.2021.9473913
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
M. Maggio
中科院分区：
文献类型：
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作者：
P. Pazzaglia;A. Hamann;D. Ziegenbein;M. Maggio
大多数现成的嵌入式控制系统缺乏适当的机制来处理计算过载条件。因此，延迟可能累积并产生超限，潜在地损害受控系统的稳定性和性能。在本文中，我们探讨了一个控制器的实现，其中超限事件是容忍和处理与适当的对策，它可以很容易地插入到现有的控制器的实现，特别是商业现成的控制系统。当超限发生时，下一个作业的控制周期被重新初始化，并且其控制参数被调整以抵消前一个作业的附加延迟。这种方法的主要优点在于简单的适用性和部署的高度灵活性。它既不需要系统时间演化的随机模型，也不依赖于未来延迟的预测。我们提供了一个精确的工具来确定系统的稳定性，这只需要最坏情况下的响应时间的知识。最终的控制系统表现出良好的权衡之间的简单性和性能，无论是在标称和过载条件。
Most off-the-shelf embedded control systems lack proper mechanisms to handle computational overload conditions. Therefore, delays may accumulate and produce overruns, potentially harming the stability and performance of the controlled system. In this paper, we explore a controller implementation in which overrun events are tolerated and tackled with a proper countermeasure, which can be easily plugged into existing controller implementations and in particular commercial off-the-shelf control systems. When an overrun occurs, the control period of the next job is reinitialized and its control parameters are adjusted to counteract the additional delay of the previous job. The main strength of this approach resides in a straightforward applicability and in a high flexibility in deployment. It does neither require a stochastic model of the timing evolution of the system, nor rely on prediction of future delays. We provide an exact tool to determine the system stability, which requires only the knowledge of the worst case response time. The final controlled system exhibits a good trade-off between simplicity and performance, both during nominal and overload conditions.