论文标题
基于工作流的快速数据驱动的预测控制,具有干扰观察者在云边缘协作架构中
Workflow-based Fast Data-driven Predictive Control with Disturbance Observer in Cloud-edge Collaborative Architecture
论文作者
论文摘要
数据驱动的预测控制(DPC)已在各种情况下进行了研究和使用,因为它可以生成仅依靠历史输入和输出数据的预测控制序列。最近,基于云计算,已经提出了由数据驱动的预测云控制系统(DPCC),具有足够的计算资源的优势。但是,DPCC的现有计算模式集中。这种计算模式无法充分利用云计算的计算能力,其中结构是分布的。因此,计算延迟无法减少,仍然会影响控制质量。在本文中,提出了具有干扰观察者(DOB)的新型云边缘协作集装箱基于工作流的DPC系统,以提高计算效率并确保控制精度。首先,设计了用于DPC工作流程的构造方法,以匹配云计算的分布式处理环境。但是,工作流程任务的非委托开销相对较高。因此,设计了与DOB的云边缘协作控制方案。可以将低重量数据截断以减少非汇总开销。同时,我们设计了一个边缘DOB来估计和补偿云工作流处理的不确定性,并获得复合控制变量。也证明了DOB的UUB稳定性。第三,为了执行基于工作流的DPC控制器,并在真实的云环境中与DOB一起评估了所提出的云边缘协作控制方案,我们设计并实施了基于容器技术的实用基于工作流程的实用云控制实验系统。最后,一系列评估表明,对于两个实时控制示例,计算时间分别减少了45.19%和74.35%,对于高维控制示例,计算时间最多减少了85.10%。
Data-driven predictive control (DPC) has been studied and used in various scenarios, since it could generate the predicted control sequence only relying on the historical input and output data. Recently, based on cloud computing, data-driven predictive cloud control system (DPCCS) has been proposed with the advantage of sufficient computational resources. However, the existing computation mode of DPCCS is centralized. This computation mode could not utilize fully the computing power of cloud computing, of which the structure is distributed. Thus, the computation delay could not been reduced and still affects the control quality. In this paper, a novel cloud-edge collaborative containerised workflow-based DPC system with disturbance observer (DOB) is proposed, to improve the computation efficiency and guarantee the control accuracy. First, a construction method for the DPC workflow is designed, to match the distributed processing environment of cloud computing. But the non-computation overheads of the workflow tasks are relatively high. Therefore, a cloud-edge collaborative control scheme with DOB is designed. The low-weight data could be truncated to reduce the non-computation overheads. Meanwhile, we design an edge DOB to estimate and compensate the uncertainty in cloud workflow processing, and obtain the composite control variable. The UUB stability of the DOB is also proved. Third, to execute the workflow-based DPC controller and evaluate the proposed cloud-edge collaborative control scheme with DOB in the real cloud environment, we design and implement a practical workflow-based cloud control experimental system based on container technology. Finally, a series of evaluations show that, the computation times are decreased by 45.19% and 74.35% for two real-time control examples, respectively, and by at most 85.10% for a high-dimension control example.