魏世勇等：基于安全传输策略的网络化预测控制系统设计 ·1411· 380 (a 一带NPC补偿机制 (b) 360 一P控制 340 320 300 28762420864 280 260 20406080100120140160180200 20406080100120140160180200 时间/s 时间 400 c 55 一带NPC补偿机制 d 380 5 360 一PI控制 340 320 40 300 35 280 260 25 2406 20406080100120140160180200 20020406080100120140160180200 时间/s 时间/s 图11有数据攻击情况下控制仿真对比实验.(a)强度为40%的数据欺骗攻击和5~10步随机延时DS攻击：(b)强度为40%数据欺骗 攻击和5~10步随机延时DS攻击时的RTT分布图：(c)强度为50%数据欺骗攻击和10~15步随机延时DS攻击：(d)50%数据欺骗攻 击和10~15步随机延时DS攻击下的RTT分布图 Fig.11 Contrast experiment of control simulation results with data attack:(a)40%intensity of data attacks and 5-10 random-delayed DoS attacks; (b)R'TT distribution diagram of 40%intensity of data attacks and 5-10 random-delayed DoS attacks;(c)50%intensity of data attacks and 10-15 random-delayed DoS attacks;(d)RTT distribution diagram of 50%intensity of data attacks and 10-15 random-delayed DoS attacks 基于RTT延时和对象离散数学模型的NPC方法来补 [7]Yi J Q.Wang Q,Zhao D B,et al.BP neural network prediction- 偿数据攻击对NCSs的影响，分别设计和实现了预测 based variable-period sampling approach for networked control sys- 控制序列产生器、模型参数在线估计器和网络补偿器. tems.Appl Mathematics Comput,2007,185(2):976 [8]Li F,Wang X,Shi P.Robust quantized H control for network 通过S100-1管道压力控制仿真实验验证了该补偿策 control systems with Markovian jumps and time delays.Int /Inno- 略的有效性，提升NCSs对抗网络数据攻击的能力 rative Computing Inf Control,2013,9(12):4889 [9]Feng J,Wang S Q.Reliable fuzzy control for a class of nonlinear 参考文献 networked control systems with time delay.Acta Automatica Sini- [1]You K Y,Xie L H.Survey of recent progress in networked control cm,2012,38(7):1091 systems.Acta Automatica Sinica,2013,39(2):101 [10]Liu G P,Mu JX,Rees D,et al.Design and stability analysis of [2]Bai J J.Su H Y,Gao J F,et al.Modeling and stabilization of a networked control systems with random communication time delay wireless network control system with packet loss and time delay. using the modified MPC.Int J Control,2006,79(4):288 Franklin1nst,2012,349(7):2420 [11]Yuan K Y,Chen J,Liu G P,et al.Design and implementation [3] Luo R C,Su K L,Shen S H,et al.Networked intelligent robots of data encryption for networked control systems//IEEE Interna- through the Intemet:issues and opportunities.Proceedings of the tional Conference on Systems,Man and Cybernetics.IEEE, 1EEE,2003,91(3):371 2009:2105 [4]Tsai Choi K S,Jo J H,Sin C S,et al.Design of the network con- [12]Gupta R A,Chow M Y.Performance assessment and compensa- trol system for OBS satellite communications system /Proceedings tion for secure networked control systems /Proceeding of the of the 8th International Conference Advanced Communication Tech- 34th Annual Conference of IEEE Industrial Electronics.EEE, nology (ICACT).IEEE,2006:875 2008:2929 [5] Su B L.Networked control systems and security issues.Office Au- [13]Cao H Y,Chen K,Zhu P D.Secure process control system of tom,2011(4):45 industrial networks//Proceedings of the 15th IEEE International (孙柏林.网络化控制系统及其安全问题.办公自动化：办公 Conference on Communication Technology (ICCT).IEEE, 设备与耗材，2011(4)：45) 2013:15 [6]Nilsson J.Real-Time Control Systems with Delays Dissertation]. [14]Hu W S,Liu G P,Rees D.Networked predictive control over Sweden:Department of Automatic Control Lund Institute of Tech- the Internet using round-trip delay measurement.IEEE Trans In- nology,1998 strum Meas,2008,57(10):2231魏世勇等: 基于安全传输策略的网络化预测控制系统设计 图 11 有数据攻击情况下控制仿真对比实验. (a) 强度为 40% 的数据欺骗攻击和 5 ~ 10 步随机延时 DoS 攻击;(b) 强度为 40% 数据欺骗 攻击和 5 ~ 10 步随机延时 DoS 攻击时的 RTT 分布图;(c) 强度为 50% 数据欺骗攻击和 10 ~ 15 步随机延时 DoS 攻击; (d) 50% 数据欺骗攻 击和 10 ~ 15 步随机延时 DoS 攻击下的 RTT 分布图 Fig. 11 Contrast experiment of control simulation results with data attack: (a) 40% intensity of data attacks and 5鄄鄄10 random鄄delayed DoS attacks; (b) RTT distribution diagram of 40% intensity of data attacks and 5鄄鄄10 random鄄delayed DoS attacks; (c) 50% intensity of data attacks and 10鄄鄄15 random鄄delayed DoS attacks; (d) RTT distribution diagram of 50% intensity of data attacks and 10鄄鄄15 random鄄delayed DoS attacks 基于 RTT 延时和对象离散数学模型的 NPC 方法来补 偿数据攻击对 NCSs 的影响,分别设计和实现了预测 控制序列产生器、模型参数在线估计器和网络补偿器. 通过 S100鄄鄄1 管道压力控制仿真实验验证了该补偿策 略的有效性,提升 NCSs 对抗网络数据攻击的能力. 参 考 文 献 [1] You K Y, Xie L H. Survey of recent progress in networked control systems. Acta Automatica Sinica, 2013, 39(2): 101 [2] Bai J J, Su H Y, Gao J F, et al. Modeling and stabilization of a wireless network control system with packet loss and time delay. J Franklin Inst, 2012, 349(7): 2420 [3] Luo R C, Su K L, Shen S H, et al. Networked intelligent robots through the Internet: issues and opportunities. Proceedings of the IEEE, 2003, 91(3): 371 [4] Tsai Choi K S, Jo J H, Sin C S, et al. Design of the network con鄄 trol system for OBS satellite communications system / / Proceedings of the 8th International Conference Advanced Communication Tech鄄 nology (ICACT). IEEE, 2006: 875 [5] Su B L. Networked control systems and security issues. Office Au鄄 tom, 2011(4): 45 (孙柏林. 网络化控制系统及其安全问题. 办公自动化: 办公 设备与耗材, 2011(4): 45) [6] Nilsson J. Real鄄Time Control Systems with Delays [Dissertation]. Sweden: Department of Automatic Control Lund Institute of Tech鄄 nology, 1998 [7] Yi J Q, Wang Q, Zhao D B, et al. BP neural network prediction鄄 based variable鄄period sampling approach for networked control sys鄄 tems. Appl Mathematics Comput, 2007, 185(2): 976 [8] Li F, Wang X, Shi P. Robust quantized H肄 control for network control systems with Markovian jumps and time delays. Int J Inno鄄 vative Computing Inf Control, 2013, 9(12): 4889 [9] Feng J, Wang S Q. Reliable fuzzy control for a class of nonlinear networked control systems with time delay. Acta Automatica Sini鄄 ca, 2012, 38(7): 1091 [10] Liu G P, Mu J X, Rees D, et al. Design and stability analysis of networked control systems with random communication time delay using the modified MPC. Int J Control, 2006, 79(4): 288 [11] Yuan K Y, Chen J, Liu G P, et al. Design and implementation of data encryption for networked control systems / / IEEE Interna鄄 tional Conference on Systems, Man and Cybernetics. IEEE, 2009: 2105 [12] Gupta R A, Chow M Y. Performance assessment and compensa鄄 tion for secure networked control systems / / Proceeding of the 34th Annual Conference of IEEE Industrial Electronics. IEEE, 2008: 2929 [13] Cao H Y, Chen K, Zhu P D. Secure process control system of industrial networks / / Proceedings of the 15th IEEE International Conference on Communication Technology ( ICCT ). IEEE, 2013: 15 [14] Hu W S, Liu G P, Rees D. Networked predictive control over the Internet using round鄄trip delay measurement. IEEE Trans In鄄 strum Meas, 2008, 57(10): 2231 ·1411·