網(wǎng)絡環(huán)境下直流伺服電機控制問題的研究
發(fā)布時間：2018-08-06 17:40
【摘要】：網(wǎng)絡控制系統(tǒng)作為一種新型分布化和智能化的控制系統(tǒng),得到控制界的普遍關注和支持,其具有結構簡易、性能可靠、操作靈活、資源共享等優(yōu)點。直流伺服電機被廣泛應用于工業(yè)生產(chǎn)、交通工具及家用電器等領域中,其具有靈敏度強、響應時間短、執(zhí)行效率高等特點。目前針對網(wǎng)絡控制系統(tǒng)問題及傳統(tǒng)的直流伺服電機控制問題的研究已經(jīng)取得了豐富的成果,然而對兩者相結合情況的研究還不夠充分。因此,如何將網(wǎng)絡控制結構引入傳統(tǒng)的直流伺服電機控制系統(tǒng),并對相關網(wǎng)絡時延及數(shù)據(jù)丟包問題進行研究具有重要的實際應用意義。本文以直流伺服電機為被控對象構建網(wǎng)絡控制系統(tǒng),針對系統(tǒng)中時延及數(shù)據(jù)丟包同時存在的情況,從理論上給出其控制器、觀測器及濾波器的設計方法。具體如下:(1)以具有確定短時延及數(shù)據(jù)丟包的直流伺服電機網(wǎng)絡控制系統(tǒng)為研究對象,當系統(tǒng)狀態(tài)可測量時,給出一類狀態(tài)反饋H_∞控制器的設計方法。假設系統(tǒng)時延是小于采樣周期的確定常數(shù),且數(shù)據(jù)丟包概率已知并服從Bernoulli分布。當系統(tǒng)采用零輸入策略時,設計狀態(tài)反饋H_∞控制器,并構造相應的Lyapunov函數(shù)和線性矩陣不等式(LMI)來證明所設計的控制器使得系統(tǒng)均方漸進穩(wěn)定且符合指定的H_∞控制性能指標。最后通過求解LMI獲取控制器參數(shù)。(2)以具有確定短時延及數(shù)據(jù)丟包的直流伺服電機網(wǎng)絡控制系統(tǒng)為研究對象,當系統(tǒng)狀態(tài)不可測量時,給出一類基于狀態(tài)觀測器的H_∞控制器的設計方法。假設系統(tǒng)時延是小于采樣周期的確定常數(shù),且數(shù)據(jù)丟包概率已知并服從Bernoulli分布。當系統(tǒng)采用保持輸入策略時,設計基于狀態(tài)觀測器的H_∞控制器,使得閉環(huán)控制系統(tǒng)性能均方指數(shù)穩(wěn)定且符合指定的H_∞控制性能指標�；谙嚓PLyapunov穩(wěn)定性定理,以LMI形式給出觀測器和H_∞控制器存在的充分條件。最后進行實際算列仿真,通過求解相應的LMI獲取觀測器和控制器的參數(shù)值。(3)以具有不確定短時延及數(shù)據(jù)丟包的直流伺服電機網(wǎng)絡控制系統(tǒng)為研究對象,當系統(tǒng)狀態(tài)不可測量時,給出一類基于狀態(tài)觀測器的H_∞控制器的設計方法。將系統(tǒng)時延的不確定性等效為矩陣參數(shù)的不確定性,且數(shù)據(jù)丟包概率已知并服從Bernoulli分布。當系統(tǒng)采用保持輸入策略時,采用LMI方法并基于相關Lyapunov穩(wěn)定性定理,給出直流伺服電機網(wǎng)絡控制系統(tǒng)的基于狀態(tài)觀測器的H_∞控制器的設計方法,使得閉環(huán)控制系統(tǒng)性能均方指數(shù)穩(wěn)定且符合指定的H_∞控制性能指標,且觀測器和控制器的參數(shù)值可以通過求解相應的LMI得到。(4)以具有測量數(shù)據(jù)一步隨機時延及數(shù)據(jù)丟包的直流伺服電機網(wǎng)絡控制系統(tǒng)為研究對象,給出一類H_∞濾波器的設計方法。利用兩個已知概率的Bernoulli隨機二進制序列構建一種能夠同時描述時延和數(shù)據(jù)丟包的新型數(shù)學模型,基于此模型設計使得濾波誤差系統(tǒng)均方漸進穩(wěn)定且滿足指定性能指標的H_∞濾波器。運用相應的Lyapunov穩(wěn)定性定理,并結合LMI方法獲取H_∞濾波器存在的充分性判據(jù),最后通過數(shù)值算列仿真得到濾波器的參數(shù)值。
[Abstract]:As a new distributed and intelligent control system, the network control system has been widely concerned and supported by the control circle. It has the advantages of simple structure, reliable performance, flexible operation and resource sharing. The DC servo motor has been widely used in industrial production, traffic tools and household appliances and other fields, which have strong sensitivity and sound. At present, the research on the problem of network control system and the control of the traditional DC servo motor has made a lot of achievements. However, the research on the combination of the two is not enough. Therefore, how to introduce the network control structure into the traditional DC servo motor control system, and how to make the network control structure into the DC servo motor control system; The research on the related network delay and data packet loss is of great practical significance. This paper constructs a network control system based on the DC servo motor as the controlled object. In view of the time delay and data packet loss in the system, the controller, the observer and the filter design method are given in theory. The following are: (1) A DC servo motor network control system with short delay and data packet loss is studied. When the system state can be measured, a design method of a class of state feedback H_ infinity controllers is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. When the system is zero, the system uses zero. In the input strategy, the state feedback H_ infinity controller is designed, and the corresponding Lyapunov function and linear matrix inequality (LMI) are constructed to prove that the designed controller makes the system gradually stable and conforms to the specified H_ infinity control performance index. Finally, the controller parameters are obtained by solving LMI. (2) it has a definite short time delay and a data packet loss. The DC servo motor network control system is the research object. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. The H_ infinity controller based on the state observer makes the performance of the closed-loop control system stable and conforms to the specified H_ control performance index. Based on the related Lyapunov stability theorem, the sufficient conditions for the existence of the observer and the H_ controller are given in the form of LMI. Finally, the simulation of the actual calculation is carried out, and the corresponding LMI acquisition concept is solved. The parameter values of the sensors and controllers. (3) the DC servo motor network control system with uncertain short time delay and data packet loss is studied. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. The uncertainty of the system delay is equivalent to the uncertainty of the matrix parameter. The data packet loss probability is known and obeys the Bernoulli distribution. When the system adopts the maintenance input strategy, the LMI method and the relative Lyapunov stability theorem are used to design the H_ controller based on the state observer for the DC servo motor network control system, which makes the performance mean square index of the closed loop control system stable and conforms to the index. The parameter values of the observer and controller can be obtained by solving the corresponding LMI. (4) a DC servo motor network control system with one step random time delay and data packet loss with measured data is used as the research object, and a kind of H_ infinity filter is set up. The Bernoulli random of the H_ infinity filter is used. The binary sequence constructs a new mathematical model that can simultaneously describe the delay and data packet loss. Based on this model, the filter error system is steadily stabilized and satisfies the specified performance index H_ infinity filter. The corresponding Lyapunov stability theorem is used and the LMI square method is used to obtain the sufficient criteria for the existence of the H_ infinity filter. Finally, the parameter values of the filter are obtained by numerical simulation.
【學位授予單位】：南京郵電大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP273;TM383.4
本文編號：2168487
[Abstract]:As a new distributed and intelligent control system, the network control system has been widely concerned and supported by the control circle. It has the advantages of simple structure, reliable performance, flexible operation and resource sharing. The DC servo motor has been widely used in industrial production, traffic tools and household appliances and other fields, which have strong sensitivity and sound. At present, the research on the problem of network control system and the control of the traditional DC servo motor has made a lot of achievements. However, the research on the combination of the two is not enough. Therefore, how to introduce the network control structure into the traditional DC servo motor control system, and how to make the network control structure into the DC servo motor control system; The research on the related network delay and data packet loss is of great practical significance. This paper constructs a network control system based on the DC servo motor as the controlled object. In view of the time delay and data packet loss in the system, the controller, the observer and the filter design method are given in theory. The following are: (1) A DC servo motor network control system with short delay and data packet loss is studied. When the system state can be measured, a design method of a class of state feedback H_ infinity controllers is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. When the system is zero, the system uses zero. In the input strategy, the state feedback H_ infinity controller is designed, and the corresponding Lyapunov function and linear matrix inequality (LMI) are constructed to prove that the designed controller makes the system gradually stable and conforms to the specified H_ infinity control performance index. Finally, the controller parameters are obtained by solving LMI. (2) it has a definite short time delay and a data packet loss. The DC servo motor network control system is the research object. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. The H_ infinity controller based on the state observer makes the performance of the closed-loop control system stable and conforms to the specified H_ control performance index. Based on the related Lyapunov stability theorem, the sufficient conditions for the existence of the observer and the H_ controller are given in the form of LMI. Finally, the simulation of the actual calculation is carried out, and the corresponding LMI acquisition concept is solved. The parameter values of the sensors and controllers. (3) the DC servo motor network control system with uncertain short time delay and data packet loss is studied. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. The uncertainty of the system delay is equivalent to the uncertainty of the matrix parameter. The data packet loss probability is known and obeys the Bernoulli distribution. When the system adopts the maintenance input strategy, the LMI method and the relative Lyapunov stability theorem are used to design the H_ controller based on the state observer for the DC servo motor network control system, which makes the performance mean square index of the closed loop control system stable and conforms to the index. The parameter values of the observer and controller can be obtained by solving the corresponding LMI. (4) a DC servo motor network control system with one step random time delay and data packet loss with measured data is used as the research object, and a kind of H_ infinity filter is set up. The Bernoulli random of the H_ infinity filter is used. The binary sequence constructs a new mathematical model that can simultaneously describe the delay and data packet loss. Based on this model, the filter error system is steadily stabilized and satisfies the specified performance index H_ infinity filter. The corresponding Lyapunov stability theorem is used and the LMI square method is used to obtain the sufficient criteria for the existence of the H_ infinity filter. Finally, the parameter values of the filter are obtained by numerical simulation.
【學位授予單位】：南京郵電大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP273;TM383.4
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