【摘要】：在無線網(wǎng)絡(luò)控制系統(tǒng)中,由于網(wǎng)絡(luò)節(jié)點受處理器、通信寬帶以及存儲空間的約束,由此帶來了網(wǎng)絡(luò)誘導(dǎo)時延、數(shù)據(jù)丟包等現(xiàn)象,嚴重影響系統(tǒng)的控制性能以及穩(wěn)定性,時延是影響無線網(wǎng)絡(luò)控制系統(tǒng)性能至關(guān)重要的因素之一。無線網(wǎng)絡(luò)控制系統(tǒng)中信號在測量和傳輸?shù)倪^程中,易受外界環(huán)境噪聲等因素的干擾,且考慮系統(tǒng)部分狀態(tài)的不可觀測性,需要對對象進行狀態(tài)估計,以使測量噪聲和過程噪聲對系統(tǒng)影響降至最小。為此,本文結(jié)合國內(nèi)外相關(guān)領(lǐng)域的最新科研成果,設(shè)計了卡爾曼、H∞兩種濾波器,并基于ZigBee構(gòu)建了半實物仿真平臺對實驗驗證。主要研究工作包含以下幾個方面：(1)對于含有高斯白噪聲和丟包的線性離散系統(tǒng),將丟包建模成一個具有伯努利(Bernouli)分布的隨機過程,并通過保持輸入的方法進行補償,設(shè)計了卡爾曼濾波器以消除噪聲和丟包對系統(tǒng)的干擾影響,最后給出數(shù)值算例驗證算法的有效性。(2)針對存在噪聲干擾和具有一步時延、丟包率的無線網(wǎng)絡(luò)控制系統(tǒng),且噪聲能量有界,將時延和丟包建模成獨立同分布Bernouli過程,利用線性矩陣不等式方法求解H∞濾波器的參數(shù),推導(dǎo)出濾波誤差系統(tǒng)均方意義下指數(shù)穩(wěn)定性條件,同時使H∞濾波器具有一定的性能指標,數(shù)值仿真結(jié)果表明所給算法能夠消除噪聲、時延和丟包的影響。(3)綜合無線ZigBee和虛擬儀器技術(shù),設(shè)計出ZigBee無線網(wǎng)絡(luò)節(jié)點和LabVIEW的無線網(wǎng)絡(luò)控制系統(tǒng)的半實物仿真平臺,進一步驗證本文結(jié)論,實驗結(jié)果表明在統(tǒng)計特性未知的情況下H∞濾波性能要優(yōu)于卡爾曼濾波。
[Abstract]:In wireless networked control systems, network nodes are constrained by processor, communication broadband and storage space, which leads to network-induced delay, data packet loss and other phenomena, seriously affecting the control performance and stability of the system. Delay is one of the most important factors affecting the performance of wireless networked control systems. In order to minimize the influence of measurement noise and process noise on the system, the signal in the system is susceptible to the interference of external environment noise and other factors. Considering the non-observability of some states of the system, it is necessary to estimate the state of the object in order to minimize the impact of measurement noise and process noise on the system. Kalman filter and H infinity filter are studied, and a hardware-in-the-loop simulation platform is constructed based on ZigBee. The main research work includes the following aspects: (1) For linear discrete systems with Gaussian white noise and packet loss, packet loss is modeled as a Bernouli distribution stochastic process, and the input side is preserved. A Kalman filter is designed to eliminate the influence of noise and packet loss. Finally, a numerical example is given to verify the effectiveness of the algorithm. (2) For wireless network control systems with noise interference and one-step delay, packet loss rate, and bounded noise energy, the delay and packet loss are modeled as independent and identically distributed Bernouli. The exponential stability condition in the mean square sense of the filtering error system is derived. At the same time, the H filter The hardware-in-the-loop simulation platform of ZigBee wireless network node and LabVIEW wireless network control system is designed. The experimental results show that the H
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN713

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本文編號：2214742