發(fā)布時間：2018-03-09 23:06

  本文選題：網(wǎng)絡(luò)化控制系統(tǒng)　切入點：執(zhí)行器故障　出處：《江南大學》2017年碩士論文　論文類型：學位論文

【摘要】：網(wǎng)絡(luò)化控制系統(tǒng)(Networked control systems,NCSs)是指通過一個通信網(wǎng)絡(luò)構(gòu)成的閉環(huán)控制系統(tǒng),NCSs具有安裝維護方便、靈活性高和易于重構(gòu)等優(yōu)點。然而,通訊網(wǎng)絡(luò)的引入導致了系統(tǒng)存在網(wǎng)絡(luò)誘導時延、數(shù)據(jù)丟包和網(wǎng)絡(luò)堵塞等問題,同時外界的不確定因素可能會導致系統(tǒng)性能降低甚至失穩(wěn)。因此,使NCSs具有容錯能力是十分必要的。針對具有時延的NCSs,研究系統(tǒng)參數(shù)存在不確定性、控制器參數(shù)攝動、外部擾動、執(zhí)行器發(fā)生故障等問題,具有重大的理論價值和深遠的實際意義。本課題主要研究內(nèi)容為:針對存在時延的NCSs,同時考慮系統(tǒng)參數(shù)不確定性和控制器參數(shù)攝動的約束,研究執(zhí)行器發(fā)生未知失效故障時系統(tǒng)的非脆弱容錯控制問題。通過引入范數(shù)有界不確定性參數(shù)來描述系統(tǒng)參數(shù)的時變誤差,建立執(zhí)行器發(fā)生未知故障的模型,利用Lyapunov穩(wěn)定性理論和線性矩陣不等式(Linear matrix inequality,LMI)分析方法,得到非脆弱容錯控制器存在的充分條件,然后通過求解LMIs得到非脆弱容錯控制器增益的參數(shù)表達式。針對存在時延和數(shù)據(jù)丟失的非線性NCSs,同時考慮系統(tǒng)參數(shù)不確定性、控制器參數(shù)攝動以及外部擾動等約束,研究執(zhí)行器發(fā)生隨機故障時的非脆弱H_∞容錯控制問題。執(zhí)行器故障的發(fā)生概率滿足Bernoulli分布,NCSs建模為馬爾可夫跳變系統(tǒng)。首先利用Lyapunov穩(wěn)定性理論和LMI分析方法,得到非脆弱H_∞容錯控制器存在的充分條件,然后通過求解LMIs得到非脆弱H_∞容錯控制器增益的參數(shù)表達式。所設(shè)計的控制器能保證閉環(huán)NCSs漸近穩(wěn)定且具有良好的H_∞性能指標。針對存在具有時變時延的非線性NCSs,同時考慮系統(tǒng)參數(shù)不確定性、控制器參數(shù)攝動以及外部擾動等約束,分別研究執(zhí)行器發(fā)生未知故障和隨機故障時的非脆弱H_∞容錯控制問題。NCSs建模為時延非線性系統(tǒng)模型,構(gòu)造合適的Lyapunov-Krasovskii函數(shù),利用基于Lyapunov穩(wěn)定性理論,LMI分析方法和自由加權(quán)矩陣法,推證出非脆弱H_∞容錯控制器增益存在的充分條件。所設(shè)計的控制器能保證閉環(huán)NCSs漸近穩(wěn)定且具有良好的H_∞性能指標。為了驗證所提方法的有效性和可行性,在相應(yīng)章節(jié)后給出了具體的數(shù)值仿真。
[Abstract]:Networked control systems (NCSs) is a closed loop control system (NCSs) which is composed of a communication network, which has the advantages of convenient installation and maintenance, high flexibility and easy reconfiguration. However, the introduction of the communication network leads to the existence of network-induced delay in the system. Problems such as data packet loss and network congestion, while external uncertainties may lead to system performance degradation or even instability. It is very necessary to make NCSs have fault-tolerant ability. For NCSs with delay, the system parameters are uncertain, controller parameters are perturbed, external disturbances, actuator faults, etc. It has great theoretical value and profound practical significance. The main contents of this paper are as follows: for NCSs with time delay, the constraints of system parameter uncertainty and controller parameter perturbation are taken into account at the same time. The non-fragile fault-tolerant control problem of the system with unknown failure fault occurred by actuator is studied. The time-varying error of system parameters is described by introducing norm-bounded uncertainty parameters, and the model of unknown fault of actuator is established. By using Lyapunov stability theory and linear matrix inequality linear matrix inequality analysis method, sufficient conditions for the existence of non-fragile fault-tolerant controllers are obtained. Then the parameter expression of the gain of the non-fragile fault-tolerant controller is obtained by solving the LMIs. For the nonlinear NCSs with delay and data loss, the system parameter uncertainty, the controller parameter perturbation and the external disturbance are taken into account. The problem of non-fragile H _ 鈭，

本文編號：1590663