本文選題：網(wǎng)絡(luò)控制系統(tǒng)　切入點：事件觸發(fā)機制　出處：《杭州電子科技大學》2017年碩士論文

【摘要】：隨著控制系統(tǒng)向分布化、智能化和綜合化的快速發(fā)展,使得各網(wǎng)絡(luò)節(jié)點的計算資源、通信資源以及能源條件受到一定程度的限制。在這種情況下,傳統(tǒng)的周期采樣(等周期時間觸發(fā))對各種資源的綜合利用率很明顯存在著一定的局限性。換句話說,這樣得到的分布式信息通過網(wǎng)絡(luò)互聯(lián)傳送到各個節(jié)點無疑將加重網(wǎng)絡(luò)負載,特別在無線網(wǎng)絡(luò)環(huán)境中頻繁地周期性發(fā)送數(shù)據(jù)必將加重節(jié)點的計算負擔和能耗損失。因此為了降低網(wǎng)絡(luò)資源負載和能耗負荷,基于事件觸發(fā)控制近幾年來得到了國內(nèi)外學者的重視和發(fā)展。事件觸發(fā)控制即是在滿足控制系統(tǒng)一定性能條件下,節(jié)點信息的發(fā)送將按預先設(shè)定的條件來決定是否執(zhí)行,其中預先設(shè)定的條件即稱之為事件觸發(fā)機制或事件觸發(fā)條件。已經(jīng)得到證明在一階隨機系統(tǒng)中,相對傳統(tǒng)周期采樣系統(tǒng),基于事件觸發(fā)控制可以使系統(tǒng)輸出的方差明顯減小,這表明在降低網(wǎng)絡(luò)資源時該方法具有很大的潛力。本文研究了基于誤差閾值通訊的網(wǎng)絡(luò)控制系統(tǒng)控制方法。首先,針對連續(xù)被控對象的網(wǎng)絡(luò)控制系統(tǒng)建立了離散模型,利用李雅普諾夫泛函方法和線性矩陣不等式(LMI)方法得出了滿足系統(tǒng)漸近穩(wěn)定的一些方法和條件。實現(xiàn)了事件觸發(fā)機制條件下系統(tǒng)的一致有界性,給出了系統(tǒng)收斂上界。通過調(diào)節(jié)參數(shù)可以調(diào)節(jié)系統(tǒng)的狀態(tài)。然后,在同時考慮網(wǎng)絡(luò)傳輸時延和事件觸發(fā)機制影響下,網(wǎng)絡(luò)控制系統(tǒng)與事件觸發(fā)機制建立了網(wǎng)絡(luò)誘導時延的離散時間模型。利用李雅普諾夫泛函和線性矩陣不等式方法,設(shè)計的狀態(tài)反饋H?控制器保證了閉環(huán)系統(tǒng)是漸進穩(wěn)定而且也保證了H?性能指標,從而有效的降低了節(jié)點的數(shù)據(jù)傳輸速率。最后,在前面研究的基礎(chǔ)上,研究了一類基于絕對誤差閾值的非線性網(wǎng)絡(luò)控制系統(tǒng)的一致有界性。首先建立一種非線性連續(xù)被控對象的網(wǎng)絡(luò)控制系統(tǒng)模型,通過離散化、線性化方法將非線性系統(tǒng)轉(zhuǎn)換成一種離散化的模型。利用李雅普諾夫泛函和線性矩陣不等式方法,設(shè)計控制器使系統(tǒng)穩(wěn)定。在系統(tǒng)包含事件觸發(fā)機制的情況下,設(shè)計控制方法使系統(tǒng)一致有界。
[Abstract]:With the rapid development of distributed, intelligent and integrated control system, the computing resources, communication resources and energy conditions of each network node are restricted to a certain extent.In this case, the traditional periodic sampling (equal period time trigger) has some limitations on the comprehensive utilization of various resources.In other words, the distributed information will undoubtedly increase the network load, especially in the wireless network environment, the frequent periodic transmission of data will increase the computing burden and energy loss of the nodes.Therefore, in order to reduce the load of network resources and energy consumption, event-based trigger control has been paid attention to and developed by scholars at home and abroad in recent years.Event trigger control (EFC) is defined as the event triggering mechanism or event triggering condition, which is called event trigger mechanism or event trigger condition, when the node information is sent according to the pre-set conditions under certain performance conditions of the control system.It has been proved that in first-order stochastic systems, event-based trigger control can significantly reduce the variance of system output compared with traditional periodic sampling systems, which indicates that this method has great potential in reducing network resources.In this paper, the control method of networked control system based on error threshold communication is studied.First of all, a discrete model is established for the networked control system of a continuous controlled object, and some methods and conditions satisfying the asymptotic stability of the system are obtained by using the Lyapunov functional method and the linear matrix inequality (LMI) method.The uniform boundedness of the system under event triggering mechanism is realized, and the upper bound of system convergence is given.The state of the system can be adjusted by adjusting the parameters.Then, considering the influence of both network transmission delay and event trigger mechanism, the discrete-time model of network-induced delay is established by network control system and event trigger mechanism.Using Lyapunov Functionals and Linear Matrix inequality (LMI) methods, the state feedback H?The controller ensures that the closed-loop system is asymptotically stable and that H?Performance index, thus effectively reducing the data transmission rate of the node.Finally, the uniform boundedness of a class of nonlinear networked control systems based on absolute error threshold is studied.Firstly, a networked control system model of a nonlinear continuous controlled object is established, and the nonlinear system is transformed into a discrete model by means of discretization and linearization.By using Lyapunov functional and linear matrix inequality (LMI) method, the controller is designed to make the system stable.When the system contains event triggering mechanism, the control method is designed to make the system uniformly bounded.
【學位授予單位】：杭州電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273

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