本文選題：網(wǎng)絡(luò)控制系統(tǒng) + 隨機(jī)通信時(shí)延��； 參考：《江南大學(xué)》2017年碩士論文

【摘要】：近年來(lái),隨著控制、網(wǎng)絡(luò)和計(jì)算機(jī)等技術(shù)的不斷發(fā)展,控制系統(tǒng)發(fā)生重大變革,其不僅要求系統(tǒng)內(nèi)部實(shí)現(xiàn)完全的分散控制,同時(shí)要求與Internet和Web等通用網(wǎng)絡(luò)連接,網(wǎng)絡(luò)控制系統(tǒng)(Networked Control Systems,NCSs)應(yīng)運(yùn)而生。有限的網(wǎng)絡(luò)帶寬導(dǎo)致不可避免的隨機(jī)通信時(shí)延和數(shù)據(jù)丟包,使得系統(tǒng)喪失定常性、因果性、完整性和確定性,越來(lái)越多的國(guó)內(nèi)外學(xué)者致力于設(shè)計(jì)穩(wěn)定、可靠、高性能的網(wǎng)絡(luò)控制系統(tǒng)。網(wǎng)絡(luò)通信時(shí)延作為研究的難點(diǎn),對(duì)其進(jìn)行特性分析和補(bǔ)償有著重要的理論意義和廣泛的應(yīng)用價(jià)值,也是本課題的研究方向,主要的研究?jī)?nèi)容如下:針對(duì)網(wǎng)絡(luò)控制系統(tǒng)中雙向通道的隨機(jī)時(shí)延問(wèn)題,提出一種基于廣義預(yù)測(cè)控制的時(shí)延補(bǔ)償設(shè)計(jì)方法。閉環(huán)系統(tǒng)的時(shí)延補(bǔ)償控制器由網(wǎng)絡(luò)預(yù)測(cè)器和時(shí)延補(bǔ)償器構(gòu)成,分別用于補(bǔ)償具有不同特性的反饋通道時(shí)延和前向通道時(shí)延,給出一種依據(jù)隨機(jī)時(shí)延選取控制參數(shù)的方法以提高系統(tǒng)性能,并得到了閉環(huán)控制系統(tǒng)的穩(wěn)定條件。最后采用TrueTime工具箱仿真實(shí)際的網(wǎng)絡(luò)通信,對(duì)固定時(shí)延和隨機(jī)時(shí)延環(huán)境下的補(bǔ)償性能分別進(jìn)行分析,并討論控制參數(shù)取值對(duì)系統(tǒng)性能的影響。仿真結(jié)果表明,時(shí)延補(bǔ)償控制器對(duì)固定時(shí)延和隨機(jī)時(shí)延都有效,而依據(jù)時(shí)延選取控制參數(shù)的系統(tǒng)相比固定參數(shù)的系統(tǒng)具有更好的性能。針對(duì)網(wǎng)絡(luò)控制系統(tǒng)中前向通道隨機(jī)時(shí)延帶來(lái)的不確定性問(wèn)題,在時(shí)序分析的基礎(chǔ)上,提出一種基于自回歸模型(Auto Regressive,AR)的時(shí)延在線多步預(yù)測(cè)模型。反饋通道發(fā)送端將執(zhí)行器端的時(shí)延信息與傳感器端的采樣信息一并打包發(fā)送,遠(yuǎn)程控制器事件觸發(fā)接收數(shù)據(jù)包,取出時(shí)延信息更新時(shí)延對(duì)應(yīng)的時(shí)間序列,經(jīng)數(shù)據(jù)預(yù)處理后用于建立自回歸模型,并由遞推最小二乘法在線更新模型參數(shù)。最后,通過(guò)滾動(dòng)預(yù)測(cè)實(shí)現(xiàn)前向通道時(shí)延的多步預(yù)測(cè),獲得當(dāng)前時(shí)刻的前向通道時(shí)延預(yù)測(cè)值。基于Matlab/Simulink平臺(tái),采用TrueTime工具箱構(gòu)建網(wǎng)絡(luò)閉環(huán)仿真系統(tǒng),實(shí)驗(yàn)結(jié)果表明,與基于廣義回歸神經(jīng)網(wǎng)絡(luò)的在線預(yù)測(cè)模型相比,所提出的在線多步預(yù)測(cè)模型具有更好的預(yù)測(cè)性能�；谇跋蛲ǖ罆r(shí)延的在線多步預(yù)測(cè)模型,提出一種改進(jìn)的網(wǎng)絡(luò)控制系統(tǒng)隨機(jī)時(shí)延補(bǔ)償設(shè)計(jì)方法。采用區(qū)間分割對(duì)通信時(shí)延的隨機(jī)性進(jìn)行描述,進(jìn)一步降低時(shí)延的預(yù)測(cè)誤差,獲得可信的環(huán)回時(shí)延預(yù)估值。針對(duì)環(huán)回時(shí)延設(shè)計(jì)補(bǔ)償控制器,主要由狀態(tài)預(yù)估器、網(wǎng)絡(luò)預(yù)測(cè)器和時(shí)延補(bǔ)償器構(gòu)成,狀態(tài)預(yù)估器實(shí)現(xiàn)前向通道時(shí)延的預(yù)測(cè)并對(duì)受控對(duì)象進(jìn)行狀態(tài)預(yù)估,將獲得的時(shí)延預(yù)測(cè)值、控制輸入與輸出預(yù)估值供給網(wǎng)絡(luò)預(yù)測(cè)器以獲得優(yōu)化控制增量序列,同時(shí)給出了控制參數(shù)的設(shè)置方法。采用TrueTime工具箱構(gòu)建網(wǎng)絡(luò)控制仿真系統(tǒng),結(jié)果表明,基于時(shí)延預(yù)測(cè)模型改進(jìn)的時(shí)延補(bǔ)償控制器對(duì)隨機(jī)時(shí)延有效,相比傳統(tǒng)的補(bǔ)償控制方法具有更好的控制性能。
[Abstract]:In recent years, with the continuous development of control, network and computer technology, the control system has undergone major changes. It not only requires complete decentralized control within the system, but also requires connecting with Internet and Web.Networked Control Systems (NCSs) emerged as the times require.Limited network bandwidth leads to inevitable random communication delay and data packet loss, which makes the system lose its stability, causality, integrity and certainty. More and more scholars at home and abroad are devoted to design stability and reliability.High performance network control system.Network communication delay is a difficult point in the research. It has important theoretical significance and wide application value to analyze and compensate its characteristics. It is also the research direction of this topic.The main research contents are as follows: aiming at the problem of random delay of two-way channel in networked control system, a design method of delay compensation based on generalized predictive control is proposed.The time-delay compensation controller of the closed-loop system consists of a network predictor and a time-delay compensator, which is used to compensate the feedback channel delay and the forward channel delay with different characteristics, respectively.A method of selecting control parameters based on random delay is presented to improve the performance of the system and the stability conditions of the closed-loop control system are obtained.Finally, the TrueTime toolbox is used to simulate the actual network communication, and the compensation performance in the environment of fixed delay and random delay is analyzed, and the influence of control parameters on the performance of the system is discussed.The simulation results show that the time-delay compensation controller is effective for both the fixed delay and the random delay, and the system with the control parameters selected according to the delay has better performance than the system with the fixed parameters.In order to solve the uncertainty problem caused by the stochastic delay of forward channel in networked control system, an online multistep prediction model of time delay based on autoregressive model (AR) is proposed based on time series analysis.The feedback channel sender packages the delay information of the actuator side and the sampling information of the sensor side together. The remote controller event triggers the receiving data packet, and the delay information updates the time series corresponding to the delay.The autoregressive model is established after data preprocessing, and the model parameters are updated online by recursive least square method.Finally, the multi-step prediction of forward channel delay is realized by rolling prediction, and the predictive value of forward channel delay at current time is obtained.Based on Matlab/Simulink platform and TrueTime toolbox, the network closed-loop simulation system is constructed. The experimental results show that the proposed on-line multi-step prediction model has better prediction performance than the on-line prediction model based on generalized regression neural network.Based on the online multistep prediction model of forward channel delay, an improved design method of stochastic delay compensation for networked control systems is proposed.The randomness of communication delay is described by interval segmentation, which can further reduce the prediction error of delay and obtain reliable loop back delay preestimate.A compensation controller is designed for loop time delay, which is composed of state predictor, network predictor and time delay compensator. The state predictor can predict the time delay of the forward channel and predict the state of the controlled object.The control input and output prevaluation is supplied to the network predictor to obtain the optimal control increment sequence, and the method of setting the control parameters is given.The simulation system of network control is constructed by using TrueTime toolbox. The results show that the improved delay compensation controller based on delay prediction model is effective for stochastic delay and has better control performance than the traditional compensation control method.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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