【摘要】：在開(kāi)發(fā)控制系統(tǒng)的過(guò)程中,通過(guò)軟件實(shí)現(xiàn)控制算法的常規(guī)手段是通過(guò)手工編程實(shí)現(xiàn),由于編程過(guò)程中需要多次調(diào)試且完成后需要多次的仿真驗(yàn)證,開(kāi)發(fā)成本高、效率不高、可靠性不好,而且手工開(kāi)發(fā)往往達(dá)不到產(chǎn)品級(jí)別的應(yīng)用標(biāo)準(zhǔn)[1]。本文針對(duì)實(shí)時(shí)控制的需求,以及半實(shí)物仿真平臺(tái)的技術(shù)特點(diǎn),利用Simulink Real-Time和LabVIEW搭建實(shí)時(shí)控制平臺(tái),編寫(xiě)了 一系列自定義s函數(shù)實(shí)現(xiàn)實(shí)時(shí)控制功能,作為實(shí)例進(jìn)行了伺服電機(jī)的位置控制,同時(shí)實(shí)現(xiàn)了在此平臺(tái)上的網(wǎng)絡(luò)通信,并針對(duì)網(wǎng)絡(luò)化控制中時(shí)延、丟包等問(wèn)題提出了兩種數(shù)據(jù)驅(qū)動(dòng)預(yù)測(cè)控制算法。首先,提出了網(wǎng)絡(luò)化控制系統(tǒng)平臺(tái)研發(fā)與數(shù)據(jù)驅(qū)動(dòng)算法研究設(shè)計(jì)方案,確定總體思路和各部分工作,包括平臺(tái)環(huán)境設(shè)置、硬件選型、電機(jī)控制、網(wǎng)絡(luò)通信、延遲補(bǔ)償算法以及仿真等等。其次,進(jìn)行了基于Simulink Real-Time的實(shí)時(shí)控制平臺(tái)的搭建,控制電機(jī)的位置和實(shí)現(xiàn)與LabVIEW的通信的關(guān)鍵技術(shù)和實(shí)現(xiàn)方法。最大化利用電機(jī)Modbus通信協(xié)議的通訊間隔,設(shè)計(jì)了一系列自定義s函數(shù)實(shí)現(xiàn)電機(jī)的實(shí)時(shí)位置控制;通過(guò)自封裝DLL文件和調(diào)用已有DLL文件實(shí)現(xiàn)了從LabVIEW調(diào)用Simulink編譯文件的功能;最后實(shí)現(xiàn)兩個(gè)目標(biāo)機(jī)之間通過(guò)以太網(wǎng)進(jìn)行通信,并實(shí)現(xiàn)了PID算法下對(duì)伺服電機(jī)的位置控制。再次,對(duì)于網(wǎng)絡(luò)化控制中不可避免的網(wǎng)絡(luò)延遲與數(shù)據(jù)包丟失、亂序等問(wèn)題提出了一種數(shù)據(jù)驅(qū)動(dòng)預(yù)測(cè)控制方法,可以有效地緩解網(wǎng)絡(luò)環(huán)境對(duì)控制帶來(lái)的不確定性和干擾。之后通過(guò)仿真和平臺(tái)實(shí)驗(yàn)驗(yàn)證了該數(shù)據(jù)驅(qū)動(dòng)預(yù)測(cè)控制算法在彌補(bǔ)網(wǎng)絡(luò)誘導(dǎo)時(shí)延和數(shù)據(jù)包丟失、亂序問(wèn)題方面的可靠性和有效性。最后,對(duì)于上面提出的基于數(shù)據(jù)預(yù)測(cè)控制算法提出了改進(jìn)型;改進(jìn)的具有時(shí)延與丟包的網(wǎng)絡(luò)的數(shù)據(jù)驅(qū)動(dòng)預(yù)測(cè)控制方法利用滑動(dòng)窗口內(nèi)選取的系統(tǒng)之前連續(xù)多個(gè)時(shí)刻的輸入,可以分散捕獲系統(tǒng)的復(fù)雜動(dòng)態(tài)行為,有更強(qiáng)的跟蹤時(shí)變參數(shù)的能力和更好的動(dòng)態(tài)性能。之后通過(guò)仿真和本文中搭建的網(wǎng)絡(luò)實(shí)施控制平臺(tái)的實(shí)驗(yàn)驗(yàn)證了有效性。
[Abstract]:In the process of developing the control system, the conventional way to realize the control algorithm by software is to realize it by manual programming. Because of the need of many debugging and many simulation verification after the completion of the programming process, the development cost is high and the efficiency is not high. Poor reliability and manual development often fail to meet product-level application standards [1]. Aiming at the demand of real-time control and the technical characteristics of hardware-in-the-loop simulation platform, the real-time control platform is built by Simulink Real-Time and LabVIEW, and a series of self-defined s functions are programmed to realize the real-time control function. The position control of servo motor is carried out as an example, and the network communication on this platform is realized, and two data-driven predictive control algorithms are proposed to solve the problems of delay and packet loss in networked control. First of all, the research and design scheme of networked control system platform and data-driven algorithm are put forward, and the overall idea and work are determined, including platform environment setting, hardware selection, motor control, network communication, etc. Delay compensation algorithm and simulation etc. Secondly, the real-time control platform based on Simulink Real-Time is built, the position of motor is controlled and the key technology and realization method of communication with LabVIEW are presented. In order to maximize the communication interval of motor Modbus communication protocol, a series of self-defined s functions are designed to realize the real-time position control of motor, and the function of transferring Simulink file from LabVIEW is realized by self-encapsulating DLL file and calling existing DLL file. Finally, the communication between the two target machines via Ethernet is realized, and the position control of servo motor is realized under pid algorithm. Thirdly, a data-driven predictive control method is proposed for the inevitable network delay, packet loss, disorder and other problems in networked control, which can effectively alleviate the uncertainty and interference brought by the network environment to the control. Then the reliability and effectiveness of the data-driven predictive control algorithm in compensating network induced delay packet loss and order problem are verified by simulation and platform experiments. Finally, an improved data-driven predictive control algorithm is proposed for the data-based predictive control algorithm proposed above. The improved data-driven predictive control method for networks with delay and packet loss uses the input of several consecutive times before the selected system in the sliding window. It can disperse the complex dynamic behavior of the capture system, and has better ability to track time-varying parameters and better dynamic performance. Then the effectiveness is verified by simulation and the experiment of the network implementation control platform in this paper.
【學(xué)位授予單位】：北方工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273

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本文編號(hào)：2125912