發(fā)布時間：2018-02-22 04:26

  本文關(guān)鍵詞： 異步多率采樣系統(tǒng) 提升技術(shù) H_∞穩(wěn)定性 混雜系統(tǒng) 網(wǎng)絡(luò)控制系統(tǒng) 時滯 LMI 離散重疊大系統(tǒng) 分散控制　出處：《浙江大學(xué)》2017年博士論文　論文類型：學(xué)位論文

【摘要】：隨著計算機和網(wǎng)絡(luò)技術(shù)的不斷發(fā)展,以多率采樣為基礎(chǔ)的數(shù)字網(wǎng)絡(luò)控制系統(tǒng)發(fā)揮著越來越重要的作用,可以大大拓寬被控對象的時間和空間,實現(xiàn)控制的經(jīng)濟性、快速性和有效性。但是,由于控制設(shè)備的增加、控制策略的轉(zhuǎn)變,也給多率采樣系統(tǒng)的發(fā)展帶來了極大的挑戰(zhàn),對采用網(wǎng)絡(luò)控制所引起的新問題,亟需推廣和改善現(xiàn)有的控制理論和方法,需要尋求更加嚴(yán)謹(jǐn)有效的解決方案。本論文在提升技術(shù)的使用策略和對象方面進(jìn)行了完善和推廣;對網(wǎng)絡(luò)控制系統(tǒng)中產(chǎn)生的時滯,以及網(wǎng)絡(luò)控制系統(tǒng)的隨機性提出了更為嚴(yán)謹(jǐn)有效的分析和處理方法;最后從整體出發(fā),對具有縱向拓?fù)浣Y(jié)構(gòu)的多率采樣大系統(tǒng)如何實現(xiàn)結(jié)構(gòu)限制下的分散控制進(jìn)行了初步研究。本文的主要研究成果包括以下幾個方面:1、針對線性異步多率采樣系統(tǒng),提出一個新的、更符合實際意義的異步采樣系統(tǒng)的定義。然后對于這樣的異步系統(tǒng),采用平衡提升策略對其進(jìn)行提升,即僅對不同頻率的外部信號進(jìn)行了提升,而對內(nèi)部信號沒有進(jìn)行提升,從而避免產(chǎn)生因果約束以及系統(tǒng)維數(shù)的劇增,并將連續(xù)系統(tǒng)提升為具有快輸入—慢輸出特性的異步離散系統(tǒng)。然后設(shè)計此異步離散系統(tǒng)的基于狀態(tài)觀測器的異步H∞狀態(tài)反饋控制器,可以證明此控制器亦可使原閉環(huán)系統(tǒng)鎮(zhèn)定,并滿足同樣的H∞性能指標(biāo)。所得到的穩(wěn)定性條件是近似線性的,控制器參數(shù)可通過使用Matlab的LMI工具箱迭代求解。2、對于帶有輸入—輸出時滯的異步系統(tǒng)的鎮(zhèn)定問題,把連續(xù)時間系統(tǒng)的提升技術(shù)推廣到帶有多時滯的混雜系統(tǒng),并給出能真正計算出等價離散系統(tǒng)算子矩陣的計算公式。不同于現(xiàn)有的辛對理論或狀態(tài)擴維方法,通過構(gòu)造一個Lyapunov-Krasovskii泛函,在時域內(nèi)對所得的等價離散提升系統(tǒng)進(jìn)行穩(wěn)定性分析和靜、動態(tài)輸出反饋控制器設(shè)計,得到的穩(wěn)定性條件是時滯相關(guān)的,并且在形式上接近線性不等式�？梢宰C明,此控制器也可使原連續(xù)系統(tǒng)穩(wěn)定,并滿足同樣的H∞性能指標(biāo)。如果系統(tǒng)的采樣和保持是周期的,提出多率異步系統(tǒng)擴維周期選擇的規(guī)則,按照此規(guī)則擴維所得到的系統(tǒng)的維數(shù)遠(yuǎn)低于傳統(tǒng)的擴維方法。之前得到的非周期系統(tǒng)兩種反饋下的穩(wěn)定性條件也相應(yīng)地推廣到擴維系統(tǒng)。3、對于帶有Markov時滯的隨機異步離散(DT)網(wǎng)絡(luò)控制系統(tǒng)(NCSs),把隨機采樣和保持引入系統(tǒng)分析中,同時考慮采樣器到控制器(S-C)以及控制器到執(zhí)行器(C-A)的網(wǎng)絡(luò)誘發(fā)時滯。這兩個相互獨立的時滯分別為兩條不同的Markov鏈,但是,C-A前一時刻的時滯是通過S-C過程傳遞到控制器的。對于這樣的復(fù)雜問題,基于一個更為嚴(yán)格的矩陣不等式,選擇了一個恰當(dāng)?shù)腖yapunov-Krasovskii泛函進(jìn)行系統(tǒng)穩(wěn)定性分析和H∞控制器設(shè)計,得到時滯相關(guān)隨機穩(wěn)定條件。與現(xiàn)有文獻(xiàn)相比,所得穩(wěn)定性條件中的待定參數(shù)較少,維數(shù)較低,因此具有較小的保守性。通過矩陣松弛方法,可進(jìn)一步將條件轉(zhuǎn)化為線性矩陣不等式(LMI)。4、對于離散大型重疊系統(tǒng)的分散H∞控制問題,首先,基于包含原理,利用縱向拓?fù)浣Y(jié)構(gòu)變換矩陣對離散大型重疊系統(tǒng)進(jìn)行擴維變換,從而實現(xiàn)了系統(tǒng)縱向分解;然后,構(gòu)造了一個兩部分狀態(tài)反饋控制器,對沒有完全分解的攝動部分進(jìn)行了控制,對已分解的部分,設(shè)計基于狀態(tài)觀測器的H∞分散控制器;若系統(tǒng)分解過程滿足收縮條件,則壓縮轉(zhuǎn)換后的控制器可使原系統(tǒng)穩(wěn)定。此方法可推廣到帶有某些不確定項的離散重疊系統(tǒng)。
[Abstract]:With the development of computer and network technology, the multi rate digital sampling based network control system plays an increasingly important role, can greatly expand the object of time and space, to achieve economic control, rapid and effective. However, due to the increase of control equipment, control strategy transformation it has brought great challenges to the development of multi rate sampling system, new problems caused by the network control, control theory and methods to promote and improve the existing, need to seek the solution more effective. In this paper, using the method and object to enhance the technical aspects of the improvement and extension of network control; time delay system is generated, random and networked control system is proposed according to the analysis and processing method of effective; finally, starting from the whole, the multi rate with longitudinal topology How to realize the sampling system decentralized control structure constraints is studied. The main research results of this paper include the following aspects: 1, according to the linear asynchronous multi rate sampling system, put forward a new, more in line with the actual meaning of the definition of asynchronous sampling system. Then the asynchronous system that uses the balanced promotion strategy the promotion is only for external signals of different frequency were improved, and the internal signal of no improvement, so as to avoid causal constraints and increase the dimension of the systems, and the continuous system with fast slow to enhance the input output characteristics of asynchronous discrete systems. Based on asynchronous H via state feedback controller state observer then the design of asynchronous discrete system, it is proved that the controller can make the closed-loop system is asymptotically stable and satisfies the original, H 2 performance also obtained stable. The condition of the linear approximation, the controller parameters by using the toolbox of LMI iterative method for solving the.2 using Matlab, for the stabilization problem of asynchronous systems with input and output delays, the continuous time system technique is extended to hybrid systems with multiple time delays, and give can really calculate the calculation formula of equivalent discrete system operator matrix. Different from the existing theory of symplectic or state augmentation method, by constructing a Lyapunov-Krasovskii function in the time domain discrete lifting system equivalent to the stability analysis and design of static and dynamic output feedback controller, the stability condition is delay dependent, and close to linear inequality in form. This can be proved. The controller can make the continuous system stable, and meet the H 2 performance the same. If the system is periodic sampling and holding, proposed the multi rate asynchronous The system dimension expansion cycle selection rules, this rule system according to dimension dimension expansion are far lower than traditional methods. The augmented stability conditions of two kinds of feedback under non periodic systems obtained before the corresponding extension for.3 dimensional systems, discrete random asynchronous Markov with time delay network control system (DT) (NCSs), the random sampling and keep the introduction of system analysis, considering the sampler to the controller (S-C) and controller to actuator (C-A) of the network induced delay. The two independent delay were two different Markov chains, but the delay time C-A is transmitted to the controller through the front S-C process. For this complicated problem, based on a more strict matrix inequality, choose an appropriate Lyapunov-Krasovskii function for system stability analysis and controller design of H, get the delay dependent The stochastic stability condition. Compared with the existing literature, the stability condition of unknown parameters in small, low dimension, so it is less conservative. The matrix relaxation method, conditions may be further transformed into linear matrix inequalities (LMI).4, the discrete large overlap system decentralized H control problem, first of all, based on the inclusion principle the expansion of discrete Fourier transform, large overlap system using longitudinal topology transformation matrix, so the system realizes vertical decomposition; then, to construct a two part state feedback controller for not completely decomposition of the perturbation of control, has been part of the decomposition, design of robust H observer based decentralized controller if the system satisfies the decomposition process; the contraction condition, the controller can make the compression conversion of the original system stability. This method can be extended to some uncertain discrete system with overlapping items.

【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：TP273

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本文編號：1523631