本文選題：隨機(jī)多步時(shí)延 + 多包丟失��； 參考：《華東理工大學(xué)》2015年博士論文

【摘要】：隨著信息技術(shù)的不斷發(fā)展,計(jì)算機(jī)網(wǎng)絡(luò)已經(jīng)成為現(xiàn)代通信技術(shù)的核心,被應(yīng)用在生活中的方方面面。網(wǎng)絡(luò)化控制系統(tǒng)則將網(wǎng)絡(luò)的概念引入到了控制系統(tǒng)中,利用網(wǎng)絡(luò)來連接控制系統(tǒng)中的各個(gè)元部件。由于網(wǎng)絡(luò)化控制系統(tǒng)具有諸多優(yōu)點(diǎn),在近年來得到了迅猛發(fā)展,逐漸代替了傳統(tǒng)點(diǎn)對點(diǎn)控制系統(tǒng),被越來越多地應(yīng)用于實(shí)際系統(tǒng)中。然而,網(wǎng)絡(luò)的引入同時(shí)也帶來了許多挑戰(zhàn)。網(wǎng)絡(luò)誘導(dǎo)時(shí)延,數(shù)據(jù)包丟失以及量化誤差是由于網(wǎng)絡(luò)帶寬限制,傳輸通道擁堵等原因所引起的最常見的三種網(wǎng)絡(luò)化系統(tǒng)特性。本文針對這三種網(wǎng)絡(luò)特性,對網(wǎng)絡(luò)化控制系統(tǒng)展開了研究。 論文分析了隨機(jī)多步網(wǎng)絡(luò)誘導(dǎo)時(shí)延,隨機(jī)連續(xù)多數(shù)據(jù)包丟失以及量化誤差在網(wǎng)絡(luò)化控制系統(tǒng)中的多發(fā)性,構(gòu)建了新的數(shù)學(xué)模型來分別描述這三種特性。本文以解決具有該類通信約束和信息不完全的網(wǎng)絡(luò)化系統(tǒng)的控制和濾波問題為研究目標(biāo),分別設(shè)計(jì)了無偏最小協(xié)方差濾波,H∞濾波,集員濾波,H∞控制,量化H∞控制等方法,并對所得結(jié)果進(jìn)行了仿真驗(yàn)證。主要內(nèi)容包括以下幾個(gè)部分： (1)隨機(jī)多步傳感器時(shí)延在實(shí)際網(wǎng)絡(luò)化控制系統(tǒng)中的發(fā)生概率遠(yuǎn)遠(yuǎn)高于隨機(jī)單步傳感器時(shí)延或確定性時(shí)延。根據(jù)這一特性,提出描述隨機(jī)多步傳感器時(shí)延的新模型,并基于該模型,為具有隨機(jī)多步傳感器時(shí)延的網(wǎng)絡(luò)化系統(tǒng)設(shè)計(jì)了無偏最小誤差協(xié)方差濾波方法。提出濾波器無偏條件以及相應(yīng)的濾波算法,并給出了設(shè)計(jì)和證明過程。通過MATLAB仿真實(shí)驗(yàn),驗(yàn)證了提出的無偏最小誤差協(xié)方差濾波方法的有效性和優(yōu)越性。 (2)根據(jù)網(wǎng)絡(luò)化系統(tǒng)中隨機(jī)連續(xù)多數(shù)據(jù)包丟失現(xiàn)象的常發(fā)性,建立了可以有效描述最大丟包數(shù)已知的隨機(jī)連續(xù)多數(shù)據(jù)包丟失現(xiàn)象的新模型。通過該數(shù)學(xué)模型,設(shè)計(jì)了改進(jìn)的H∞濾波方法,并給出了相應(yīng)的濾波算法。通過仿真實(shí)驗(yàn)驗(yàn)證了該方法能夠有效地解決具有隨機(jī)連續(xù)多數(shù)據(jù)包丟失的網(wǎng)絡(luò)化系統(tǒng)問題。 (3)在實(shí)際系統(tǒng)中,噪聲信號往往是未知有界的。根據(jù)這一特性,分析了集員濾波方法在解決未知有界噪聲問題時(shí)的優(yōu)勢。通過對數(shù)量化器來描述系統(tǒng)的量化特性,為一類既具有未知有界噪聲,又具有量化誤差的網(wǎng)絡(luò)化控制系統(tǒng)設(shè)計(jì)了集員濾波器。根據(jù)濾波器的設(shè)計(jì)過程,給出相應(yīng)的集員濾波算法,并通過仿真實(shí)驗(yàn)驗(yàn)證了該濾波方法的有效性。 (4)根據(jù)隨機(jī)多步傳感器時(shí)延模型,建立了隨機(jī)多步傳輸時(shí)延模型。提出具有隨機(jī)多步傳輸時(shí)延的網(wǎng)絡(luò)化控制系統(tǒng)的量化H∞控制問題。設(shè)計(jì)了量化H∞控制策略,使得閉環(huán)控制系統(tǒng)漸近均方穩(wěn)定,并且控制輸出滿足H∞性能指標(biāo)。根據(jù)設(shè)計(jì)過程,提出了量化H∞控制算法并通過仿真實(shí)驗(yàn)驗(yàn)證其有效性。 (5)分析線性變參數(shù)框架在處理非線性系統(tǒng)問題中的優(yōu)越性,提出了一類新型的具有隨機(jī)多步傳感器時(shí)延的網(wǎng)絡(luò)化線性變參數(shù)系統(tǒng)的控制問題。設(shè)計(jì)了改進(jìn)的H∞控制器,并通過擴(kuò)展CCLM算法,求得了控制器參數(shù),使得閉環(huán)系統(tǒng)漸近均方穩(wěn)定,并且控制輸出滿足改進(jìn)的H∞性能指標(biāo)。最后,通過仿真實(shí)驗(yàn)驗(yàn)證算法有效性。
[Abstract]:With the continuous development of information technology, the computer network has become the core of modern communication technology and is applied to all aspects of life. The networked control system introduces the concept of network into the control system and uses the network to connect the elements in the control system. Because the networked control system has many advantages, In recent years, the traditional point to point control system has been gradually replaced by the traditional point to point control system, which has been used more and more in the actual system. However, the introduction of network has also brought many challenges. Network induced delay, data packet loss and quantization error are the most common causes due to network bandwidth constraints, traffic congestion and so on. In view of the characteristics of the three networked systems, this paper studies the networked control systems in view of the three network characteristics.
In this paper, a new mathematical model is constructed to describe the three characteristics of the random multistep network induced delay, random continuous multiple data packet loss and quantization error in the networked control system. In this paper, the control and filtering problems of networked systems with such communication constraints and incomplete information are solved in this paper. The objective is to design unbiased minimum covariance filter, H filter, collector filter, H infinity control, quantized H infinity control and so on. The results are simulated and verified. The main contents include the following parts:
(1) the occurrence probability of random multistep sensor delay in the actual networked control system is far higher than that of random single step sensor delay or deterministic delay. Based on this characteristic, a new model describing the delay of random multistep sensor is proposed. Based on this model, the unbiased optimum is designed for a networked system with random multistep sensor delay. The method of small error covariance filtering is proposed. The unbiased condition of the filter and the corresponding filtering algorithm are proposed, and the design and proof process are given. The effectiveness and superiority of the proposed method of unbiased minimum error covariance filtering is verified by the MATLAB simulation experiment.
(2) according to the frequent occurrence of random continuous multiple packet dropout in the networked system, a new model of random continuous multiple packet dropout which can effectively describe the maximum packet loss number is established. Through this mathematical model, an improved H filtering method is designed and the corresponding filtering algorithm is given. The method can effectively solve the problem of networked systems with random continuous multiple packet dropout.
(3) in the actual system, the noise signal is often unknown and bounded. According to this characteristic, the advantage of the set member filtering method in solving the unknown bounded noise problem is analyzed. The quantitative characteristics of the system are described by the logarithm quantizer, and a set of networked control systems with unknown bounded noise and quantized error is designed. According to the design process of the filter, the corresponding set membership filtering algorithm is given, and the validity of the filtering method is verified by simulation experiments.
(4) based on the random multistep sensor delay model, a random multistep transmission delay model is established. The quantization H infinity control problem for networked control systems with random multistep transmission delay is proposed. A quantized H infinity control strategy is designed to make the closed-loop control system asymptotically mean square and the control output satisfies the performance index of H infinity. A quantization H infinity control algorithm is proposed and its effectiveness is verified by simulation experiments.
(5) the superiority of the linear variable parameter frame in dealing with the nonlinear system problem is analyzed. A new type of networked linear variable parameter system with random multistep sensor delay is proposed. An improved H controller is designed. The controller parameters are obtained by extending the CCLM algorithm, which makes the closed-loop system asymptotically stable and square stability. And the control output satisfies the improved H infinity performance index. Finally, the effectiveness of the algorithm is verified by simulation experiments.

【學(xué)位授予單位】：華東理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：TP273

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