事件觸發(fā)非均勻傳輸NCS魯棒容錯(cuò)與通訊的滿意協(xié)同設(shè)計(jì)
發(fā)布時(shí)間：2018-11-17 13:19
【摘要】：近年來,盡管在網(wǎng)絡(luò)化控制系統(tǒng)(Networked Control Systems,NCS)的容錯(cuò)控制研究領(lǐng)域已取得了不少成果,但被動(dòng)容錯(cuò)遠(yuǎn)多于主動(dòng)容錯(cuò),時(shí)間觸發(fā)機(jī)制下孤立進(jìn)行容錯(cuò)設(shè)計(jì)的結(jié)果遠(yuǎn)多于事件觸發(fā)機(jī)制下進(jìn)行容錯(cuò)與通訊協(xié)同設(shè)計(jì)的結(jié)果。隨著NCS這一控制與通訊的集成產(chǎn)物對系統(tǒng)安全性和網(wǎng)絡(luò)資源節(jié)約性要求的日益增高,NCS容錯(cuò)控制研究領(lǐng)域仍面臨著許多新的問題,諸如:如何實(shí)現(xiàn)NCS主動(dòng)容錯(cuò)中故障估計(jì)、故障調(diào)節(jié)與網(wǎng)絡(luò)通訊間的協(xié)同設(shè)計(jì),如何實(shí)現(xiàn)具有多目標(biāo)約束的NCS魯棒被動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的協(xié)同設(shè)計(jì),又如何使設(shè)計(jì)結(jié)果具有較少的保守性以更好的平衡離散事件觸發(fā)通訊機(jī)制(Discrete Event-triggered Communication Scheme,DETCS)中變傳輸周期與系統(tǒng)性能間的關(guān)系等等。著眼于上述問題,本文展開了如下工作:1)研究了具有執(zhí)行器飽和約束的不確定線性和非線性NCS的魯棒被動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)問題。建立了DETCS下涵蓋執(zhí)行器飽和約束、網(wǎng)絡(luò)時(shí)延、事件觸發(fā)通訊約束的線性和T-S模糊非線性NCS的不確定閉環(huán)故障模型。將α-穩(wěn)定性的定義引申為容錯(cuò)系統(tǒng)的α-安全度,并提出了具有α-安全度的容錯(cuò)吸引域和具有α-安全度的容錯(cuò)收縮不變集的相關(guān)定義,用于處理具有執(zhí)行器飽和約束的NCS容錯(cuò)控制問題�；贚yapunov穩(wěn)定性理論和改進(jìn)的Jensen不等式,分別推證出了具有α-安全度、α-安全度和H_∞-性能、α-安全度和H_∞/H_2-性能的不確定閉環(huán)故障NCS的魯棒被動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)方法。2)在非均勻傳輸周期下,研究了具有執(zhí)行器飽和約束的不確定線性和非線性NCS的魯棒被動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)問題。將DETCS下非均勻傳輸NCS的采樣器與事件發(fā)生器虛擬為一個(gè)非均勻采樣開關(guān),進(jìn)而基于非均勻采樣系統(tǒng)的理論來研究非均勻傳輸問題�；谖闹刑岢龅男滦蛿�(shù)據(jù)發(fā)送區(qū)間的剖分方法,建立了非均勻傳輸下帶執(zhí)行器飽和約束的線性和T-S模糊非線性NCS的不確定閉環(huán)故障模型;基于非連續(xù)的Lyapunov穩(wěn)定性理論、Wirtinger’s不等式和線性凸組合理論,分別推導(dǎo)出了具有α-安全度、α-安全度和H_∞-性能、α-安全度和H_∞/H_2-性能的不確定閉環(huán)故障NCS的魯棒被動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)方法。由于該方法具有更少的保守性,因此更易提高容錯(cuò)與通訊間的協(xié)同設(shè)計(jì)滿意度。3)在非均勻傳輸周期下,研究了具有執(zhí)行器飽和約束的線性和非線性NCS的魯棒主動(dòng)容錯(cuò)與網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)問題。提出了將狀態(tài)、故障估計(jì)與控制、調(diào)節(jié)置于智能傳感器和控制器中分布實(shí)施的系統(tǒng)架構(gòu)�；诘任锢聿蓸又芷诘臅r(shí)間觸發(fā)觀測器和虛擬變采樣周期的事件觸發(fā)控制器,建立了主動(dòng)容錯(cuò)框架下線性和T-S模糊非線性NCS的閉環(huán)故障模型�；贚yapunov穩(wěn)定性理論和線性凸組合理論,首先在等物理采樣周期下通過采用連續(xù)時(shí)間狀態(tài)觀測器提出了具有廣義H_∞性能的狀態(tài)和故障估計(jì)方法;進(jìn)而又在非均勻傳輸周期下,通過采用動(dòng)態(tài)輸出反饋先后提出了閉環(huán)故障NCS分別具有α-穩(wěn)定性、α-穩(wěn)定性和廣義H_∞-性能,α-穩(wěn)定性和廣義H_∞/H_2-性能的主動(dòng)容錯(cuò)和網(wǎng)絡(luò)通訊間的滿意協(xié)同設(shè)計(jì)方法。4)對1)~3)中的理論結(jié)果進(jìn)行了有效性、相容性與保守性的研究,驗(yàn)證了結(jié)果的有效性,揭示了適用于NCS容錯(cuò)與網(wǎng)絡(luò)通訊間協(xié)同設(shè)計(jì)的定性折中原則,并探尋出事件觸發(fā)參數(shù)的量化選取依據(jù)。采用經(jīng)典的算例,先驗(yàn)證了理論結(jié)果的正確性與有效性。進(jìn)而通過大量的仿真實(shí)驗(yàn),揭示出了容錯(cuò)控制與網(wǎng)絡(luò)通訊間、及不同的系統(tǒng)性能間存在著相容相斥的折中類定性關(guān)系;進(jìn)一步又深入探究了事件觸發(fā)參數(shù)σ與數(shù)據(jù)發(fā)送率n_s間的關(guān)系,通過數(shù)據(jù)擬合得到了σ-n_s間的定量數(shù)學(xué)表達(dá)式,為在給定網(wǎng)絡(luò)通訊資源約束下進(jìn)行NCS容錯(cuò)與通訊的協(xié)同設(shè)計(jì)提供了σ選取的量化依據(jù)。5)搭建了具有執(zhí)行器飽和約束的NCS被動(dòng)容錯(cuò)及主動(dòng)容錯(cuò)的實(shí)驗(yàn)平臺(tái),對文中提出的協(xié)同設(shè)計(jì)理論結(jié)果進(jìn)行了實(shí)驗(yàn)研究。借助于工控行業(yè)的軟件接口標(biāo)準(zhǔn)(OLE for Process Control,OPC)等通訊技術(shù)及先進(jìn)控制實(shí)驗(yàn)室現(xiàn)有實(shí)驗(yàn)設(shè)備,基于校園局域網(wǎng),搭建了DETCS下具有執(zhí)行器飽和約束的NCS被動(dòng)容錯(cuò)實(shí)驗(yàn)平臺(tái),基于3)中提出的估計(jì)與控制、調(diào)節(jié)的分步實(shí)施理念,搭建了DETCS下的主動(dòng)容錯(cuò)控制實(shí)驗(yàn)平臺(tái),并對被動(dòng)容錯(cuò)和主動(dòng)容錯(cuò)中的協(xié)同設(shè)計(jì)方法進(jìn)行工程可用性驗(yàn)證及分析研究,得到了與單機(jī)版仿真結(jié)果相一致的結(jié)論。
[Abstract]:In recent years, while many achievements have been achieved in the field of fault-tolerant control of networked control systems (NCS), the passive fault-tolerance is far more than active fault-tolerant, The result of the fault-tolerant design is far more than the result of the collaborative design of fault-tolerant and communication under the event-triggered mechanism. With the increasing demand for system security and network resource saving in NCS, the NCS fault-tolerant control research field still faces many new problems, such as how to realize the NCS active fault-tolerant fault estimation, The cooperative design between the fault regulation and the network communication, how to realize the cooperative design between the passive fault-tolerant and network communication of the NCS with multi-objective constraints, and how to make the design results less conservative to better balance the discrete event-triggered communication scheme, The relationship between the variable transmission period and the system performance in the DETCS), and so on. In view of the above problems, the following work is carried out in this paper: 1) The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. The closed-loop fault model of the linear and T-S fuzzy non-linear NCS covering the saturation of the actuator, the network delay, the event-triggered communication constraint and the nonlinear NCS under the DETCS is established. The definition of the fault-stability is introduced into the fault-tolerance of the fault-tolerant system, and the fault-tolerant attraction domain with the reliability-safety degree and the related definition of the fault-tolerant contraction invariant set with the reliability-safety degree are put forward, and the problem of the NCS fault-tolerant control with the saturation constraint of the actuator is solved. Based on the Lyapunov stability theory and the modified Jensen's inequality, it is proved that the system has the advantages of the reliability-safety, the reliability-safety and the H _ 2-performance, The satisfactory and cooperative design method between the passive fault-tolerant and the network communication of the non-closed-loop fault NCS with the reliability-safety and the H _ 1/ H _ 2-performance is presented. The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. A non-uniform sampling switch for non-uniform transmission of NCS under DETCS and the event generator is used to study the non-uniform transmission problem based on the theory of the non-uniform sampling system. A closed-loop fault model of linear and T-S fuzzy non-linear NCS with an actuator saturation constraint under non-uniform transmission is established based on the cut-in method of the new data transmission section, which is based on the non-continuous Lyapunov stability theory, the Wirtinger's inequality and the linear convex combination theory. The satisfactory and cooperative design method for passive fault-tolerant and network communication between the passive fault-tolerant and network communication of the Rods of the non-closed-loop fault NCS with the reliability-safety, the reliability-safety and the H _ 2-performance, the reliability-safety and the H _ 1/ H _ 2-performance are derived respectively. Because the method has less conservative property, it is more easy to improve the cooperative design satisfaction of fault-tolerant and communication. 3) In the non-uniform transmission period, the problem of satisfactory cooperative design between the active fault-tolerant and network communication of the linear and non-linear NCS with the saturation constraint of the actuator is studied. The system architecture for the distribution of the state, fault estimation and control to the intelligent sensor and the controller is proposed. The closed-loop fault model of linear and T-S fuzzy non-linear NCS under active fault-tolerant framework is established based on the time-triggered observer and the event trigger controller of the virtual variable-sampling period. Based on the Lyapunov stability theory and the linear convex combination theory, firstly, a state and a fault estimation method with generalized H _ channel performance is proposed by adopting a continuous-time state observer under the equal physical sampling period, and then in a non-uniform transmission period, By adopting the dynamic output feedback, the closed-loop fault NCS has the following advantages: the stability, the stability and the generalized H _ 2-performance of the closed-loop fault NCS are respectively provided; The validity, compatibility and conservativeness of the theoretical results in 1) to 3) are studied, and the validity of the results is verified. The qualitative and trade-off principle for cooperative design between NCS fault-tolerant and network communication is disclosed, and the basis of the quantitative selection of event-triggered parameters is also discussed. By using the classical calculation example, the validity and validity of the theoretical result are verified first. in addition, through a large number of simulation experiments, a compromise-class qualitative relationship between fault-tolerant control and network communication, and different system performance is revealed, and the relationship between the event trigger parameter value and the data transmission rate n _ s is further explored, The quantitative mathematical expression between n-n _ s is obtained by data fitting, and the cooperative design of NCS fault-tolerance and communication under the constraint of a given network communication resource is provided, and the experimental platform with the passive fault-tolerance and active fault-tolerance of the NCS with the saturation constraint of the actuator is set up, The results of the collaborative design theory proposed in this paper are studied in this paper. By means of the communication technologies such as the software interface standard (OLE for Process Control, OPC) and the existing experimental equipment of the advanced control laboratory, the NCS passive fault-tolerant experimental platform with an actuator saturation constraint under the DETCS is set up based on the local area network (LAN), and the estimation and control proposed in the 3) are based on 3). According to the concept of step-by-step implementation, the active fault-tolerant control experiment platform under the DETCS is built, and the collaborative design method in the passive fault-tolerant and active fault-tolerance is carried out to verify and analyze the engineering usability, and the conclusion that is consistent with the single-machine version simulation result is obtained.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
，
本文編號(hào)：2337931
[Abstract]:In recent years, while many achievements have been achieved in the field of fault-tolerant control of networked control systems (NCS), the passive fault-tolerance is far more than active fault-tolerant, The result of the fault-tolerant design is far more than the result of the collaborative design of fault-tolerant and communication under the event-triggered mechanism. With the increasing demand for system security and network resource saving in NCS, the NCS fault-tolerant control research field still faces many new problems, such as how to realize the NCS active fault-tolerant fault estimation, The cooperative design between the fault regulation and the network communication, how to realize the cooperative design between the passive fault-tolerant and network communication of the NCS with multi-objective constraints, and how to make the design results less conservative to better balance the discrete event-triggered communication scheme, The relationship between the variable transmission period and the system performance in the DETCS), and so on. In view of the above problems, the following work is carried out in this paper: 1) The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. The closed-loop fault model of the linear and T-S fuzzy non-linear NCS covering the saturation of the actuator, the network delay, the event-triggered communication constraint and the nonlinear NCS under the DETCS is established. The definition of the fault-stability is introduced into the fault-tolerance of the fault-tolerant system, and the fault-tolerant attraction domain with the reliability-safety degree and the related definition of the fault-tolerant contraction invariant set with the reliability-safety degree are put forward, and the problem of the NCS fault-tolerant control with the saturation constraint of the actuator is solved. Based on the Lyapunov stability theory and the modified Jensen's inequality, it is proved that the system has the advantages of the reliability-safety, the reliability-safety and the H _ 2-performance, The satisfactory and cooperative design method between the passive fault-tolerant and the network communication of the non-closed-loop fault NCS with the reliability-safety and the H _ 1/ H _ 2-performance is presented. The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. A non-uniform sampling switch for non-uniform transmission of NCS under DETCS and the event generator is used to study the non-uniform transmission problem based on the theory of the non-uniform sampling system. A closed-loop fault model of linear and T-S fuzzy non-linear NCS with an actuator saturation constraint under non-uniform transmission is established based on the cut-in method of the new data transmission section, which is based on the non-continuous Lyapunov stability theory, the Wirtinger's inequality and the linear convex combination theory. The satisfactory and cooperative design method for passive fault-tolerant and network communication between the passive fault-tolerant and network communication of the Rods of the non-closed-loop fault NCS with the reliability-safety, the reliability-safety and the H _ 2-performance, the reliability-safety and the H _ 1/ H _ 2-performance are derived respectively. Because the method has less conservative property, it is more easy to improve the cooperative design satisfaction of fault-tolerant and communication. 3) In the non-uniform transmission period, the problem of satisfactory cooperative design between the active fault-tolerant and network communication of the linear and non-linear NCS with the saturation constraint of the actuator is studied. The system architecture for the distribution of the state, fault estimation and control to the intelligent sensor and the controller is proposed. The closed-loop fault model of linear and T-S fuzzy non-linear NCS under active fault-tolerant framework is established based on the time-triggered observer and the event trigger controller of the virtual variable-sampling period. Based on the Lyapunov stability theory and the linear convex combination theory, firstly, a state and a fault estimation method with generalized H _ channel performance is proposed by adopting a continuous-time state observer under the equal physical sampling period, and then in a non-uniform transmission period, By adopting the dynamic output feedback, the closed-loop fault NCS has the following advantages: the stability, the stability and the generalized H _ 2-performance of the closed-loop fault NCS are respectively provided; The validity, compatibility and conservativeness of the theoretical results in 1) to 3) are studied, and the validity of the results is verified. The qualitative and trade-off principle for cooperative design between NCS fault-tolerant and network communication is disclosed, and the basis of the quantitative selection of event-triggered parameters is also discussed. By using the classical calculation example, the validity and validity of the theoretical result are verified first. in addition, through a large number of simulation experiments, a compromise-class qualitative relationship between fault-tolerant control and network communication, and different system performance is revealed, and the relationship between the event trigger parameter value and the data transmission rate n _ s is further explored, The quantitative mathematical expression between n-n _ s is obtained by data fitting, and the cooperative design of NCS fault-tolerance and communication under the constraint of a given network communication resource is provided, and the experimental platform with the passive fault-tolerance and active fault-tolerance of the NCS with the saturation constraint of the actuator is set up, The results of the collaborative design theory proposed in this paper are studied in this paper. By means of the communication technologies such as the software interface standard (OLE for Process Control, OPC) and the existing experimental equipment of the advanced control laboratory, the NCS passive fault-tolerant experimental platform with an actuator saturation constraint under the DETCS is set up based on the local area network (LAN), and the estimation and control proposed in the 3) are based on 3). According to the concept of step-by-step implementation, the active fault-tolerant control experiment platform under the DETCS is built, and the collaborative design method in the passive fault-tolerant and active fault-tolerance is carried out to verify and analyze the engineering usability, and the conclusion that is consistent with the single-machine version simulation result is obtained.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
，
本文編號(hào)：2337931
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