【摘要】：隨著計(jì)算機(jī)網(wǎng)絡(luò)技術(shù)的快速發(fā)展,以網(wǎng)絡(luò)為傳輸介質(zhì)的網(wǎng)絡(luò)化控制系統(tǒng)已成為控制系統(tǒng)的一個(gè)很重要的發(fā)展方向。網(wǎng)絡(luò)化控制系統(tǒng)是一種基于網(wǎng)絡(luò)的分布式控制系統(tǒng),與傳統(tǒng)點(diǎn)到點(diǎn)的控制系統(tǒng)相比,具有共享信息方便、布線少、易于系統(tǒng)維護(hù)和擴(kuò)展等優(yōu)點(diǎn)。然而,網(wǎng)絡(luò)的引入也給控制系統(tǒng)的分析和設(shè)計(jì)帶來(lái)了新的挑戰(zhàn)。在網(wǎng)絡(luò)化控制系統(tǒng)領(lǐng)域,雖然目前已經(jīng)取得了一些重要的研究成果,但是仍然存在很多問題亟待解決。本文主要是運(yùn)用異步動(dòng)態(tài)系統(tǒng)和切換系統(tǒng)等混雜系統(tǒng)理論分別從考慮調(diào)制的網(wǎng)絡(luò)化控制系統(tǒng)、帶有介質(zhì)接入約束的網(wǎng)絡(luò)化控制系統(tǒng)和基于模型的網(wǎng)絡(luò)化控制系統(tǒng)等方面開展研究的,取得的研究成果如下：(1)針對(duì)考慮調(diào)制的網(wǎng)絡(luò)化控制系統(tǒng),提出了將誤碼率考慮為丟包率的策略,填補(bǔ)了目前網(wǎng)絡(luò)化控制系統(tǒng)領(lǐng)域處理調(diào)制信號(hào)錯(cuò)碼問題的空白。文中分別從二進(jìn)制調(diào)制和多進(jìn)制調(diào)制的角度進(jìn)行了研究：對(duì)于較為簡(jiǎn)單的二進(jìn)制調(diào)制,將帶有常時(shí)延和錯(cuò)碼的網(wǎng)絡(luò)化控制系統(tǒng)建模為一個(gè)異步動(dòng)態(tài)系統(tǒng),借助Lyapunov穩(wěn)定性理論進(jìn)行了穩(wěn)定性分析和狀態(tài)反饋控制器參數(shù)的設(shè)計(jì),并得到了使帶有二進(jìn)制調(diào)制的網(wǎng)絡(luò)化控制系統(tǒng)穩(wěn)定的誤碼率定理；對(duì)于較為實(shí)用卻更加復(fù)雜的多進(jìn)制調(diào)制,將帶有常時(shí)延和錯(cuò)碼的網(wǎng)絡(luò)化控制系統(tǒng)建模為一個(gè)異步動(dòng)態(tài)系統(tǒng),借助Lyapunov理論進(jìn)行了穩(wěn)定性分析和動(dòng)態(tài)輸出反饋控制器的設(shè)計(jì),得到了使帶有多進(jìn)制調(diào)制的網(wǎng)絡(luò)化控制系統(tǒng)穩(wěn)定的誤碼率定理,并給出了多進(jìn)制調(diào)制的進(jìn)制選擇定理。(2)針對(duì)帶有介質(zhì)接入約束的網(wǎng)絡(luò)化控制系統(tǒng),首次提出了控制與調(diào)度耦合設(shè)計(jì)的概念,并在分析現(xiàn)有文獻(xiàn)中基于通信序列和最大誤差優(yōu)先-嘗試一次丟棄的控制與調(diào)度耦合設(shè)計(jì)方法的基礎(chǔ)上,提出了基于系統(tǒng)理想動(dòng)態(tài)的類最小二乘調(diào)度策略。在將不含時(shí)延的系統(tǒng)的理想動(dòng)態(tài)嵌入到調(diào)度器后,在每個(gè)采樣周期內(nèi),將當(dāng)前狀態(tài)與理想動(dòng)態(tài)的狀態(tài)進(jìn)行比較,具有較大偏差的狀態(tài)優(yōu)先獲得接入網(wǎng)絡(luò)的權(quán)限,有效地降低了系統(tǒng)分析和設(shè)計(jì)的保守性。在所提出的類最小二乘調(diào)度算法的基礎(chǔ)上,將含有隨機(jī)短時(shí)延和介質(zhì)接入約束的網(wǎng)絡(luò)化控制系統(tǒng)建模為一個(gè)切換系統(tǒng),借助切換系統(tǒng)理論和Lyapunov穩(wěn)定性理論進(jìn)行了類最小二乘調(diào)度與控制的耦合設(shè)計(jì)。此外,進(jìn)一步改進(jìn)了所提出的類最小二乘調(diào)度算法,將含有時(shí)延的理想動(dòng)態(tài)代替了不含時(shí)延的理想動(dòng)態(tài),因含有時(shí)延的理想動(dòng)態(tài)能更全面地反映真實(shí)的系統(tǒng),因而改進(jìn)后的調(diào)度策略具有更好的性能。(3)針對(duì)用于節(jié)省帶寬的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)方法,提出了用切換系統(tǒng)的平均駐留時(shí)間方法來(lái)進(jìn)行分析和設(shè)計(jì)的策略,提高了系統(tǒng)分析和設(shè)計(jì)的靈活性。通過(guò)將基于模型的網(wǎng)絡(luò)化控制系統(tǒng)建模為切換系統(tǒng),利用Lyapunov穩(wěn)定性理論和切換控制的平均駐留時(shí)間方法對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行了指數(shù)穩(wěn)定性分析和狀態(tài)反饋控制器的設(shè)計(jì)。此外,對(duì)現(xiàn)有文獻(xiàn)中帶有觀測(cè)器的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)架構(gòu)進(jìn)行了改進(jìn),將觀測(cè)器由接入網(wǎng)絡(luò)前移到控制器中,這種改進(jìn)不僅節(jié)省了設(shè)計(jì)成本還避免了因網(wǎng)絡(luò)丟包所造成的信號(hào)丟失的問題。在將帶有觀測(cè)器的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)建模成切換系統(tǒng)后,運(yùn)用Lyapunov穩(wěn)定性理論和切換控制的平均駐留時(shí)間方法對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行了指數(shù)穩(wěn)定性分析和控制器與觀測(cè)器的設(shè)計(jì)。(4)針對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng),提出了用脈沖切換控制的平均駐留時(shí)間方法來(lái)進(jìn)行分析和設(shè)計(jì)的策略,降低了系統(tǒng)分析和設(shè)計(jì)的保守性。通過(guò)分析網(wǎng)絡(luò)閉合時(shí)系統(tǒng)狀態(tài)存在躍變的現(xiàn)象,將基于模型的網(wǎng)絡(luò)化控制系統(tǒng)建模為脈沖切換系統(tǒng),利用Lyapunov穩(wěn)定性理論和脈沖切換控制的平均駐留時(shí)間方法對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行了指數(shù)穩(wěn)定性分析和狀態(tài)反饋控制器的設(shè)計(jì)。此外,在改進(jìn)的帶有觀測(cè)器的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)的基礎(chǔ)上,將帶有觀測(cè)器的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)建模成脈沖切換系統(tǒng),運(yùn)用Lyapunov穩(wěn)定性理論和脈沖切換控制的平均駐留時(shí)間方法對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行了指數(shù)穩(wěn)定性分析和控制器與觀測(cè)器的設(shè)計(jì)。(5)針對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng),提出了脈沖切換控制的依賴于模式的平均駐留時(shí)間策略,進(jìn)一步降低了系統(tǒng)分析和設(shè)計(jì)的保守性。在脈沖切換控制的依賴于模式的平均駐留時(shí)間策略中,系統(tǒng)的平均駐留時(shí)間不僅依賴于系統(tǒng)的切換參數(shù),還與系統(tǒng)的脈沖矩陣參數(shù)有關(guān)。通過(guò)在脈沖切換控制的依賴于模式的平均駐留時(shí)間策略下對(duì)基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行分析和設(shè)計(jì),得到了使得系統(tǒng)指數(shù)穩(wěn)定的充分條件和狀態(tài)反饋控制器。此外,利用脈沖切換控制的依賴于模式的平均駐留時(shí)間策略對(duì)帶有觀測(cè)器的基于模型的網(wǎng)絡(luò)化控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì),給出了使得系統(tǒng)指數(shù)穩(wěn)定的充分條件和控制器與觀測(cè)器的設(shè)計(jì)。論文通過(guò)Matlab和近似網(wǎng)絡(luò)環(huán)境的TrueTime工具箱對(duì)一些實(shí)例進(jìn)行了數(shù)值仿真,驗(yàn)證了文中所提出的方法的有效性。最后,對(duì)全文的工作進(jìn)行了總結(jié),并對(duì)需要進(jìn)一步研究的工作提出了建議。
[Abstract]:With the rapid development of the computer network technology, the networked control system with the network as the transmission medium has become an important development direction of the control system. The networked control system is a kind of distributed control system based on the network. Compared with the traditional point-to-point control system, it has the advantages of convenient sharing information, less wiring, easy system maintenance and extension. However, the introduction of the network presents a new challenge to the analysis and design of the control system. In the field of networked control system, although some important research results have been achieved at present, there are still many problems to be solved. This paper mainly uses the hybrid system theory such as the asynchronous dynamic system and the switching system to carry out the research from the networked control system, the networked control system with the medium access constraint and the network control system based on the model, respectively, and the results are as follows: (1) Aiming at the networked control system considering the modulation, the strategy of considering the bit error rate as the packet loss rate is put forward, and the blank of the problem of processing the modulation signal detection code in the field of the present networked control system is filled. In this paper, the angle of binary modulation and multi-system modulation is studied. For simpler binary modulation, the networked control system with the constant time delay and the error code is modeled as an asynchronous dynamic system. The stability analysis and the design of the state feedback controller parameters are carried out by means of the Lyapunov stability theory, and the bit error rate theorem of the networked control system with binary modulation is obtained; for the more practical and more complex multi-system modulation, The networked control system with the constant time delay and the error detection code is modeled as an asynchronous dynamic system. The stability analysis and the design of the dynamic output feedback controller are carried out by means of the Lyapunov theory, and the bit error rate theorem of the networked control system with the multi-system modulation is obtained. And the system selection theorem of the multi-system modulation is given. (2) For a networked control system with medium access constraints, the concept of control and scheduling coupling design is proposed for the first time, and based on the analysis of the control and scheduling coupling design method based on communication sequence and maximum error in the existing literature, A class least-square scheduling strategy based on the ideal dynamic of the system is proposed. After the ideal dynamic embedding of the system with no time delay is embedded in the scheduler, the state of the current state and the ideal dynamic state is compared with the state of the ideal dynamic state in each sampling period, the state with the large deviation preferentially obtains the authority of the access network, and the system analysis and the design conservatism are effectively reduced. On the basis of the proposed class least square scheduling algorithm, a networked control system with random short-time delay and medium access constraints is modeled as a switching system, and the coupling design of the class least-square scheduling and control is carried out by means of the theory of switching system and the Lyapunov stability theory. In addition, the proposed least-squares scheduling algorithm is further improved, and the ideal dynamics with time delay is replaced by the ideal dynamics without delay, and the real system can be more fully reflected due to the ideal dynamics with time delay, so the improved scheduling strategy has better performance. (3) Based on the model-based networked control system for saving the bandwidth, the method of the average residence time of the switching system is proposed to analyze and design the strategy, and the flexibility of the system analysis and design is improved. The model-based networked control system is modeled as a switching system, and the exponential stability analysis and the state feedback controller design are carried out on the model-based networked control system by means of the average residence time method of the Lyapunov stability theory and the switching control. In addition, the model-based networked control system architecture with an observer in the prior art is improved, and the observer is advanced to the controller by the access network, and the improvement not only saves the design cost but also avoids the problem of signal loss caused by network packet loss. After the model-based networked control system with the observer is modeled as a switching system, the exponential stability analysis of the model-based networked control system and the design of the controller and the observer are carried out using the Lyapunov stability theory and the mean residence time method of the switching control. (4) According to the model-based networked control system, the method of average residence time for pulse-switching control is proposed to analyze and design the strategy, and the conservative property of system analysis and design is reduced. The model-based networked control system is modeled as a pulse switching system by analyzing the phenomena of the system state transitions when the network is closed. The exponential stability analysis of the model-based networked control system and the design of the state feedback controller are carried out using the Lyapunov stability theory and the mean dwell time method of the pulse-switching control. In addition, on the basis of an improved model-based networked control system with an observer, a model-based networked control system with an observer is modeled as a pulse switching system, The exponential stability analysis of the model-based networked control system and the design of the controller and the observer are carried out using the Lyapunov stability theory and the mean residence time method of the pulse-switching control. (5) In view of the model-based networked control system, the model-based average residence time strategy for pulse switching control is proposed, and the conservative property of system analysis and design is further reduced. In the mode-dependent average dwell time strategy of the pulse-switching control, the average dwell time of the system depends not only on the switching parameters of the system but also on the pulse matrix parameters of the system. By analyzing and designing the model-based networked control system under the mode-dependent average residence time strategy of the pulse-switching control, a sufficient condition and a state feedback controller for the stability of the system index are obtained. In addition, the model-based networked control system with the observer is analyzed and designed by means of the average residence time strategy of the mode based on the pulse switching control, and the sufficient conditions for the stability of the system index and the design of the controller and the observer are given. In this paper, some examples are simulated by using the TrueTime toolbox of Matlab and the approximate network environment, and the validity of the proposed method is verified. Finally, the paper summarizes the work of the full text, and puts forward some suggestions on the work in need of further research.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273
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本文編號(hào)：2490711