网络环境下直流伺服电机控制问题的研究

发布时间：2018-08-06 17:40

【摘要】：网络控制系统作为一种新型分布化和智能化的控制系统,得到控制界的普遍关注和支持,其具有结构简易、性能可靠、操作灵活、资源共享等优点。直流伺服电机被广泛应用于工业生产、交通工具及家用电器等领域中,其具有灵敏度强、响应时间短、执行效率高等特点。目前针对网络控制系统问题及传统的直流伺服电机控制问题的研究已经取得了丰富的成果,然而对两者相结合情况的研究还不够充分。因此,如何将网络控制结构引入传统的直流伺服电机控制系统,并对相关网络时延及数据丢包问题进行研究具有重要的实际应用意义。本文以直流伺服电机为被控对象构建网络控制系统,针对系统中时延及数据丢包同时存在的情况,从理论上给出其控制器、观测器及滤波器的设计方法。具体如下:(1)以具有确定短时延及数据丢包的直流伺服电机网络控制系统为研究对象,当系统状态可测量时,给出一类状态反馈H_∞控制器的设计方法。假设系统时延是小于采样周期的确定常数,且数据丢包概率已知并服从Bernoulli分布。当系统采用零输入策略时,设计状态反馈H_∞控制器,并构造相应的Lyapunov函数和线性矩阵不等式(LMI)来证明所设计的控制器使得系统均方渐进稳定且符合指定的H_∞控制性能指标。最后通过求解LMI获取控制器参数。(2)以具有确定短时延及数据丢包的直流伺服电机网络控制系统为研究对象,当系统状态不可测量时,给出一类基于状态观测器的H_∞控制器的设计方法。假设系统时延是小于采样周期的确定常数,且数据丢包概率已知并服从Bernoulli分布。当系统采用保持输入策略时,设计基于状态观测器的H_∞控制器,使得闭环控制系统性能均方指数稳定且符合指定的H_∞控制性能指标。基于相关Lyapunov稳定性定理,以LMI形式给出观测器和H_∞控制器存在的充分条件。最后进行实际算列仿真,通过求解相应的LMI获取观测器和控制器的参数值。(3)以具有不确定短时延及数据丢包的直流伺服电机网络控制系统为研究对象,当系统状态不可测量时,给出一类基于状态观测器的H_∞控制器的设计方法。将系统时延的不确定性等效为矩阵参数的不确定性,且数据丢包概率已知并服从Bernoulli分布。当系统采用保持输入策略时,采用LMI方法并基于相关Lyapunov稳定性定理,给出直流伺服电机网络控制系统的基于状态观测器的H_∞控制器的设计方法,使得闭环控制系统性能均方指数稳定且符合指定的H_∞控制性能指标,且观测器和控制器的参数值可以通过求解相应的LMI得到。(4)以具有测量数据一步随机时延及数据丢包的直流伺服电机网络控制系统为研究对象,给出一类H_∞滤波器的设计方法。利用两个已知概率的Bernoulli随机二进制序列构建一种能够同时描述时延和数据丢包的新型数学模型,基于此模型设计使得滤波误差系统均方渐进稳定且满足指定性能指标的H_∞滤波器。运用相应的Lyapunov稳定性定理,并结合LMI方法获取H_∞滤波器存在的充分性判据,最后通过数值算列仿真得到滤波器的参数值。
[Abstract]:As a new distributed and intelligent control system, the network control system has been widely concerned and supported by the control circle. It has the advantages of simple structure, reliable performance, flexible operation and resource sharing. The DC servo motor has been widely used in industrial production, traffic tools and household appliances and other fields, which have strong sensitivity and sound. At present, the research on the problem of network control system and the control of the traditional DC servo motor has made a lot of achievements. However, the research on the combination of the two is not enough. Therefore, how to introduce the network control structure into the traditional DC servo motor control system, and how to make the network control structure into the DC servo motor control system; The research on the related network delay and data packet loss is of great practical significance. This paper constructs a network control system based on the DC servo motor as the controlled object. In view of the time delay and data packet loss in the system, the controller, the observer and the filter design method are given in theory. The following are: (1) A DC servo motor network control system with short delay and data packet loss is studied. When the system state can be measured, a design method of a class of state feedback H_ infinity controllers is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. When the system is zero, the system uses zero. In the input strategy, the state feedback H_ infinity controller is designed, and the corresponding Lyapunov function and linear matrix inequality (LMI) are constructed to prove that the designed controller makes the system gradually stable and conforms to the specified H_ infinity control performance index. Finally, the controller parameters are obtained by solving LMI. (2) it has a definite short time delay and a data packet loss. The DC servo motor network control system is the research object. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. It is assumed that the system delay is less than the determination constant of the sampling period, and the data packet loss probability is known and obeys the Bernoulli distribution. The H_ infinity controller based on the state observer makes the performance of the closed-loop control system stable and conforms to the specified H_ control performance index. Based on the related Lyapunov stability theorem, the sufficient conditions for the existence of the observer and the H_ controller are given in the form of LMI. Finally, the simulation of the actual calculation is carried out, and the corresponding LMI acquisition concept is solved. The parameter values of the sensors and controllers. (3) the DC servo motor network control system with uncertain short time delay and data packet loss is studied. When the state of the system is not measurable, a design method of the H_ controller based on the state observer is given. The uncertainty of the system delay is equivalent to the uncertainty of the matrix parameter. The data packet loss probability is known and obeys the Bernoulli distribution. When the system adopts the maintenance input strategy, the LMI method and the relative Lyapunov stability theorem are used to design the H_ controller based on the state observer for the DC servo motor network control system, which makes the performance mean square index of the closed loop control system stable and conforms to the index. The parameter values of the observer and controller can be obtained by solving the corresponding LMI. (4) a DC servo motor network control system with one step random time delay and data packet loss with measured data is used as the research object, and a kind of H_ infinity filter is set up. The Bernoulli random of the H_ infinity filter is used. The binary sequence constructs a new mathematical model that can simultaneously describe the delay and data packet loss. Based on this model, the filter error system is steadily stabilized and satisfies the specified performance index H_ infinity filter. The corresponding Lyapunov stability theorem is used and the LMI square method is used to obtain the sufficient criteria for the existence of the H_ infinity filter. Finally, the parameter values of the filter are obtained by numerical simulation.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273;TM383.4

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