具有输入饱和的变采样网络化控制系统设计

发布时间：2018-02-19 21:09

本文关键词： 网络化控制系统控制输入饱和约束时变采样周期短时变时延液位系统　出处：《浙江工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：网络化控制系统不仅实现了工业现场可视化,取得更好的人机交互效果,还可以通过生产过程中得到的各类信息来实施远程控制和诊断。这使得系统灵活性更强,生产过程更安全,生产的产品品质更好。目前,网络化控制系统已被成功应用于航空航天、远程机器人控制、无线传感器网络、过程控制等领域。然而,由通信约束带来的网络时延、变采样、丢包等问题会使得控制系统性能下降,甚至导致系统不稳定。另一方面,由于实际系统都具有控制输入饱和问题,它也会影响系统的稳定性及控制性能。因此综合考虑控制输入饱和约束和网络化系统中的其他问题是非常有必要的。本文主要针对具有控制输入饱和约束的网络化控制系统中时变采样周期和短时变时延两个问题展开研究,主要工作如下:1)研究具有时变采样周期和控制输入饱和约束的网络化控制系统保性能控制器设计问题。根据采样周期的不同,将闭环系统建模成一个具有多个子系统的离散时间切换系统。基于李雅普诺夫稳定性原理及平均驻留时间方法,给出具有控制输入饱和约束的最优保性能状态反馈控制器的设计方法。2)研究具有短时变时延和控制输入饱和约束的网络化控制系统稳定性分析及保性能控制器设计问题。将具有短时变时延的网络化控制系统建模成一个具有范数有界不确定性的时不变系统。对于给定的时延下界和上界,确定了时延的名义值和不确定性的范数上界后,采用鲁棒控制方法,给出具有控制输入饱和约束的保性能状态反馈控制器的设计方法。3)搭建了网络化液位系统平台,并在此平台上实验验证了本文提出的算法的有效性。采用机理建模方法建立了液位系统模型,并设计了具有控制输入饱和约束的保性能状态反馈控制器。进而在.NET4.0框架和Visual Studio 2010开发环境下,用C#语言设计并开发变采样液位控制系统和具有C/S模式且服务器和客户机通过TCP/IP协议通信的远程液位控制系统。最后,在液位实验装置上验证了具有控制输入饱和约束的保性能控制器设计的有效性。
[Abstract]:The networked control system not only realizes the visualization of industrial field and achieves better human-computer interaction effect, but also implements remote control and diagnosis through all kinds of information obtained in the process of production, which makes the system more flexible. At present, networked control system has been successfully used in aerospace, remote robot control, wireless sensor network, process control and other fields. Network delay, variable sampling, packet loss and other problems caused by communication constraints will make the control system performance decline and even lead to system instability. On the other hand, because the actual system has the problem of control input saturation. It will also affect the stability and control performance of the system. Therefore, it is necessary to consider the control input saturation constraints and other problems in networked systems. This paper focuses on networks with control input saturation constraints. Two problems, time-varying sampling period and short-time time-varying delay, are studied in the control system. The main work is as follows: (1) the design problem of guaranteed cost controller for networked control system with time-varying sampling period and control input saturation constraint is studied. The closed-loop system is modeled as a discrete-time switching system with multiple subsystems based on Lyapunov stability principle and average dwell time method. The design method of optimal guaranteed cost state feedback controller with control input saturation constraint is given. 2) the stability analysis and guaranteed cost controller design of networked control system with short time varying delay and control input saturation constraints are presented. The networked control system with short time varying delay is modeled as a time invariant system with norm-bounded uncertainties. For a given time delay lower bound and upper bound, After determining the nominal value of the delay and the upper bound of the norm of uncertainty, the design method of guaranteed cost state feedback controller with control input saturation constraint is presented by using robust control method. 3) the platform of networked liquid level system is built. The effectiveness of the proposed algorithm is verified by experiments on this platform, and the liquid level system model is established by using the mechanism modeling method. The guaranteed cost state feedback controller with control input saturation constraints is designed, and then under the framework of. Net 4.0 and Visual Studio 2010, Design and develop variable sampling level control system with C # language and remote level control system with C / S mode and communication between server and client through TCP/IP protocol. Finally, The effectiveness of the design of guaranteed cost controller with control input saturation constraints is verified on a liquid level experimental device.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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