网络化控制系统的非脆弱容错控制研究

发布时间：2018-03-09 23:06

  本文选题：网络化控制系统　切入点：执行器故障　出处：《江南大学》2017年硕士论文　论文类型：学位论文

【摘要】：网络化控制系统(Networked control systems,NCSs)是指通过一个通信网络构成的闭环控制系统,NCSs具有安装维护方便、灵活性高和易于重构等优点。然而,通讯网络的引入导致了系统存在网络诱导时延、数据丢包和网络堵塞等问题,同时外界的不确定因素可能会导致系统性能降低甚至失稳。因此,使NCSs具有容错能力是十分必要的。针对具有时延的NCSs,研究系统参数存在不确定性、控制器参数摄动、外部扰动、执行器发生故障等问题,具有重大的理论价值和深远的实际意义。本课题主要研究内容为:针对存在时延的NCSs,同时考虑系统参数不确定性和控制器参数摄动的约束,研究执行器发生未知失效故障时系统的非脆弱容错控制问题。通过引入范数有界不确定性参数来描述系统参数的时变误差,建立执行器发生未知故障的模型,利用Lyapunov稳定性理论和线性矩阵不等式(Linear matrix inequality,LMI)分析方法,得到非脆弱容错控制器存在的充分条件,然后通过求解LMIs得到非脆弱容错控制器增益的参数表达式。针对存在时延和数据丢失的非线性NCSs,同时考虑系统参数不确定性、控制器参数摄动以及外部扰动等约束,研究执行器发生随机故障时的非脆弱H_∞容错控制问题。执行器故障的发生概率满足Bernoulli分布,NCSs建模为马尔可夫跳变系统。首先利用Lyapunov稳定性理论和LMI分析方法,得到非脆弱H_∞容错控制器存在的充分条件,然后通过求解LMIs得到非脆弱H_∞容错控制器增益的参数表达式。所设计的控制器能保证闭环NCSs渐近稳定且具有良好的H_∞性能指标。针对存在具有时变时延的非线性NCSs,同时考虑系统参数不确定性、控制器参数摄动以及外部扰动等约束,分别研究执行器发生未知故障和随机故障时的非脆弱H_∞容错控制问题。NCSs建模为时延非线性系统模型,构造合适的Lyapunov-Krasovskii函数,利用基于Lyapunov稳定性理论,LMI分析方法和自由加权矩阵法,推证出非脆弱H_∞容错控制器增益存在的充分条件。所设计的控制器能保证闭环NCSs渐近稳定且具有良好的H_∞性能指标。为了验证所提方法的有效性和可行性,在相应章节后给出了具体的数值仿真。
[Abstract]:Networked control systems (NCSs) is a closed loop control system (NCSs) which is composed of a communication network, which has the advantages of convenient installation and maintenance, high flexibility and easy reconfiguration. However, the introduction of the communication network leads to the existence of network-induced delay in the system. Problems such as data packet loss and network congestion, while external uncertainties may lead to system performance degradation or even instability. It is very necessary to make NCSs have fault-tolerant ability. For NCSs with delay, the system parameters are uncertain, controller parameters are perturbed, external disturbances, actuator faults, etc. It has great theoretical value and profound practical significance. The main contents of this paper are as follows: for NCSs with time delay, the constraints of system parameter uncertainty and controller parameter perturbation are taken into account at the same time. The non-fragile fault-tolerant control problem of the system with unknown failure fault occurred by actuator is studied. The time-varying error of system parameters is described by introducing norm-bounded uncertainty parameters, and the model of unknown fault of actuator is established. By using Lyapunov stability theory and linear matrix inequality linear matrix inequality analysis method, sufficient conditions for the existence of non-fragile fault-tolerant controllers are obtained. Then the parameter expression of the gain of the non-fragile fault-tolerant controller is obtained by solving the LMIs. For the nonlinear NCSs with delay and data loss, the system parameter uncertainty, the controller parameter perturbation and the external disturbance are taken into account. The problem of non-fragile H _ 鈭，

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