网络控制系统的稳定性分析与容错控制研究

发布时间：2018-07-13 17:24

【摘要】：网络控制系统将散布于不同位置的传感器、控制器和执行器通过网络连接起来,组成一个闭环分布式控制系统。网络控制系统因为网络的引入而具有易于安装维护、减轻自身重量、降低运行成本等优点,从而使网络控制系统的应用变得更加广泛和便捷。但同时,网络中的时延、丢包、变采样等问题会对网络控制系统的性能造成影响。本文研究具有时变采样周期的网络控制系统,在建模的基础上进行稳定性分析、保性能控制和容错控制等研究,主要工作如下:1.针对一类存在网络时延、外部扰动以及变采样周期的网络控制系统,通过把随机变化的采样周期转化为系统中的不确定参数,将所研究的线性连续被控对象进行离散化,建立网络控制系统的离散数学模型。2.根据所提出的离散数据模型,通过李雅普诺夫稳定性理论和线性矩阵不等式方法,给出时变采样周期网络控制系统保持稳定的充分条件和相关控制器的设计方法。3.对具有外部扰动的变采样周期网络控制系统,通过线性矩阵不等式方法分析系统的保性能控制问题,利用不等式放大技术和凸优化方法,推导出该系统的保性能控制器的设计方法。4.对网络控制系统进行容错控制研究。当系统中的执行器存在故障时,通过将执行器故障描述为一个数值型矩阵,利用李雅普诺夫稳定性定理给出系统的容错控制律的存在条件和设计方法。
[Abstract]:The networked control system connects sensors, controllers and actuators scattered in different locations to form a closed loop distributed control system. Because of the introduction of the network, the networked control system has the advantages of easy installation and maintenance, reducing its own weight and reducing the running cost, thus making the application of the networked control system more extensive and convenient. At the same time, delay, packet loss and variable sampling will affect the performance of networked control system. In this paper, the network control system with time-varying sampling period is studied. The stability analysis, guaranteed cost control and fault-tolerant control are carried out on the basis of modeling. The main work is as follows: 1. For a class of networked control systems with network delay, external disturbance and variable sampling period, the linear and continuous controlled objects studied are discretized by converting the randomly varying sampling period into uncertain parameters of the system. The discrete mathematical model of networked control system. According to the proposed discrete data model, the sufficient conditions for the stability of the time-varying sampling period networked control system and the design method of the related controller are given through Lyapunov stability theory and linear matrix inequality method. For the variable sampling period networked control system with external disturbance, the guaranteed cost control problem of the system is analyzed by linear matrix inequality (LMI) method, and the inequality amplification technique and convex optimization method are used. The design method of guaranteed cost controller for the system is deduced. The fault-tolerant control of networked control system is studied. When there is a fault in the actuator of the system, by describing the actuator fault as a numerical matrix, the existence condition and design method of the fault-tolerant control law of the system are given by using Lyapunov stability theorem.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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