事件触发非均匀传输NCS鲁棒容错与通讯的满意协同设计
发布时间：2018-11-17 13:19
【摘要】：近年来,尽管在网络化控制系统(Networked Control Systems,NCS)的容错控制研究领域已取得了不少成果,但被动容错远多于主动容错,时间触发机制下孤立进行容错设计的结果远多于事件触发机制下进行容错与通讯协同设计的结果。随着NCS这一控制与通讯的集成产物对系统安全性和网络资源节约性要求的日益增高,NCS容错控制研究领域仍面临着许多新的问题,诸如:如何实现NCS主动容错中故障估计、故障调节与网络通讯间的协同设计,如何实现具有多目标约束的NCS鲁棒被动容错与网络通讯间的协同设计,又如何使设计结果具有较少的保守性以更好的平衡离散事件触发通讯机制(Discrete Event-triggered Communication Scheme,DETCS)中变传输周期与系统性能间的关系等等。着眼于上述问题,本文展开了如下工作:1)研究了具有执行器饱和约束的不确定线性和非线性NCS的鲁棒被动容错与网络通讯间的满意协同设计问题。建立了DETCS下涵盖执行器饱和约束、网络时延、事件触发通讯约束的线性和T-S模糊非线性NCS的不确定闭环故障模型。将α-稳定性的定义引申为容错系统的α-安全度,并提出了具有α-安全度的容错吸引域和具有α-安全度的容错收缩不变集的相关定义,用于处理具有执行器饱和约束的NCS容错控制问题。基于Lyapunov稳定性理论和改进的Jensen不等式,分别推证出了具有α-安全度、α-安全度和H_∞-性能、α-安全度和H_∞/H_2-性能的不确定闭环故障NCS的鲁棒被动容错与网络通讯间的满意协同设计方法。2)在非均匀传输周期下,研究了具有执行器饱和约束的不确定线性和非线性NCS的鲁棒被动容错与网络通讯间的满意协同设计问题。将DETCS下非均匀传输NCS的采样器与事件发生器虚拟为一个非均匀采样开关,进而基于非均匀采样系统的理论来研究非均匀传输问题。基于文中提出的新型数据发送区间的剖分方法,建立了非均匀传输下带执行器饱和约束的线性和T-S模糊非线性NCS的不确定闭环故障模型;基于非连续的Lyapunov稳定性理论、Wirtinger’s不等式和线性凸组合理论,分别推导出了具有α-安全度、α-安全度和H_∞-性能、α-安全度和H_∞/H_2-性能的不确定闭环故障NCS的鲁棒被动容错与网络通讯间的满意协同设计方法。由于该方法具有更少的保守性,因此更易提高容错与通讯间的协同设计满意度。3)在非均匀传输周期下,研究了具有执行器饱和约束的线性和非线性NCS的鲁棒主动容错与网络通讯间的满意协同设计问题。提出了将状态、故障估计与控制、调节置于智能传感器和控制器中分布实施的系统架构。基于等物理采样周期的时间触发观测器和虚拟变采样周期的事件触发控制器,建立了主动容错框架下线性和T-S模糊非线性NCS的闭环故障模型。基于Lyapunov稳定性理论和线性凸组合理论,首先在等物理采样周期下通过采用连续时间状态观测器提出了具有广义H_∞性能的状态和故障估计方法;进而又在非均匀传输周期下,通过采用动态输出反馈先后提出了闭环故障NCS分别具有α-稳定性、α-稳定性和广义H_∞-性能,α-稳定性和广义H_∞/H_2-性能的主动容错和网络通讯间的满意协同设计方法。4)对1)~3)中的理论结果进行了有效性、相容性与保守性的研究,验证了结果的有效性,揭示了适用于NCS容错与网络通讯间协同设计的定性折中原则,并探寻出事件触发参数的量化选取依据。采用经典的算例,先验证了理论结果的正确性与有效性。进而通过大量的仿真实验,揭示出了容错控制与网络通讯间、及不同的系统性能间存在着相容相斥的折中类定性关系;进一步又深入探究了事件触发参数σ与数据发送率n_s间的关系,通过数据拟合得到了σ-n_s间的定量数学表达式,为在给定网络通讯资源约束下进行NCS容错与通讯的协同设计提供了σ选取的量化依据。5)搭建了具有执行器饱和约束的NCS被动容错及主动容错的实验平台,对文中提出的协同设计理论结果进行了实验研究。借助于工控行业的软件接口标准(OLE for Process Control,OPC)等通讯技术及先进控制实验室现有实验设备,基于校园局域网,搭建了DETCS下具有执行器饱和约束的NCS被动容错实验平台,基于3)中提出的估计与控制、调节的分步实施理念,搭建了DETCS下的主动容错控制实验平台,并对被动容错和主动容错中的协同设计方法进行工程可用性验证及分析研究,得到了与单机版仿真结果相一致的结论。
[Abstract]:In recent years, while many achievements have been achieved in the field of fault-tolerant control of networked control systems (NCS), the passive fault-tolerance is far more than active fault-tolerant, The result of the fault-tolerant design is far more than the result of the collaborative design of fault-tolerant and communication under the event-triggered mechanism. With the increasing demand for system security and network resource saving in NCS, the NCS fault-tolerant control research field still faces many new problems, such as how to realize the NCS active fault-tolerant fault estimation, The cooperative design between the fault regulation and the network communication, how to realize the cooperative design between the passive fault-tolerant and network communication of the NCS with multi-objective constraints, and how to make the design results less conservative to better balance the discrete event-triggered communication scheme, The relationship between the variable transmission period and the system performance in the DETCS), and so on. In view of the above problems, the following work is carried out in this paper: 1) The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. The closed-loop fault model of the linear and T-S fuzzy non-linear NCS covering the saturation of the actuator, the network delay, the event-triggered communication constraint and the nonlinear NCS under the DETCS is established. The definition of the fault-stability is introduced into the fault-tolerance of the fault-tolerant system, and the fault-tolerant attraction domain with the reliability-safety degree and the related definition of the fault-tolerant contraction invariant set with the reliability-safety degree are put forward, and the problem of the NCS fault-tolerant control with the saturation constraint of the actuator is solved. Based on the Lyapunov stability theory and the modified Jensen's inequality, it is proved that the system has the advantages of the reliability-safety, the reliability-safety and the H _ 2-performance, The satisfactory and cooperative design method between the passive fault-tolerant and the network communication of the non-closed-loop fault NCS with the reliability-safety and the H _ 1/ H _ 2-performance is presented. The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. A non-uniform sampling switch for non-uniform transmission of NCS under DETCS and the event generator is used to study the non-uniform transmission problem based on the theory of the non-uniform sampling system. A closed-loop fault model of linear and T-S fuzzy non-linear NCS with an actuator saturation constraint under non-uniform transmission is established based on the cut-in method of the new data transmission section, which is based on the non-continuous Lyapunov stability theory, the Wirtinger's inequality and the linear convex combination theory. The satisfactory and cooperative design method for passive fault-tolerant and network communication between the passive fault-tolerant and network communication of the Rods of the non-closed-loop fault NCS with the reliability-safety, the reliability-safety and the H _ 2-performance, the reliability-safety and the H _ 1/ H _ 2-performance are derived respectively. Because the method has less conservative property, it is more easy to improve the cooperative design satisfaction of fault-tolerant and communication. 3) In the non-uniform transmission period, the problem of satisfactory cooperative design between the active fault-tolerant and network communication of the linear and non-linear NCS with the saturation constraint of the actuator is studied. The system architecture for the distribution of the state, fault estimation and control to the intelligent sensor and the controller is proposed. The closed-loop fault model of linear and T-S fuzzy non-linear NCS under active fault-tolerant framework is established based on the time-triggered observer and the event trigger controller of the virtual variable-sampling period. Based on the Lyapunov stability theory and the linear convex combination theory, firstly, a state and a fault estimation method with generalized H _ channel performance is proposed by adopting a continuous-time state observer under the equal physical sampling period, and then in a non-uniform transmission period, By adopting the dynamic output feedback, the closed-loop fault NCS has the following advantages: the stability, the stability and the generalized H _ 2-performance of the closed-loop fault NCS are respectively provided; The validity, compatibility and conservativeness of the theoretical results in 1) to 3) are studied, and the validity of the results is verified. The qualitative and trade-off principle for cooperative design between NCS fault-tolerant and network communication is disclosed, and the basis of the quantitative selection of event-triggered parameters is also discussed. By using the classical calculation example, the validity and validity of the theoretical result are verified first. in addition, through a large number of simulation experiments, a compromise-class qualitative relationship between fault-tolerant control and network communication, and different system performance is revealed, and the relationship between the event trigger parameter value and the data transmission rate n _ s is further explored, The quantitative mathematical expression between n-n _ s is obtained by data fitting, and the cooperative design of NCS fault-tolerance and communication under the constraint of a given network communication resource is provided, and the experimental platform with the passive fault-tolerance and active fault-tolerance of the NCS with the saturation constraint of the actuator is set up, The results of the collaborative design theory proposed in this paper are studied in this paper. By means of the communication technologies such as the software interface standard (OLE for Process Control, OPC) and the existing experimental equipment of the advanced control laboratory, the NCS passive fault-tolerant experimental platform with an actuator saturation constraint under the DETCS is set up based on the local area network (LAN), and the estimation and control proposed in the 3) are based on 3). According to the concept of step-by-step implementation, the active fault-tolerant control experiment platform under the DETCS is built, and the collaborative design method in the passive fault-tolerant and active fault-tolerance is carried out to verify and analyze the engineering usability, and the conclusion that is consistent with the single-machine version simulation result is obtained.
【学位授予单位】：兰州理工大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP273
，
本文编号：2337931
[Abstract]:In recent years, while many achievements have been achieved in the field of fault-tolerant control of networked control systems (NCS), the passive fault-tolerance is far more than active fault-tolerant, The result of the fault-tolerant design is far more than the result of the collaborative design of fault-tolerant and communication under the event-triggered mechanism. With the increasing demand for system security and network resource saving in NCS, the NCS fault-tolerant control research field still faces many new problems, such as how to realize the NCS active fault-tolerant fault estimation, The cooperative design between the fault regulation and the network communication, how to realize the cooperative design between the passive fault-tolerant and network communication of the NCS with multi-objective constraints, and how to make the design results less conservative to better balance the discrete event-triggered communication scheme, The relationship between the variable transmission period and the system performance in the DETCS), and so on. In view of the above problems, the following work is carried out in this paper: 1) The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. The closed-loop fault model of the linear and T-S fuzzy non-linear NCS covering the saturation of the actuator, the network delay, the event-triggered communication constraint and the nonlinear NCS under the DETCS is established. The definition of the fault-stability is introduced into the fault-tolerance of the fault-tolerant system, and the fault-tolerant attraction domain with the reliability-safety degree and the related definition of the fault-tolerant contraction invariant set with the reliability-safety degree are put forward, and the problem of the NCS fault-tolerant control with the saturation constraint of the actuator is solved. Based on the Lyapunov stability theory and the modified Jensen's inequality, it is proved that the system has the advantages of the reliability-safety, the reliability-safety and the H _ 2-performance, The satisfactory and cooperative design method between the passive fault-tolerant and the network communication of the non-closed-loop fault NCS with the reliability-safety and the H _ 1/ H _ 2-performance is presented. The problem of satisfactory and cooperative design between passive fault-tolerant and network communication of non-linear and non-linear NCS with actuator saturation constraints is studied. A non-uniform sampling switch for non-uniform transmission of NCS under DETCS and the event generator is used to study the non-uniform transmission problem based on the theory of the non-uniform sampling system. A closed-loop fault model of linear and T-S fuzzy non-linear NCS with an actuator saturation constraint under non-uniform transmission is established based on the cut-in method of the new data transmission section, which is based on the non-continuous Lyapunov stability theory, the Wirtinger's inequality and the linear convex combination theory. The satisfactory and cooperative design method for passive fault-tolerant and network communication between the passive fault-tolerant and network communication of the Rods of the non-closed-loop fault NCS with the reliability-safety, the reliability-safety and the H _ 2-performance, the reliability-safety and the H _ 1/ H _ 2-performance are derived respectively. Because the method has less conservative property, it is more easy to improve the cooperative design satisfaction of fault-tolerant and communication. 3) In the non-uniform transmission period, the problem of satisfactory cooperative design between the active fault-tolerant and network communication of the linear and non-linear NCS with the saturation constraint of the actuator is studied. The system architecture for the distribution of the state, fault estimation and control to the intelligent sensor and the controller is proposed. The closed-loop fault model of linear and T-S fuzzy non-linear NCS under active fault-tolerant framework is established based on the time-triggered observer and the event trigger controller of the virtual variable-sampling period. Based on the Lyapunov stability theory and the linear convex combination theory, firstly, a state and a fault estimation method with generalized H _ channel performance is proposed by adopting a continuous-time state observer under the equal physical sampling period, and then in a non-uniform transmission period, By adopting the dynamic output feedback, the closed-loop fault NCS has the following advantages: the stability, the stability and the generalized H _ 2-performance of the closed-loop fault NCS are respectively provided; The validity, compatibility and conservativeness of the theoretical results in 1) to 3) are studied, and the validity of the results is verified. The qualitative and trade-off principle for cooperative design between NCS fault-tolerant and network communication is disclosed, and the basis of the quantitative selection of event-triggered parameters is also discussed. By using the classical calculation example, the validity and validity of the theoretical result are verified first. in addition, through a large number of simulation experiments, a compromise-class qualitative relationship between fault-tolerant control and network communication, and different system performance is revealed, and the relationship between the event trigger parameter value and the data transmission rate n _ s is further explored, The quantitative mathematical expression between n-n _ s is obtained by data fitting, and the cooperative design of NCS fault-tolerance and communication under the constraint of a given network communication resource is provided, and the experimental platform with the passive fault-tolerance and active fault-tolerance of the NCS with the saturation constraint of the actuator is set up, The results of the collaborative design theory proposed in this paper are studied in this paper. By means of the communication technologies such as the software interface standard (OLE for Process Control, OPC) and the existing experimental equipment of the advanced control laboratory, the NCS passive fault-tolerant experimental platform with an actuator saturation constraint under the DETCS is set up based on the local area network (LAN), and the estimation and control proposed in the 3) are based on 3). According to the concept of step-by-step implementation, the active fault-tolerant control experiment platform under the DETCS is built, and the collaborative design method in the passive fault-tolerant and active fault-tolerance is carried out to verify and analyze the engineering usability, and the conclusion that is consistent with the single-machine version simulation result is obtained.
【学位授予单位】：兰州理工大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP273
，
本文编号：2337931
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