【作者】 范宣志；

【导师】 陈静；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 CAN总线是一种目前比较流行的现场总线，以其高可靠性和独特设计被公认为最有前途的现场总线之一。本文分析现场总线和CAN总线的特点和优点，讨论了CAN总线的通信协议，CAN控制器的结构和功能，分析其应用范围和前景。 单神经元控制算法不依赖于控制对象的数学模型，具有自学习能力，算法简单，控制精度高，自适应性和鲁棒性都比较强，其算法可由单片机系统来实现，特别适合于参数不易辨识的黑箱系统和在过程中参数会改变的系统，已经在很多领域得到了很好的应用并且取得了很好的效果。本文分析单神经元控制几种不同学习规则下的学习算法，从理论上对其自适应性和鲁棒性进行讨论和分析。 基于以上两种先进的技术，设计基于CAN总线的智能控制器，即控制器采用单神经元的控制算法，并具有CAN通讯的功能，可与其他智能仪表一起组成现场总线控制系统。 以Matlab／Simulink为工具，建立算法模型和控制对象的数学模型进行仿真，通过改变不同的参数观察输出曲线，从而确定算法中参数对控制效果的影响。利用Simulink建立了状态变量模型、单神经算法模型。然后通过仿真分析了算法的阶跃特性，动态跟随特性以及抗干扰性。并通过与常规PID控制算法的比较分析。同时借助九点控制算法的思想提出了九点在线修改参数的改进算法。 设计了一个控制器，从硬件和软件两方面探讨了控制器的实现过程。设计了通信接口部分，人机接口部分和存储器部分的硬件电路。用C51进行软件设计，包括CAN通讯部分和单神经元算法，给出了主要部分程序框图。 本课题的研究成果，将进一步促进现场总线技术和单神经元控制算法这两种先进技术的融合与发展，对于促进现场总线控制系统的进一步推广，乃至国内的自动化水平的提高都有一定的意义。更多还原

【Abstract】 CAN (Controller Area Network) bus is a kind of popular field bus, which is recognized as one of the most promising field bus with its high reliability and particular design style. The characteristics and the merits of the field bus and CAN bus are analyzed, and then the communication protocol of CAN bus and the structure and function of CAN controller are discussed in this dissertation. Furthermore, its application scope and the perspective are proposed.The control algorithm of single neuron possesses many characteristics such as self-study ability, simplicity and high precision, which do not depend on the mathematics model of the plant. In addition, its self-adaptability and robustness behave well too. This algorithm can be implemented by MCU (Micro-programmed Control Unit), especially suits for the black-box system whose parameters identification is difficult and for the system in which parameters may change in process. It has been applied in many fields and achieved good effectiveness. Some study algorithms of single neuron control under different study rules have been introduced in this dissertation. The self-adaptability and robustness of the single neuron are discussed and analyzed in theory.Based on the two kinds of advanced technology mentioned above,an intelligent controller is designed, which adopts the algorithm of single neuron and possesses CAN communication ability. It can be used to form a field bus control system in combination with other intelligent instruments.The algorithm model and the mathematics model of the plant are set up and simulated by the software Matlab/Simulink. The influence of the parameters upon the control result can be assessed with changing parameters and observing the output curve. The state variable model and the algorithm model of single neuron can be set up with Simulink. Consequently the step response, dynamictrack and anti-disturbance performance of the algorithm can be analyzed, whose results are compared with those of the traditional FED algorithm. Moreover, the improved algorithm is advanced, in which parameters can be modified online based on the nine-point control algorithm.At last, a controller is designed in which the hardware circuits and software are introduced. The controller mainly consists of communication interface, human-machine interface and the memorizer. The program including CAN communication and the control algorithm of single neuron is programmed with C51 language. The main program diagrams are depicted.The research result of this dissertation will contribute to the combination and the development of the field bus technology and the control algorithm of single neuron. It will have great signification on the development of field bus control system and the advancement of the national automation level.更多还原