【作者】 马丹；

【导师】 王向东；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 本文的主要内容为带有传输延时的网络控制系统的控制策略研究。网络控制系统(Net、Vorked Connrol Systems)是通过实时的网络构成闭环的反馈控制系统，是一种完全分布式、网络化实时控制系统。网络控制系统是20世纪90年代兴起的控制理论发展中的新课题。从结构上看网络控制系统的特点是各控制装置(如传感器、控制器和执行器)直接作为网络接口和通信网络相连，从而提高了设备之间的数据传输速度，使不同地点的用户实现资源共享和协调操作。网络控制系统广泛应用于自动化制造工厂、电厂、机器人、高级航天航空器和电气化运输工具。这种网络化的控制模式具有信息资源共享、减少连线、易于扩展、易于维护、高效灵活、可靠性高等优点。但由于网络中的信息源很多，信息的传送要分时占用网络通信线路，而网络的承载能力和通信带宽有限，必然造成信息的碰撞、重传等现象的发生，使得信息在传输过程中不可避免地存在延时。因此，就网络控制系统中的传输延时控制策略的研究显得尤为重要。 在本论文中，对网络控制系统中的传输延时问题，采用基于预报器的滑模控制方法，补偿了系统在滑模面上的延时，并针对不同拓扑结构的网络控制系统，根据Lyapunov稳定性定理和相应的合理假设分别得到了简单的鲁棒滑模控制器。在保证系统稳定运行的基础上，使系统具有较强的鲁棒性。首先，介绍了网络控制系统的概念和网络控制系统理论的发展概况、研究内容及现状；其次，对不同拓扑结构的网络控制系统的延时进行分析并引入了相应的系统模型：在此基础上，针对网络传输产生的控制器到执行器的延时问题，对不确定输入延时系统提出了一种补偿策略，设计了滑模控制器，使系统具有强鲁棒性。仿真示例验证了这一控制策略的有效性；同时，就网络传输产生的传感器到控制器延时及控制器到执行器的延时问题，对一类特殊的不确定状态延时和控制延时系统给出了基于预报器的滑模控制方法，得到了保证系统全局稳定的最大传输延时，并设计了基于状态反馈的滑模面，通过仿真结果说明了设计及控制方法的可行性和有效性。全文的最后展望了网络控制系统理论的发展前景以及作者在以后的工作中需要学习和努力的方向。更多还原

【Abstract】 The content of this thesis is on studying the control scheme for some kinds of networked control systems with network induced time delay. Networked control systems are feedback control systems wherein the control loops are closed through a real-time network. Networked Control System is a new task of control theory in the 1990s. It has a completely distributed structure where all the control applications (eg. Sensors, controllers and actuators) are connected to the communication network directly. The structure develops data transmitting velocity, makes all users in different places share the resource and co-operation. Networked control systems can be found in industrial automation, building automation, power plant, robot, intelligent vehicle systems, advanced aircraft and spacecraft. This kind of networked control mode has many advantages, such as sharing information resource, simple and fast actuation, small volume of wiring, powerful configuration, powerful system diagnosis and maintenance. However, when the distributed applications implement over the control network, it is necessary to make the information collide and re-transmit because of information transmitted through the limited bandwidth and weight capability. There must be transmitting time delays. So it is important to study the control scheme for the networked control systems with transmitting time delays.In this thesis, a method of sliding mode control based on predictors for the network-induced time delay in network control systems is used to compensate the time delay on the sliding mode surface. According to the networked control systems with different structure, robust sliding mode controllers based on Lyapunov stability theory and rational assumptions are obtained. It not only guarantees systems stability but also systems robustness. Firstly, the conception of networked control systems, introduction and content of networked control systems theory are introduced. Secondly, the network induced time delays of different topology structure are analyzed and then the corresponding plants are modeled. Based on the above, a compensation scheme for the transmitting time delay from controller to actuator is developed. And also a sliding mode controller that makes the system robust is designed. Simulationexample explains the validity of this control scheme. Moreover, a method of sliding mode control based on a predictor for a class special system with state time delay and control time delay is explored, and the maximum transmitting time delay ensuring system global stability is presented. And a sliding surface based state feedback is designed. Simulation example specifies the feasibility and validity of this control scheme. Finally, the development of networked control systems theory and what it is to study for the author in the future is prospected.更多还原