【作者】 雍广杰；

【导师】 李昇平；

【作者基本信息】 汕头大学 ， 机械电子工程， 2008， 硕士

【摘要】 在网络控制系统中,网络通讯将成为控制系统的一个重要环节。由于网络传输中存在传输时延,并且这些时延通常具有不确定性和时变性,另外还存在传输数据时序的错乱和丢失等现象,这些都使得系统不再具有定常性和确定性。上述两个方面对控制理论的研究提出了新的挑战和发展机遇。本文系统的分析了网络控制系统的特性,网络的随机时延特性,考虑了这些特性以及外界干扰对系统控制性能的影响,提出了H∞鲁棒控制器的设计方法,解决了网络诱导时延现象和外界干扰给控制系统带来的稳定性和鲁棒性问题。首先考虑连续系统中时延问题。将非线性被控对象建模为T_S模糊系统,然后将时变问题分为定时延和可变时延,对于两种情况给出了系统分析,并设计了使得系统α次优稳定的控制器。然后针对非线性T_S模糊闭环网络控制系统短时延和长时延离散化模型,把回路时延的不确定性转化为被控对象系统方程系数矩阵的不确定性,同时考虑外界干扰,利用所提出的基于LMI的次优稳定性鲁棒控制器设计方法,设计出一个状态反馈控制器,该控制器可以使得闭环网络控制系统达到L2增益小于等于γ鲁棒稳定性。最后通过针对倒立摆T_S模糊模型,利用Matlab中TrueTime工具箱对所设计的系统的通讯平台并进行了仿真,证明了鲁棒控制器设计方法的有效性。更多还原

【Abstract】 In Networked Control Systems(NCS), Network communication is becoming more and more important in control system. Because of the delays and the uncertainty of the delays, package drop and disorder of data, the control systems are no longer invariable or deterministic. The problems mentioned above arise new challenges and opportunities. This article analyzes the characters of NCS systematically and analyzes the impact which the characters and disturbance bring to the control system. Subsequently, the design of H∞Robust controller was given. This method solved the stability problems and Robust problems which induced from Network delays and disturbance.Firstly, we focused on the delays problem of continuous system. This problem can be defined as invariable delays and variable delays. Analysis of system is given under both situations, and also the controller which enable systems asymptotic stable.Secondly, the T_S fuzzy discrete NCS with both short and long delays is studied, respectively. The uncertainty of the delay is converted into the uncertainty of the system matrix. Then the controller is designed base on Linear Matrix inequality (LMI). And the controller could enable the loop system L2 gain smaller thanγrobust stable.In the end, the T_S fuzzy system of inverted pendulum based on Truetime toolbox of Matlab is set. It is proved that the method in the method is valid.更多还原