球杆网络化预测控制系统的研究与实现

【作者】 罗浩铭；

【导师】 刘国平； 桂卫华；

【作者基本信息】 中南大学 ， 控制科学与工程， 2010， 硕士

【摘要】 网络化控制系统(Networked Control Systems, NCSs)是在传统控制中引入网络数据传输通道形成闭环的新型控制结构,具有用途广泛、便于维护、易于扩展的诸多优点。网络带来了一些优点的同时,也提出一些新的问题,如网络诱导时延、数据包丢失等使得将传统控制算法直接应用到网络化系统中的效果大大降低,甚至无法保持稳定。目前网络化控制系统已经吸引了控制领域许多学者的关注,关于网络化控制系统的分析与设计有了一些成果,也有了一些初步的应用。本文主要是针对具有开环不稳定性和非线性的球杆系统设计基于网络化预测控制算法的网络化控制系统。基于中国科学院自动化研究所开发的NetCon控制器、NetConLink控制组态软件和NetConTop监控组态软件,以及Matlab/Simulink相关工具箱实现球杆系统的网络化预测控制。论文的具体工作包括：首先介绍了网络化控制系统的基本问题如网络诱导时延和数据包丢失等,分类介绍了网络化控制系统的研究现状以及NetCon网络化控制实验平台的搭建；然后描述了球杆系统的电气以及机械结构,并分别运用机理建模、Matlab系统辨识工具箱建模和带遗忘因子的递推最小二乘法三种方法建立了球杆系统的数学模型,并将各种模型与实际对象做出了实验对比；接着详细阐述了网络化预测控制算法(Networked Predictive Control, NPC)的原理,给出了预测控制序列生成模块、时延补偿模块、数据缓存发送模块等各组成模块的实现方法,对于算法的稳定性也做出了分析；然后给出并分析了基于RTT(Round Trip Time)时延和NTP (Network Time Protocol)同步后时延的测量机理与实验结果,最后通过不同网络环境下的仿真与实物实验结果验证了网络化预测控制在球杆系统控制中的有效性以及相对传统控制方法的优越性。更多还原

【Abstract】 Networked Control Systems (NCSs) is a novel kind of control system which is closed via network communication channel. Of many advantages such as wildly applicable, easily maintainable, extension, NCSs has attracted much attention worldwide. There has been some work on the analysis and design of the NCSs, and some applications in the lab and industrial environment.This thesis mainly concerns with the design of Networked Predictive Control Algorithm based on the Networked Ball-Beam control system with the nature of open loop instability and nonlinearity. The project is based on the NCSs Lab design tools developed by the Institute of Automation of China Academy of Sciences, these include NetCon Controller, NetConLink Control Configuration Software and NetConTop Configuration Software. In addition, the Matlab/Simulink Toolboxes are also used to construct the system.In details, this thesis introduced the fundamental issues such as networked-induced delay and data package dropout, state of the art and the NCSs design tools; Described the structure of ball-beam system and modeled the system with three different methods; fully discussed the principle of Networked Predictive Control Algorithm and design of each block; explained different ways of delay measurement; finally, the simulations and experiments results were given to testify the effectiveness of the design.更多还原