基于以太网的网络化控制系统的研究
文献类型：学位论文
| 作者 | 聂雪媛 |
| 学位类别 | 工学博士 |
| 答辩日期 | 2005-05-01 |
| 授予单位 | 中国科学院研究生院 |
| 授予地点 | 中国科学院自动化研究所 |
| 导师 | 刘国平 |
| 关键词 | 网络化控制系统 多步网络预测控制器 半实物仿真 networked control systems multiple-step networked predictive controller hardware in loop simulation |
| 其他题名 | Research on Networked Control Systems Based on Ethernet |
| 学位专业 | 控制理论与控制工程 |
| 中文摘要 | 随着控制规模的扩大和以太网技术在工业中日益广泛的应用，基于以太网的网络化控制系统成为控制界发展和研究的热点。由于共享网络介质对控制系统带来的延时，数据包丢失，乱序等问题严重影响了系统控制性能，甚至造成系统的不稳定。因此，研究基于以太网的网络化控制系统具有非常重要的理论意义和实用价值。论文的主要内容和创新之处如下：1)完善了被控对象和控制器均采用连续形式的网络化控制系统的数学模型；建立了采用通用离散形式控制器的短时延多包传输，有/无数据包丢失的网络化控制系统模型;建立了多输入，多输出(多传感器，多执行器)，各节点均为时间驱动的网络化控制系统模型；2)设计了具有前向通道控制量延时补偿和反馈通道状态预测这两种功能的多步网络预测补偿器，并对该补偿器所组成的闭环网络化控制系统，按照确定性延时和随机延时的情况分别进行了建模和稳定性分析；3)证明了具有确定性延时的网络化控制系统，使用上述的预测控制器和状态预报器时，其设计满足分离原理；4)实现了将32位微处理器为核芯的嵌入式系统与Matlab/Simulink工程软件的无缝结合。设计了具有仿真和实现网络化控制系统功能的工具箱。该工具箱为离线仿真，半实物仿真和实际试验提供了一体化解决途径，拥有方便的代码生成/下载和实验/监控的软/硬件环境,为网络化控制的理论研究奠定基础；5)利用开发工具箱实现了局域网和广域网的网络化控制系统的离线仿真，半实物仿真和实际网络化控制系统实验，验证了本文所提出的延时补偿算法的有效性。 |
| 英文摘要 | Main work and contributions in this dissertation are described as follows. Firstly, the modeling of networked control systems is presented. The model of controlled system with the form of continuous time is improved. The models of the networked control systems with multiple packet transmission, data packet dropout are developed when network-induced delay is shorter than one sampling time. The system with multiple sensor nodes and actuator nodes is modeled when time delay is longer than one sampling time and network nodes are all time-driven. Secondly, the multiple-step networked predictive controller withprediction sequences of control signals and feedback states is designedto compensate for the delays in forward and feedback channel. Thestability of closed-loop networked control system composed of theabove mentioned controller is analyzed in term of constant delay andrandom delay. Thirdly, the separation principle is proved when the networkedpredictive controller and the state observer are used in the networked control systems with deterministic delays. Fourthly, seamless combination of 32bit ARM embedded system and Matlab/Simulink is realized and the networked control system toolkit is developed. It provides an integrative solution for off-line simulation, hardware in loop simulation and real-time experiment and can generate/download codes from block diagrams and implement experiment/supervisory control of real networked control systems. The toolkit provides the development of networked control systems theory with experiment platform. Finally, the off-line simulations, hardware in loop simulations and real experiments of networked control systems in both LAN and WAN are done to valid the efficiency of the theory. |
| 语种 | 中文 |
| 其他标识符 | 200218014603170 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/5857]  |
| 专题 | 毕业生_博士学位论文 |
| 推荐引用方式 GB/T 7714 | 聂雪媛. 基于以太网的网络化控制系统的研究[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2005. |
入库方式： OAI收割
来源：自动化研究所
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