网络控制系统的控制器与通信协议的研究与设计
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摘要
网络控制系统(Networked Control Systems, NCS)是指基于网络的自动控制系统,它是自动控制与通信技术结合的产物。网络控制系统中的网络是指工业控制网络。控制网络带来了自控系统可靠性、经济性、安装维护性和系统集成性,但同时也给NCS带来了诸如网络诱导时延等不利因素,成为控制系统设计的难点,使NCS的分析和设计复杂化,给NCS的应用带来了新的不利影响。
根据控制网络的特点,设计NCS控制器是NCS研究的一个基本问题;而设计满足一定性能要求的网络通信协议是NCS研究的另一个基本问题。本文从这两个方面开展工作。一方面是根据控制网络设计NCS的控制器算法。将现有工业网络分为确定性和不确定性两类,分别分析其系统特点,设计控制算法;另一方面,从工业网络的协议设计入手,介绍基于工业串行通信的现场总线的协议设计过程和评价指标,并介绍了基于TCP/IP的工业以太网通信协议的设计过程和评价指标。主要内容如下:
(1)对于确定性的NCS,研究了NCS的时延关系,提出了等效采样方法,给出时延与稳定性之间关系,介绍了确定性的NCS控制器设计方法和设计过程,并给出仿真实例。对于不确定性的NCS,本章对相关研究成果进行了总结,研究了非确定性的NCS的时延关系、系统模型、稳定条件和控制器设计方法和设计过程。
研究了NCS的模糊PID的设计过程,当网络诱导的延时发生变化时,智能控制比单纯PID控制具有更好的鲁棒性;对于长延时的网络控制系统,本文研究了NCS的Smith预估PID控制器的设计。
(2)研究了三种不同总线控制方式下的现场总线通信协议设计的方法和过程。在理论设计的基础上,进行了不同总线控制方式下的现场总线通信实验。在简化的通信协议基础上,进行了性能分析和比较。
(3)分别研究了基于TCP/IP模型和基于UDP/IP模型的工业以太网通信协议的设计过程,并提出了工业网络性能的评价指标。在理论设计的基础上,进行了模拟实验,测试了网络实时性能。
(4)研究了硬件在线仿真平台的构建,提出了理论与硬件在线仿真相结合的设计方法,即用平均时延对系统进行理论设计,再在硬件在线仿真平台上进行仿真和参数选择。
(5)智能传感器的设计是网络控制系统设计的重要内容。在工业以太网TCP/IP模型中,基于复用和跨层技术,研究了智能传感器的硬件和软件设计的过程。
(6)研究了多层网络间的数据关系,定义了数据关系的概念,提出了多层网络自上而下和自下而上两种数据传输方向上的数据对应关系,并对数据关系的规律进了总结。以多节点除湿机监控系统为例,介绍了监控网络中具体的数据关系的应用方法。
With the development of automation and communication, networked control systems (NCS) are brought into use in industrial plants. Networks, which are normally called industrial control networks, improve the control properties such as reliability, economy, fixing, maintenance and system integration. In the same time, networks bring network-induced delay into NCS, which will decrease the control properties and even lead the NCS to instability. Design of the control systems with networks becomes a complex and hard work.
There are two ways to analysis and design networked control systems. One is to design control algorithm beyond the existing industrial networks, and the other is to design industrial network based on the full-fledged control theory, which were both studied in this paper. Networks can be divided to two kinds: uncertain delay and certain delay NCS. Scheduling and design for two sorts NCSs were presented. In the other hand, a new design method of industrial Ethernet communication protocol based on TCP/IP was presented, including the design method and the design process. The main research works are concluded as follows:
(1) For the certain delay NCS, the equivalent sample theory and its application in analysis of networked control system (NCS) were presented. After analyzing NCS’s scheduling in master-slave mode, the theory of equivalent sample was presented, based on which the stability and design method of this kind of NCS were analyzed. For the uncertain delay NCS, scheduling, model, stability and control design were summarized. The controller designs of NCS with fuzzy PID, NN PID and Smith compensation PID were presented.
(2) The design methods of field bus protocols with three different bus-control ways were shown. With the experiments of the communications, the performances of different protocols were compared.
(3) Designs about the industrial networks protocol based on TCP/IP and UDP/IP were achieved. The performance evaluation methods of industrial networks were expressed, in which the real-time property is the most important performance. The experiments of the network response time were shown; whose results confirmed that protocol with UDP/IP was better in real-time property than protocol based on TCP/IP.
(4) With analysis time delays about two sorts of networks, a new hardware-in-the-loop simulation device is introduced, and a new design method of NCS is presented. Firstly design the system based on average delay, and then simulate the system and choose the suitable parameters on the hardware-in-the-loop simulation.
(5) Design of the intelligent sensor is an important job of the networked control system. The technologies of multiplex and cross-lays were applied in the model of TCP/IP, based on which the design method and process of intelligent sensor were presented.
(6) Data relationships among networks were presented. The concept of data relationship was provided, and two kinds of data relationships, including from bottom to top and from top to bottom, were shown. An example named multi-point dehumidifier monitor system was shown, based on which the applyment method of data relationships was presented.
根据控制网络的特点,设计NCS控制器是NCS研究的一个基本问题;而设计满足一定性能要求的网络通信协议是NCS研究的另一个基本问题。本文从这两个方面开展工作。一方面是根据控制网络设计NCS的控制器算法。将现有工业网络分为确定性和不确定性两类,分别分析其系统特点,设计控制算法;另一方面,从工业网络的协议设计入手,介绍基于工业串行通信的现场总线的协议设计过程和评价指标,并介绍了基于TCP/IP的工业以太网通信协议的设计过程和评价指标。主要内容如下:
(1)对于确定性的NCS,研究了NCS的时延关系,提出了等效采样方法,给出时延与稳定性之间关系,介绍了确定性的NCS控制器设计方法和设计过程,并给出仿真实例。对于不确定性的NCS,本章对相关研究成果进行了总结,研究了非确定性的NCS的时延关系、系统模型、稳定条件和控制器设计方法和设计过程。
研究了NCS的模糊PID的设计过程,当网络诱导的延时发生变化时,智能控制比单纯PID控制具有更好的鲁棒性;对于长延时的网络控制系统,本文研究了NCS的Smith预估PID控制器的设计。
(2)研究了三种不同总线控制方式下的现场总线通信协议设计的方法和过程。在理论设计的基础上,进行了不同总线控制方式下的现场总线通信实验。在简化的通信协议基础上,进行了性能分析和比较。
(3)分别研究了基于TCP/IP模型和基于UDP/IP模型的工业以太网通信协议的设计过程,并提出了工业网络性能的评价指标。在理论设计的基础上,进行了模拟实验,测试了网络实时性能。
(4)研究了硬件在线仿真平台的构建,提出了理论与硬件在线仿真相结合的设计方法,即用平均时延对系统进行理论设计,再在硬件在线仿真平台上进行仿真和参数选择。
(5)智能传感器的设计是网络控制系统设计的重要内容。在工业以太网TCP/IP模型中,基于复用和跨层技术,研究了智能传感器的硬件和软件设计的过程。
(6)研究了多层网络间的数据关系,定义了数据关系的概念,提出了多层网络自上而下和自下而上两种数据传输方向上的数据对应关系,并对数据关系的规律进了总结。以多节点除湿机监控系统为例,介绍了监控网络中具体的数据关系的应用方法。
With the development of automation and communication, networked control systems (NCS) are brought into use in industrial plants. Networks, which are normally called industrial control networks, improve the control properties such as reliability, economy, fixing, maintenance and system integration. In the same time, networks bring network-induced delay into NCS, which will decrease the control properties and even lead the NCS to instability. Design of the control systems with networks becomes a complex and hard work.
There are two ways to analysis and design networked control systems. One is to design control algorithm beyond the existing industrial networks, and the other is to design industrial network based on the full-fledged control theory, which were both studied in this paper. Networks can be divided to two kinds: uncertain delay and certain delay NCS. Scheduling and design for two sorts NCSs were presented. In the other hand, a new design method of industrial Ethernet communication protocol based on TCP/IP was presented, including the design method and the design process. The main research works are concluded as follows:
(1) For the certain delay NCS, the equivalent sample theory and its application in analysis of networked control system (NCS) were presented. After analyzing NCS’s scheduling in master-slave mode, the theory of equivalent sample was presented, based on which the stability and design method of this kind of NCS were analyzed. For the uncertain delay NCS, scheduling, model, stability and control design were summarized. The controller designs of NCS with fuzzy PID, NN PID and Smith compensation PID were presented.
(2) The design methods of field bus protocols with three different bus-control ways were shown. With the experiments of the communications, the performances of different protocols were compared.
(3) Designs about the industrial networks protocol based on TCP/IP and UDP/IP were achieved. The performance evaluation methods of industrial networks were expressed, in which the real-time property is the most important performance. The experiments of the network response time were shown; whose results confirmed that protocol with UDP/IP was better in real-time property than protocol based on TCP/IP.
(4) With analysis time delays about two sorts of networks, a new hardware-in-the-loop simulation device is introduced, and a new design method of NCS is presented. Firstly design the system based on average delay, and then simulate the system and choose the suitable parameters on the hardware-in-the-loop simulation.
(5) Design of the intelligent sensor is an important job of the networked control system. The technologies of multiplex and cross-lays were applied in the model of TCP/IP, based on which the design method and process of intelligent sensor were presented.
(6) Data relationships among networks were presented. The concept of data relationship was provided, and two kinds of data relationships, including from bottom to top and from top to bottom, were shown. An example named multi-point dehumidifier monitor system was shown, based on which the applyment method of data relationships was presented.
引文
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