网络环境下直流电机的时延补偿和控制
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摘要
过去的二十年间，网络通信技术得到长足发展，其在工业控制领域也扮演越来越重要的角色。基于网络的控制系统(Network-based Control System，NCS)又称网络控制系统(Networked Control System)，就是在现实的分布式控制需求和网络通信技术发展的推动下产生的一种新型的控制系统体系。它是指传感器，控制器，执行器等通过实时网络构成闭环的反馈控制系统。
在网络控制系统的应用中，存在的一个最重要问题是网络传输造成的时延及其对控制系统性能的影响。这一问题会造成系统控制性能下降，如响应缓慢，超调增加，振荡加剧等，严重的甚至使系统不稳定。网络控制系统的另外一个重要问题是数据包丢失，它对系统性能也有重要影响。
本文分析了网络控制系统存在的主要问题，回顾了当前已经提出的用于网络控制系统的主要技术。并具体分析了以以太网为网络媒介的网络控制系统的时延特性，并在一定的假设条件下建立了简化的以太网时延模型。本文进而提出了基于Levinson预测器的网络控制系统的时延补偿方法。该方法以预测器的超前n步预测输出作为反馈信号，以补偿系统输出数据延迟造成的系统控制性能恶化。文中以一个网络环境下的直流电机作为控制对象，利用Levinson预测器进行时延补偿，并采用PI控制器和单神经元控制器，实现了直流电机的时延补偿和控制。仿真结果验证了时延补偿方法的有效性。文中也讨论了基于Levinson预测器的时延补偿方案的局限性。文中最后分析了数据包丢失问题，建立了有数据包丢失的网络的仿真模型，以此模型为基础，通过仿真考察了数据丢失对直流电机控制性能的影响。
Networked Control System (NCS), i.e. Network-based Control System, is a control system architecture in which all control system components are connected together to build feedback control loops by a real-time network.
Compared with traditional centralized point-to-point control systems, networked control systems provide several advantages such as reduction of wiring and cost, easy installation and maintenance, high reliability and flexibility. But networks also bring several new problems to control systems, among which network-induced delay and data packets dropout are the most important ones. Without proper consideration, network-induced delay can degrade the performance of control system and even destabilize the system. Data packets dropout also can influence the system performance greatly.
In this thesis, the delay characteristic of Ethernet is analyzed. Then a simplified delay model of Ethernet is built under several assumptions. A delay compensation scheme based on Levinson predictor is proposed. The predictor provides p steps ahead prediction of the plant output to controller so that the delay effect on system output can be compensated. The estimation of Levinson predictor's parameters and ordering is also introduced. A networked DC motor is picked as an example to illustrate the efficiency of the delay compensation scheme. The simulation results show that the Levinson predictor based delay compensation scheme reduces the delay effect on system and makes system settling down quicker. Limitation of the Levinson predictor based delay compensation scheme is analyzed. A simulation model of the network with packets dropout is built and the performance of networked DC motor with data packets dropout is given. The thesis concludes with the future works.
在网络控制系统的应用中，存在的一个最重要问题是网络传输造成的时延及其对控制系统性能的影响。这一问题会造成系统控制性能下降，如响应缓慢，超调增加，振荡加剧等，严重的甚至使系统不稳定。网络控制系统的另外一个重要问题是数据包丢失，它对系统性能也有重要影响。
本文分析了网络控制系统存在的主要问题，回顾了当前已经提出的用于网络控制系统的主要技术。并具体分析了以以太网为网络媒介的网络控制系统的时延特性，并在一定的假设条件下建立了简化的以太网时延模型。本文进而提出了基于Levinson预测器的网络控制系统的时延补偿方法。该方法以预测器的超前n步预测输出作为反馈信号，以补偿系统输出数据延迟造成的系统控制性能恶化。文中以一个网络环境下的直流电机作为控制对象，利用Levinson预测器进行时延补偿，并采用PI控制器和单神经元控制器，实现了直流电机的时延补偿和控制。仿真结果验证了时延补偿方法的有效性。文中也讨论了基于Levinson预测器的时延补偿方案的局限性。文中最后分析了数据包丢失问题，建立了有数据包丢失的网络的仿真模型，以此模型为基础，通过仿真考察了数据丢失对直流电机控制性能的影响。
Networked Control System (NCS), i.e. Network-based Control System, is a control system architecture in which all control system components are connected together to build feedback control loops by a real-time network.
Compared with traditional centralized point-to-point control systems, networked control systems provide several advantages such as reduction of wiring and cost, easy installation and maintenance, high reliability and flexibility. But networks also bring several new problems to control systems, among which network-induced delay and data packets dropout are the most important ones. Without proper consideration, network-induced delay can degrade the performance of control system and even destabilize the system. Data packets dropout also can influence the system performance greatly.
In this thesis, the delay characteristic of Ethernet is analyzed. Then a simplified delay model of Ethernet is built under several assumptions. A delay compensation scheme based on Levinson predictor is proposed. The predictor provides p steps ahead prediction of the plant output to controller so that the delay effect on system output can be compensated. The estimation of Levinson predictor's parameters and ordering is also introduced. A networked DC motor is picked as an example to illustrate the efficiency of the delay compensation scheme. The simulation results show that the Levinson predictor based delay compensation scheme reduces the delay effect on system and makes system settling down quicker. Limitation of the Levinson predictor based delay compensation scheme is analyzed. A simulation model of the network with packets dropout is built and the performance of networked DC motor with data packets dropout is given. The thesis concludes with the future works.
引文
[1] Y. Halevi, A. Ray. Integrated communication and control systems: part Ⅰ -analysis[J].Journal of Dynamic Systems, Measurement and Control, 1988, Vol.110:367-373
[2] A. Ray, Y. Halevi. Integrated communication and control systems: part Ⅱ -design considerations[J]. Journal of Dynamic Systems, Measurement and Control, 1988,Vol.110:374-381
[3] Luen-Woei Liou, A. Ray. Integrated communication and control systems: part Ⅲ-nonidentical sensor and controller sampling[J]. Journal of Dynamic Systems, Measurement and Control ,1990,Vol.112:357-364
[4] J. Nilsson. Real-time control systems with delays[D]. Sweden: Dept. of Automatic Control, Lund Institute of Technology, Jan. 1998.
[5] Wei Zhang. Stability analysis of networked control systems[D]. U.S.A: Case Western Reserve University, 2001
[6] M.Y. Chow, Y. Tipsuwan. Network-based control systems: a tutorial[A]. Proceedings of IEEE IECON'01[C]. U,S.A, IEEE, 2001. 1593-1602
[7] Feng-Li Lian. Analysis, design modeling and control of NCSs[D]. U.S.A: University of Michigan,2001
[8] R. Luck, A. Ray. An observer-based compensator for distributed delays[J]. Automatica,1990, Vol.26:903-908
[9] H. Chan, U. Ozguner. Closed-loop control of systems over a communication network with queues[J]. International Journal of Control, 1994, Vol.62:493-510
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and deterioration[A]. Proceedings of IECON'01 [C]. U.S.A.: IEEE, 2001.1794-1799
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[2] A. Ray, Y. Halevi. Integrated communication and control systems: part Ⅱ -design considerations[J]. Journal of Dynamic Systems, Measurement and Control, 1988,Vol.110:374-381
[3] Luen-Woei Liou, A. Ray. Integrated communication and control systems: part Ⅲ-nonidentical sensor and controller sampling[J]. Journal of Dynamic Systems, Measurement and Control ,1990,Vol.112:357-364
[4] J. Nilsson. Real-time control systems with delays[D]. Sweden: Dept. of Automatic Control, Lund Institute of Technology, Jan. 1998.
[5] Wei Zhang. Stability analysis of networked control systems[D]. U.S.A: Case Western Reserve University, 2001
[6] M.Y. Chow, Y. Tipsuwan. Network-based control systems: a tutorial[A]. Proceedings of IEEE IECON'01[C]. U,S.A, IEEE, 2001. 1593-1602
[7] Feng-Li Lian. Analysis, design modeling and control of NCSs[D]. U.S.A: University of Michigan,2001
[8] R. Luck, A. Ray. An observer-based compensator for distributed delays[J]. Automatica,1990, Vol.26:903-908
[9] H. Chan, U. Ozguner. Closed-loop control of systems over a communication network with queues[J]. International Journal of Control, 1994, Vol.62:493-510
[10] G.C. Walsh, H. Ye, L. G. Bushnell. Stability analysis of networked control system[J]. IEEE Trans. On Control Systems Tech, 2002,Vol. 10[3]: 438-446
[11] S.H. Hong. Scheduling algorithm of data sampling times in the integrated communication and control systems[J]. IEEE Trans. On Control Systems Tech. Vol.3[2]: 225-230
[12] Y. H. Kim, H. S. Park, W.H.Kwon. A scheduling method for network-based control systems[A]. Proceedings ofACC1998[C]. U.S.A: IEEE, 1998. 718-722
[13] Y. Tipsuwan, M. Y. Chow. Network-based controller adaptation based on QoS negotiation
and deterioration[A]. Proceedings of IECON'01 [C]. U.S.A.: IEEE, 2001.1794-1799
[14] N.B. Almutairi. Adaptive fuzzy modulation for networked PI control systems[D]. U.S.A.:North Carolina State University, 2002
[15] O.V. Beldiman. Networked control system[D]. U.S.A.: Duke University, 2001
[16] J.K. Yook,D.M. Tilbury, N.R.Soparkar. Trading computation for band-width: reducing communication in distributed control systems using state estimators[J]. IEEE Trans. On Control System Tech, 2002,Vol. 10[4]:503-518
[17] Lei Xie, Jian-ming Zhang, Shu-qing Wang. Stability analysis of neworked control system[A]. Proceedings of the first International Conference on Machine Learning and Cybernetics[C]. Beijing: IEEE, 2002, 757-759
[18] G. Kaplan. Ethernet's winning ways. IEEE Spectrum, 2001, Jan.:113-114
[19] R.C. C aro. Ethernet wins over industrial automation. IEEE Spectrum, 2001,Jan.:114-115
[20] Y. Tipsuwan, M. Y. Chow. Control methodologies in networked control systems. Control Engineering Practice,2003,11:1099-1111
[21] F. L. Lian, J. R. Moyne, D. M. Tilbury. Performance evaluation of control networks:Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine, 2001, Feb.:66-83
[22] F.L. Lian, J. R. Moyne, D. M. Tilbury. Network design consideration for distributed control systems. IEEE Trans. On Control Systems Tech., 2002, 10[2]: 297-307
[23] F.L. Lian, J. R. Moyne, D. M. Tilbury. Time delay modeling and sample time selection for networked control systems. Proceedings of IMECE2001, New York: ASME, 2001. 1-8
[24] F. L. Lian, J. R. Moyne, D. M. Tilbury. Performance evaluation of control networks:Ethernet, ControlNet, and DeviceNet. Tech. Rep. UM-MEAM-99-02, 1999, Feb.
[25] W. Zhang, M. S. Branicky, S. M. Phillips. Stability of networked control systems. IEEE Control Systems Magazine, 2001,Feb:84-99
[26] G. C. Walsh, H. Ye. Scheduling of networked control systems. IEEE Control Systems Magazine, 2001, Feb.:57-65
[27] P.H. Bauer, M. Sichitiu, C. Lorand, K. Premaratne. Total delay compensation in LAN control system and implications for scheduling. Proc. Of ACC2001, Arlington: ACC,2001.4300-4305
[28] Y. Tipsuwan, M. Y. Chow. Network-based controller adaptation based on QoS negotiation
and deterioration. Proc. Of IECON'01, 2001.1794-1799
[29] M.Y. Chow, Y. Tipsuwan. Network-based control adaptation for network QoS variation. Proc. Of MILCOM2001, McLean, Va, 2001:257-261
[30] Y. Tipsuwan, M. Y. Chow. Gain adaptation of networked mobile robot to compensate QoS deterioration. 2002.3146-3151
[31] R.S. Raji. Smart networks for control. IEEE Spectrum, 1994, Jun.: 49-55
[32] S.Schneider. Making Ethernet working in real time. Sensors. 2000, 17
[33] P. R. Kumar. New technologies vistas for system and control. IEEE Control Systems Magazine. 2001, Feb. 24-37
[34] N.B. Almutairi, M. Y. Chow, Y. Tipsuwan. Network-based controlled DC motor with fuzzy compensation. Proc. Of IECON'01,2001, 1844-1849
[35] J. Yepez, R Marti, J. M. Fuertes. Control loop performance analysis over networked control systems. Proc. Of IECON'02, 2002, 2880-2835
[36] F.G. Wu, E C. Sun, D. Q. Xue, Z. Q. Sun. Problem and strategies of networked control systems. Proc. Of IEEE TENCON'02, 2002, 1692-1695
[37] Ray, A. Distributed data communication networks for real-time process control. Chemical Engineering Communication, 65[Mar.], 1988, 139-154.
[38] B. Wittenmark, B. Bastian, J. Nilsson. Analysis of time delays in synchronous and asynchronous control loops. Proceedings of the 37th Conference on Decision and Control, Tampa, FL, USA:1998, 283-288.
[39] G.. Schickhuber, O. McCarthy. Distributed fieldbus and control network systems. Computing & Control Engineering, 1997, Vol.8[t]: 21-32.
[40] A.S. Tanenbaum. Computer networks, third edition. Prentice Hall, 1996.
[41] R. Luck, and A. Ray, "An observer-based compensator for distributed delays.Automatica,1990, vol. 26, 903-908.
[42] R, Luck, A. Ray. Experimental verification of a delay compensation algorithm for integrated communication and control systems," International Journal of Control, vol.59,pp. 1357-1372, 1994.
[43] J.T. Teeter, Mo-Yuen Chow, J. Brinkley. A novel fuzzy friction compensation approach to improve the performance of a DC motor control system. IEEE Trans. On Industrial
Electronics, vol. 43, pp. 113-120, 1996.
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