控制系统网络虚拟实验室研究、设计与实现
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摘要
虚拟实验室随着计算机技术的高速发展而发展。以前，虚拟实验室的发布，通常是以随书光盘的方式，而现在是采用网络，特别是因特网(Internet)，一种全新的方式。这种方式具有信息传递的快速性，无时间地点限制(At Any Time and Any Place)、丰富的友好图形操作见面(GUI)等优点，这些是目前其它任何方式所无法比拟的。利用计算机网络技术作为它新的传播实现工具，大大方便了用户。虚拟实验室的应用必将广泛的流行起来。
本文研究了控制系统网络虚拟实验室的设计与实现问题。取得了以下主要研究结果：
1．提出了虚拟实验室结构—一个基于浏览器—Web服务器(B／S，Browser／Server)和客户／服务器(C／S，Client／Server)相合并的全新结构。
2．基于B—S结构的虚拟实验室网站设计与实现。
3．基于C—S结构的客户端程序和服务器程序的设计与实现。
4．计算机仿真软件—Matlab／Simulink中的模型文件及相关算法的设计与实现。
5．两个实例的具体实现。
本文还简略介绍了构建控制系统网络虚拟实验室所用到的相关技术。这些技术包括了网页设计技术、Java程序设计语言、数据库接口、网络原理及Matlab／Simulink等。
最后对全文的工作进行了总结，对网络虚拟实验室的进一步的发展与研究方向作了展望。
Virtual Laboratory develops with the same pace of computer technology. The old way of publishing Virtual Laboratory was usually Compact Disc sold with book. And now, a latest way of using network, specially using Internet, is adopted. This way has many advantages such as quick transferring, no time and no place limited, abundant friendly graphic operation interface (GUI) and so on, which other ways are not surpassed by now. Using Computer Networked Technology as its new transferring medium makes it very convenient for clients so that Virtual Laboratory is applicable in more and more areas.
Design and realization of the Networked Virtual Laboratory of Control Systems are introduced in this thesis. The main contents and contributions of the thesis are as follows:
1. Virtual Laboratory Structure Design - a completely new structure is the compound of a Browser/Server(B/S)-based structure and another Client/Server (C/S)-based structure.
2. A web site design of the B/S structure-based Virtual Laboratory.
3. The design and realization of a C/S structure-based client and server program.
4. Model files, Algorithm Design and Realization by using computer simulation software-Matlab/Simulink.
5. Two examples are implemented based on above approach.
At the same time, the relative technologies about constructing Networked Virtual Laboratory of Control Systems are introduced, which include Web Pages design, Java language, Database Interface, Principle of Network and Matlab/Simlink software, etc.
Finally, the whole thesis is summarized. Further development and research directions are discussed.
本文研究了控制系统网络虚拟实验室的设计与实现问题。取得了以下主要研究结果：
1．提出了虚拟实验室结构—一个基于浏览器—Web服务器(B／S，Browser／Server)和客户／服务器(C／S，Client／Server)相合并的全新结构。
2．基于B—S结构的虚拟实验室网站设计与实现。
3．基于C—S结构的客户端程序和服务器程序的设计与实现。
4．计算机仿真软件—Matlab／Simulink中的模型文件及相关算法的设计与实现。
5．两个实例的具体实现。
本文还简略介绍了构建控制系统网络虚拟实验室所用到的相关技术。这些技术包括了网页设计技术、Java程序设计语言、数据库接口、网络原理及Matlab／Simulink等。
最后对全文的工作进行了总结，对网络虚拟实验室的进一步的发展与研究方向作了展望。
Virtual Laboratory develops with the same pace of computer technology. The old way of publishing Virtual Laboratory was usually Compact Disc sold with book. And now, a latest way of using network, specially using Internet, is adopted. This way has many advantages such as quick transferring, no time and no place limited, abundant friendly graphic operation interface (GUI) and so on, which other ways are not surpassed by now. Using Computer Networked Technology as its new transferring medium makes it very convenient for clients so that Virtual Laboratory is applicable in more and more areas.
Design and realization of the Networked Virtual Laboratory of Control Systems are introduced in this thesis. The main contents and contributions of the thesis are as follows:
1. Virtual Laboratory Structure Design - a completely new structure is the compound of a Browser/Server(B/S)-based structure and another Client/Server (C/S)-based structure.
2. A web site design of the B/S structure-based Virtual Laboratory.
3. The design and realization of a C/S structure-based client and server program.
4. Model files, Algorithm Design and Realization by using computer simulation software-Matlab/Simulink.
5. Two examples are implemented based on above approach.
At the same time, the relative technologies about constructing Networked Virtual Laboratory of Control Systems are introduced, which include Web Pages design, Java language, Database Interface, Principle of Network and Matlab/Simlink software, etc.
Finally, the whole thesis is summarized. Further development and research directions are discussed.
引文
1 C C Ko, B M Chen, S Y Hu, V Ramakrishnan, C D Cheng, Y Zhuang and J. Chen. A web-based virtual laboratory on a frequency modulation experiment. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, Vol. 31, No. 3, pp. 295-303, August 2001
2 C C Ko, B M Chen, J Chen, Y Zhuang, K C. Tan. Development of a web-based laboratory for control experiments on A coupled tank apparatus. IEEE Transactions on Education, Vol.44, No. 1, pp. 76-86, February 2001
3 C C Ko, B M Chen, S H Chen, V Ramakrishnan, R Chen, S Y Hu, Y Zhuang. A large scale web-based virtual oscilloscope laboratory experiment. IEEE Engineering Science and Education Journal, Vol. 9, No.2, pp.69-76, April 2000
4 Frederick A Senese, Christopher Bender, Jennifer Kile. The Internet chemistry Set: web-based remote laboratories for distance education in chemistry. Frostburg State University
5 黄萍．基于虚拟仪器测控系统设计和研究．南京理工大学硕士学位论文，2002，1
6 G Choy, D R Parker, J N d'Amour, J L Spencer. Remote experimentation: A web-operable two-phase flow experiment. Department of Chemical Engineering and Applied Chemistry Columbia University, New York, NY
7 Andreas Jochheim, Christof Rohrig. The virtual Lab for tele-operated control of real experiments. Department of Electrical Engineering University of Hagen, D-58084 Hagen, Germany
8 C L Churms, V M Prozesky, K A Springhorn. The remote control of nuclear microprobes over the Internet. Van de Graa Group, National Accelerator Centre, P.O. Box 72, Faure 7131, South Africa
9 胡志强，胡钧等．基于互联网的扫描探针显微镜远程控制研究．高技术通讯，2000，10
10 李小海，王旭永，陈锦刚．基于WWW的机器人远程控制的关键技术及典型实现．工业控制计算机，2000，2
11 Dae Ryook Yang, Jay H.Lee. Java applet modules for undergraduate process control education. Proceedings of the American Control Conference, Denver, Colorado, pp.694—699, June4-6, 2003
12 Graham C Goodwin, Steian F Graebe, Mario E Saigado. 控制系统设计．北京：清华大学出版社，2002，1
13 M Guggisberg, P.Fronaro, T Gyalog, H Burkhart. An interdisciplinary virtual laboratory on nanoscience. Future Generation Computer Systems, pp.133-141, Vol 19, 2003
14 李诚，学勤等编．Java 2简明教程，北京：清华大学出版社，2002，7
15 Abraham Siberschatz，Peter Baer Galvin，Greg Gagne．操作系统概念(影印版)，第六版，北京：高等教育出版社，2002，5
16 王鹏ASP网络编程实例，北京：中国电力出版社，2001，9
17 孟小峰，周胜译．开放数据库互连——ODBC 2使用大全，北京：清华大学出版社，1995，11
18 张志涌，徐彦琴编著．MATLAB教程-基于6.x版本，北京：北京航空航天大学出版社，2001，4
19 肖永生等编．计算机网络原理与应用，北京：北京航空航天大学出版社，2001，8
20 Mohamed Abdelrahman, Abdul Rashed. A methodology for development of configurable remote access measurement System, ISA Transactions, pp.441-458, Vol 39, 2000
21 Song You, Tianmiao Wang, Roy Eagleson, Cai Meng, Qixian Zhang. A low-cost interact-based telerobotic system for access to remote laboratories. Artificial Intelligence in Engineering, pp.265-279, Vol 15, 2001
22 G Bergoni, M Crisci, L Daga, A Mirri. A virtual laboratory on satellite-based navigation, Control Engineering Practice, pp. 559-568, Vol 11, 2003
23 Douglas E Comer．David L Stevens．TCP／IP网络互连技术(卷Ⅲ)．客户／服务器编程和应用(Windows套接字版)，北京：清华大学出版社，1998，10
24 郑笑建．控制系统网络虚拟实验室的研究与开发．浙江工业大学硕士学位论文，2004，4
25 汪琼．网上教学支撑平台现状分析．电化教育研究，2000，8
26 董艳，黄荣怀．浅析基于网络的远程教学模式．教育技术通讯，2002，4
27 何克抗．网络教学结构与模式探讨．教育技术通讯，2001，2
28 龚俭编著．计算机网络安全导论，南京：东南大学出版社，2000，8
29 丁兴富．远程教育的全球化趋势．广播电视大学学报(哲学社会科学版)，2001，4
30 都珂．具有输入—输出噪声的线性系统无偏最小二乘参数辨识．中南工业大学硕士学位论文，2001，1
31 谢启．预测函数控制技术及其应用研究．浙江工业大学硕士学位论文，2002，12
32 陶永华，尹怡欣等．新型PID控制及其应用，北京：机械工业出版社，1998，9
33 [美] FG 欣斯基．过程控制系统，第二版，北京：化学工业出版社，1982，4
34 冯培悌．系统辨识，杭州：浙江大学出版社，1999，5
35 方崇智，萧德云．过程辨识，北京：清华大学出版社，2002，7
36 张玉铎编．系统辨识与建模，北京：水利水电出版社，1995，11
37 刘小锋．基于神经网络的航空发动机系统辨识．西北工业大学硕士学位论文，1999，7
38 曹柳林．神经元网络型辨识器与控制器．北京化工大学学报，1996，1
39 Vinay Prasad, B Wayne Bequette. Nonlinear System Identification and Model Reduction Using Artificial Neural Networks. Computers & Chemical Engineering, pp.1741-1754, Vol27, December 15, 2003
40 徐惠民，余雄庆，薛飞．基于神经网络的飞机主要参数估算方法．南京航空航天大学学报，2003，2
41 许晓鸣，蔡云泽，张卫东，全亚斌．基于双边迭代奇异值分解的递推子空间辨识方法．上海交通大学学报，2002，4
42 宗学军，樊立萍，袁德成，丁仁宏．感应电机动态特性的双线性子空间辨识．研究沈阳化工学院学报，2002，1
43 吴亚锋．子空间系统辨识方法及其在复杂结构中的应用．西北工业大学博士学位论文，2001，10
44 美埃克尔(Eckel，B．)著．Java编程思想(英文版)，第2版，北京：机械工业出版社，2002，1
45 郭尚来编．随机控制．北京：清华大学出版社，1999，11
46 吴斌．发动机排气自适应有源消声关键技术的研究．北京工业大学博士论文，2001，10
47 王柳鋐著．Java Applet在WWW上的应用，哈尔滨：哈尔滨工程大学出社，1997，4
48 C C Ko, Ben M Chen, C M Loke, C D Cheng, X Xiang, A K Eapen and T S Lim. Automation in creating Java 3D-based Virtual Instruments. The 2002 International Conference on Software Engineering Research and Practice, Las Vegas, USA, June 24-27, 2002
49 C C Ko, Ben M Chen, K P Chan, C D Cheng, G W Zeng and J Zhang, A Webcast Virtual Laboratory on a Frequency Modulation Experiment, IEEE Conference on Decision and Control, Orlando, FL, December 4-7, 2001
50 R M Parkin,C A Czamecki, R Safaric, D W Calkin. A PID servo control system experiment conducted remotely via Intemet. Mechantronics, 12(2002)833-843
51 S H Chen, R Chen, V Rarnakrishnan, S Y Hu, Y Zhuang, C C Ko and B M Chen, Development of remote laboratory experimentation through Internet, Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, pp. 756-760, July 1999.
52 Jing Zhang, Jianping Chen, C C Ko, Ben M Chen, S S Ge, A Web-Based laboratory on control of a Two-Degree-of-Freedom helicopter, IEEE Conference on Decision and Control, Orlando, FL, December 4-7, 2001.
2 C C Ko, B M Chen, J Chen, Y Zhuang, K C. Tan. Development of a web-based laboratory for control experiments on A coupled tank apparatus. IEEE Transactions on Education, Vol.44, No. 1, pp. 76-86, February 2001
3 C C Ko, B M Chen, S H Chen, V Ramakrishnan, R Chen, S Y Hu, Y Zhuang. A large scale web-based virtual oscilloscope laboratory experiment. IEEE Engineering Science and Education Journal, Vol. 9, No.2, pp.69-76, April 2000
4 Frederick A Senese, Christopher Bender, Jennifer Kile. The Internet chemistry Set: web-based remote laboratories for distance education in chemistry. Frostburg State University
5 黄萍．基于虚拟仪器测控系统设计和研究．南京理工大学硕士学位论文，2002，1
6 G Choy, D R Parker, J N d'Amour, J L Spencer. Remote experimentation: A web-operable two-phase flow experiment. Department of Chemical Engineering and Applied Chemistry Columbia University, New York, NY
7 Andreas Jochheim, Christof Rohrig. The virtual Lab for tele-operated control of real experiments. Department of Electrical Engineering University of Hagen, D-58084 Hagen, Germany
8 C L Churms, V M Prozesky, K A Springhorn. The remote control of nuclear microprobes over the Internet. Van de Graa Group, National Accelerator Centre, P.O. Box 72, Faure 7131, South Africa
9 胡志强，胡钧等．基于互联网的扫描探针显微镜远程控制研究．高技术通讯，2000，10
10 李小海，王旭永，陈锦刚．基于WWW的机器人远程控制的关键技术及典型实现．工业控制计算机，2000，2
11 Dae Ryook Yang, Jay H.Lee. Java applet modules for undergraduate process control education. Proceedings of the American Control Conference, Denver, Colorado, pp.694—699, June4-6, 2003
12 Graham C Goodwin, Steian F Graebe, Mario E Saigado. 控制系统设计．北京：清华大学出版社，2002，1
13 M Guggisberg, P.Fronaro, T Gyalog, H Burkhart. An interdisciplinary virtual laboratory on nanoscience. Future Generation Computer Systems, pp.133-141, Vol 19, 2003
14 李诚，学勤等编．Java 2简明教程，北京：清华大学出版社，2002，7
15 Abraham Siberschatz，Peter Baer Galvin，Greg Gagne．操作系统概念(影印版)，第六版，北京：高等教育出版社，2002，5
16 王鹏ASP网络编程实例，北京：中国电力出版社，2001，9
17 孟小峰，周胜译．开放数据库互连——ODBC 2使用大全，北京：清华大学出版社，1995，11
18 张志涌，徐彦琴编著．MATLAB教程-基于6.x版本，北京：北京航空航天大学出版社，2001，4
19 肖永生等编．计算机网络原理与应用，北京：北京航空航天大学出版社，2001，8
20 Mohamed Abdelrahman, Abdul Rashed. A methodology for development of configurable remote access measurement System, ISA Transactions, pp.441-458, Vol 39, 2000
21 Song You, Tianmiao Wang, Roy Eagleson, Cai Meng, Qixian Zhang. A low-cost interact-based telerobotic system for access to remote laboratories. Artificial Intelligence in Engineering, pp.265-279, Vol 15, 2001
22 G Bergoni, M Crisci, L Daga, A Mirri. A virtual laboratory on satellite-based navigation, Control Engineering Practice, pp. 559-568, Vol 11, 2003
23 Douglas E Comer．David L Stevens．TCP／IP网络互连技术(卷Ⅲ)．客户／服务器编程和应用(Windows套接字版)，北京：清华大学出版社，1998，10
24 郑笑建．控制系统网络虚拟实验室的研究与开发．浙江工业大学硕士学位论文，2004，4
25 汪琼．网上教学支撑平台现状分析．电化教育研究，2000，8
26 董艳，黄荣怀．浅析基于网络的远程教学模式．教育技术通讯，2002，4
27 何克抗．网络教学结构与模式探讨．教育技术通讯，2001，2
28 龚俭编著．计算机网络安全导论，南京：东南大学出版社，2000，8
29 丁兴富．远程教育的全球化趋势．广播电视大学学报(哲学社会科学版)，2001，4
30 都珂．具有输入—输出噪声的线性系统无偏最小二乘参数辨识．中南工业大学硕士学位论文，2001，1
31 谢启．预测函数控制技术及其应用研究．浙江工业大学硕士学位论文，2002，12
32 陶永华，尹怡欣等．新型PID控制及其应用，北京：机械工业出版社，1998，9
33 [美] FG 欣斯基．过程控制系统，第二版，北京：化学工业出版社，1982，4
34 冯培悌．系统辨识，杭州：浙江大学出版社，1999，5
35 方崇智，萧德云．过程辨识，北京：清华大学出版社，2002，7
36 张玉铎编．系统辨识与建模，北京：水利水电出版社，1995，11
37 刘小锋．基于神经网络的航空发动机系统辨识．西北工业大学硕士学位论文，1999，7
38 曹柳林．神经元网络型辨识器与控制器．北京化工大学学报，1996，1
39 Vinay Prasad, B Wayne Bequette. Nonlinear System Identification and Model Reduction Using Artificial Neural Networks. Computers & Chemical Engineering, pp.1741-1754, Vol27, December 15, 2003
40 徐惠民，余雄庆，薛飞．基于神经网络的飞机主要参数估算方法．南京航空航天大学学报，2003，2
41 许晓鸣，蔡云泽，张卫东，全亚斌．基于双边迭代奇异值分解的递推子空间辨识方法．上海交通大学学报，2002，4
42 宗学军，樊立萍，袁德成，丁仁宏．感应电机动态特性的双线性子空间辨识．研究沈阳化工学院学报，2002，1
43 吴亚锋．子空间系统辨识方法及其在复杂结构中的应用．西北工业大学博士学位论文，2001，10
44 美埃克尔(Eckel，B．)著．Java编程思想(英文版)，第2版，北京：机械工业出版社，2002，1
45 郭尚来编．随机控制．北京：清华大学出版社，1999，11
46 吴斌．发动机排气自适应有源消声关键技术的研究．北京工业大学博士论文，2001，10
47 王柳鋐著．Java Applet在WWW上的应用，哈尔滨：哈尔滨工程大学出社，1997，4
48 C C Ko, Ben M Chen, C M Loke, C D Cheng, X Xiang, A K Eapen and T S Lim. Automation in creating Java 3D-based Virtual Instruments. The 2002 International Conference on Software Engineering Research and Practice, Las Vegas, USA, June 24-27, 2002
49 C C Ko, Ben M Chen, K P Chan, C D Cheng, G W Zeng and J Zhang, A Webcast Virtual Laboratory on a Frequency Modulation Experiment, IEEE Conference on Decision and Control, Orlando, FL, December 4-7, 2001
50 R M Parkin,C A Czamecki, R Safaric, D W Calkin. A PID servo control system experiment conducted remotely via Intemet. Mechantronics, 12(2002)833-843
51 S H Chen, R Chen, V Rarnakrishnan, S Y Hu, Y Zhuang, C C Ko and B M Chen, Development of remote laboratory experimentation through Internet, Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, pp. 756-760, July 1999.
52 Jing Zhang, Jianping Chen, C C Ko, Ben M Chen, S S Ge, A Web-Based laboratory on control of a Two-Degree-of-Freedom helicopter, IEEE Conference on Decision and Control, Orlando, FL, December 4-7, 2001.