网络化控制系统中若干问题的研究
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摘要
21世纪的控制系统将是网络与控制结合的系统。对网络化控制系统(Networked Control System,简称NCS)的研究已经成为当前自动化领域中的一个前沿课题。本文在对国内外关于网络化控制系统研究现状及进展进行分析和综述的基础上,详细地展示了作者对网络化控制系统中若干基本问题的理论研究结果及系统设计方法。
随着通信网络作为一个系统环节嵌入控制系统,这很大地丰富了工业控制技术和手段,使自动化系统与工业控制系统在体系结构、控制方法以及人机协作方法等方面都发生了较大的变化,与此同时也带来了一些新的问题,如控制与通信的耦合、分布式的控制方式等。这些新问题的出现,使得自动控制理论在网络环境下的控制方法和算法需要不断地拓展和创新。
首先,本文全面而简要地介绍了NCS的起源、发展、特点以及目前的研究现状。详细地分析了NCS中的若干基本问题、典型研究方法,同时提出了本文对NCS相关研究工作的观点和看法。
针对具有通信约束以及变速率采样的网络化控制环境,本文在采样数据系统及采样数据技术的基础上改进得到了周期性的网络化控制系统数学模型和周期性的信息调度系统数学模型,并在此基础上研究了在有系统信息丢失以及控制与通信耦合的情形下闭环NCS的渐近稳定性问题,信息调度方法的适定性问题,NCS的保性能控制和干扰抑制性能等问题。
在网络系统的资源如带宽有限的情形下,为了尽量避免丢包、拥塞以及提高网络的利用率,本文通过周期性的信息调度方法对控制系统的信息进行调度,从而减少了信息的传送量,同时通过设计周期性变化的动态反馈控制律来保持控制系统的渐近稳定和一定水平的系统性能(LQ保成本控制性能、H∞干扰抑制性能等)。在数字控制中,变速率采样的情形也常常会出现,因此我们将上述问题的研究推广到了对系统进行变速率采样的情形中并同时也用采样数据技术来研究上述的问题。
针对存在多步随机时延和异步时延的NCS模型,本文研究了其随机稳定性问题、H2/ H∞混合控制以及异步时延下的LQG控制问题。在固定的系统通信控制模式下,网络传输时延可以建模为一个Markov随机过程,同时通过增广系统状态的方法将原系统转化为一个具有随机跳变参数的广义离散系统。在此离散模型的基础上,我们得到了保持系
统随机稳定的充分条件并分别给出了在H∞性能指标、H2/ H∞混合性能指标下系统干扰抑制的设计方法。
在异步时延下,通过对系统估计模型的转化和系统状态的多步预测,能够较好地解决不同信道具有不同信息延迟的系统的LQG控制问题。在这一部分的工作中也给出了这个问题的设计过程。
由于控制系统的性能在一定程度上受网络系统性能的影响,针对网络中信息的平均排队时延和信号量化误差,本文探讨了在给定信息路由方式和确定的优化性能指标下,对网络通信资源分配的优化问题。在凸优化问题的框架下,通过对网络中各链路的平均信息流量,传输比特率以及信道传输能量等网络参数的优化配置从而达到信息延迟的最小化和信道噪声的最小化。
在一定的条件下,针对控制系统的设计与优化,我们给出了一个信息时延最小化的性能指标,同时在不同的性能指标下对上述的两个优化问题给出了详细的设计、求解过程。
针对NCS中上述的系统特点和动态特性,本文接着研究了在NCS中有信息损失和存在异步信息时延的情形下对系统进行故障检测的问题,并提出了一个在异步时延下进行控制系统故障检测的系统数学模型。
针对在信息调度下和变速率采样的NCS模型,通过设计一组动态反馈故障检测滤波器,对系统发生的故障进行跟踪检测。在这种设计方法下,保证了在有系统信息损失以及变速率采样时一定水平上(良好)的故障检测性能。
针对网络化控制系统中信息的异步时延,我们通过扩展系统采样周期的方法得到一个异步时延下的系统故障检测模型,同时通过设计系统观测器并选择合适的干扰抑制加权因子对系统的干扰进行抑制,从而得到系统的残差信号并依此可检测出系统是否存在着故障。
在第六章中我们介绍了一个网络化控制系统的仿真平台,并展示了对上述部分设计过程的仿真结果。
最后我们给出了全文的总结及今后研究工作的展望。
Control systems in 21st century are combined systems of control and network. The research on Networked Control Systems (NCSs) has become very much a pioneering issue in the field of automation. Based on a review and analysis of its current condition and development home and abroad, the thesis systematically expounds some research results in theory and methodology of some basic but important issues on NCSs.
The insertion of the communication network that is viewed as part of control system has greatly expanded the techniques and methods of industrial control. It has brought significant changes to automatic control systems and industrial control systems in systematic constructions, control method and man-machine cooperation approach, as well as some new issues such as coupling of control and communication,distributed control manners. The appearance of these new issues calls for the innovations and extension in control method and algorithm continuously under networked constructions.
First,we briefly introduce the origin,developments,characteristics and current condition of NCSs.We also analyze the basic issues and typically research methods in NCSs detaily as well as our own views on the related reaearches.
We present a periodic NCS model and the information-scheduling model in NCSs based on sampled data technique under communication constraints and varying sampling rates. Then, we discuss the asymptotically stable problem of networked control systems under above conditions. The admissibility problem of such information scheduling approach is tested through the stability justification of the closed-loop NCS under certain given sampling manner. The LQ guaranteed cost control problem and disturbance rejection problem are also discussed.
In order to avoid droping out,congestion as possible and to improve the utilization of the network under limited resources, we decrease the quantity of information transmitted in the network through periodic information scheduling method. In the same time, we design a series of dynamic output feedback controllers to keep the closed loop NCS asymptically stable and certain level of performance (LQ guaranteed cost control performance, H∞ disturbance attenuation performance). We also consider the system stability analysis and control design
problem under varying sampling rate and sampled-data technique.
Following that, we study the problems of system stochastic stability and H2/ H∞ mixed control based on the mathematics model of NCS with multistep stochastic transfer delay. It has been proved that the transfer delay can be viewed as a Markov process under certain communication control model. Then, we translate the whole system into a generalized discrete-time system with random jumping parameters. We formulate the H∞ control problem and mixed H2/H∞ state feedback design for obtained generalized system, and give some examples of how such design processes are carried out.
In this section, we also consider the design problem of NCSs with multistep asynchronous transfer delay, which is another important issue in the research of networked control. The LQG control design process for NCSs with asynchronous transfer delay in different channels is obtained through the transformation of the system estimation model as well as multistep predictions of the state values.
Next, we study minimization problem of queuing time delay in network and signal quantization errors in control system based on average behavior of network rate. Under fixed routing scheme and certain optimization performance indexes, both problems can be translated into convex optimization problems on limited communication resources allocation. And we obtain the solutions of the convex optimization problems through optimized allocation of communication resources such as network flow rate, transmission power and bit rate among network links.
We also formulate a performance index on information transfer delay under certain condition when we stand on the point of control system design.And the detail design process on abov
随着通信网络作为一个系统环节嵌入控制系统,这很大地丰富了工业控制技术和手段,使自动化系统与工业控制系统在体系结构、控制方法以及人机协作方法等方面都发生了较大的变化,与此同时也带来了一些新的问题,如控制与通信的耦合、分布式的控制方式等。这些新问题的出现,使得自动控制理论在网络环境下的控制方法和算法需要不断地拓展和创新。
首先,本文全面而简要地介绍了NCS的起源、发展、特点以及目前的研究现状。详细地分析了NCS中的若干基本问题、典型研究方法,同时提出了本文对NCS相关研究工作的观点和看法。
针对具有通信约束以及变速率采样的网络化控制环境,本文在采样数据系统及采样数据技术的基础上改进得到了周期性的网络化控制系统数学模型和周期性的信息调度系统数学模型,并在此基础上研究了在有系统信息丢失以及控制与通信耦合的情形下闭环NCS的渐近稳定性问题,信息调度方法的适定性问题,NCS的保性能控制和干扰抑制性能等问题。
在网络系统的资源如带宽有限的情形下,为了尽量避免丢包、拥塞以及提高网络的利用率,本文通过周期性的信息调度方法对控制系统的信息进行调度,从而减少了信息的传送量,同时通过设计周期性变化的动态反馈控制律来保持控制系统的渐近稳定和一定水平的系统性能(LQ保成本控制性能、H∞干扰抑制性能等)。在数字控制中,变速率采样的情形也常常会出现,因此我们将上述问题的研究推广到了对系统进行变速率采样的情形中并同时也用采样数据技术来研究上述的问题。
针对存在多步随机时延和异步时延的NCS模型,本文研究了其随机稳定性问题、H2/ H∞混合控制以及异步时延下的LQG控制问题。在固定的系统通信控制模式下,网络传输时延可以建模为一个Markov随机过程,同时通过增广系统状态的方法将原系统转化为一个具有随机跳变参数的广义离散系统。在此离散模型的基础上,我们得到了保持系
统随机稳定的充分条件并分别给出了在H∞性能指标、H2/ H∞混合性能指标下系统干扰抑制的设计方法。
在异步时延下,通过对系统估计模型的转化和系统状态的多步预测,能够较好地解决不同信道具有不同信息延迟的系统的LQG控制问题。在这一部分的工作中也给出了这个问题的设计过程。
由于控制系统的性能在一定程度上受网络系统性能的影响,针对网络中信息的平均排队时延和信号量化误差,本文探讨了在给定信息路由方式和确定的优化性能指标下,对网络通信资源分配的优化问题。在凸优化问题的框架下,通过对网络中各链路的平均信息流量,传输比特率以及信道传输能量等网络参数的优化配置从而达到信息延迟的最小化和信道噪声的最小化。
在一定的条件下,针对控制系统的设计与优化,我们给出了一个信息时延最小化的性能指标,同时在不同的性能指标下对上述的两个优化问题给出了详细的设计、求解过程。
针对NCS中上述的系统特点和动态特性,本文接着研究了在NCS中有信息损失和存在异步信息时延的情形下对系统进行故障检测的问题,并提出了一个在异步时延下进行控制系统故障检测的系统数学模型。
针对在信息调度下和变速率采样的NCS模型,通过设计一组动态反馈故障检测滤波器,对系统发生的故障进行跟踪检测。在这种设计方法下,保证了在有系统信息损失以及变速率采样时一定水平上(良好)的故障检测性能。
针对网络化控制系统中信息的异步时延,我们通过扩展系统采样周期的方法得到一个异步时延下的系统故障检测模型,同时通过设计系统观测器并选择合适的干扰抑制加权因子对系统的干扰进行抑制,从而得到系统的残差信号并依此可检测出系统是否存在着故障。
在第六章中我们介绍了一个网络化控制系统的仿真平台,并展示了对上述部分设计过程的仿真结果。
最后我们给出了全文的总结及今后研究工作的展望。
Control systems in 21st century are combined systems of control and network. The research on Networked Control Systems (NCSs) has become very much a pioneering issue in the field of automation. Based on a review and analysis of its current condition and development home and abroad, the thesis systematically expounds some research results in theory and methodology of some basic but important issues on NCSs.
The insertion of the communication network that is viewed as part of control system has greatly expanded the techniques and methods of industrial control. It has brought significant changes to automatic control systems and industrial control systems in systematic constructions, control method and man-machine cooperation approach, as well as some new issues such as coupling of control and communication,distributed control manners. The appearance of these new issues calls for the innovations and extension in control method and algorithm continuously under networked constructions.
First,we briefly introduce the origin,developments,characteristics and current condition of NCSs.We also analyze the basic issues and typically research methods in NCSs detaily as well as our own views on the related reaearches.
We present a periodic NCS model and the information-scheduling model in NCSs based on sampled data technique under communication constraints and varying sampling rates. Then, we discuss the asymptotically stable problem of networked control systems under above conditions. The admissibility problem of such information scheduling approach is tested through the stability justification of the closed-loop NCS under certain given sampling manner. The LQ guaranteed cost control problem and disturbance rejection problem are also discussed.
In order to avoid droping out,congestion as possible and to improve the utilization of the network under limited resources, we decrease the quantity of information transmitted in the network through periodic information scheduling method. In the same time, we design a series of dynamic output feedback controllers to keep the closed loop NCS asymptically stable and certain level of performance (LQ guaranteed cost control performance, H∞ disturbance attenuation performance). We also consider the system stability analysis and control design
problem under varying sampling rate and sampled-data technique.
Following that, we study the problems of system stochastic stability and H2/ H∞ mixed control based on the mathematics model of NCS with multistep stochastic transfer delay. It has been proved that the transfer delay can be viewed as a Markov process under certain communication control model. Then, we translate the whole system into a generalized discrete-time system with random jumping parameters. We formulate the H∞ control problem and mixed H2/H∞ state feedback design for obtained generalized system, and give some examples of how such design processes are carried out.
In this section, we also consider the design problem of NCSs with multistep asynchronous transfer delay, which is another important issue in the research of networked control. The LQG control design process for NCSs with asynchronous transfer delay in different channels is obtained through the transformation of the system estimation model as well as multistep predictions of the state values.
Next, we study minimization problem of queuing time delay in network and signal quantization errors in control system based on average behavior of network rate. Under fixed routing scheme and certain optimization performance indexes, both problems can be translated into convex optimization problems on limited communication resources allocation. And we obtain the solutions of the convex optimization problems through optimized allocation of communication resources such as network flow rate, transmission power and bit rate among network links.
We also formulate a performance index on information transfer delay under certain condition when we stand on the point of control system design.And the detail design process on abov
引文
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