非线性系统的网络化控制
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摘要
随着控制技术与网络信息技术的不断融合,网络化控制系统(Networked Control Systems, NCS)已经应用于智能交通控制、楼宇自动化和航天器等许多领域。它的优点有可以资源共享,便于安装、扩展与维护,较高的可靠性。但也使得数据传输出现了随机时变延时,数据丢失和数据时序颠倒等问题,对系统性能和稳定性造成了不利影响。
基于切换模型理论讨论了网络化系统的稳定性问题,考虑网络延时和数据包丢失情况,得出了丢包上限和系统稳定性之间的定量关系。在保证稳定性前提下,引入预测控制思想对网络环节进行处理是一种十分可行的思路,利用DMC对线性网络化系统进行预测控制,并通过与PID控制效果的比较,证明了其有效性。
非线性网络化系统的控制可以有两种思路,一种是先经过线性化,再对得到的线性网络化系统进行控制,通过DMC仿真结果看出并不是十分理想；另一种是对其进行直接控制,目前针对这方面的研究工作还比较少,这也是本文的创新之处。
针对非线性网络化控制系统中的网络环节问题,本文在预测控制思想的基础上,针对前馈通道和反馈通道同时存在网络传输环节的情况,利用asNMPC方法实现了对于非线性网络化控制系统中上述问题的补偿控制。以CSTR模型为研究对象,考虑前馈和反馈通道同时存在时变延时、时序颠倒和丢包,借鉴时间标志的运用,进行asNMPC控制器设计。对于前向通道网络环节,分为两种情况处理,分别是设置缓冲区和在传输数据上附加时间标志,在模型失配情况下与DMC进行比较。
仿真结果表明,相对于DMC预测算法而言,在非线性网络化控制系统方面,asNMPC方法更加有效,对于CSTR非线性控制系统考虑网络环节时的控制效果很好,能够对网络环节进行有效的补偿控制。
As unceasing fusion between control technology and network information technology, the networked control system (NCS) has been used in intelligent traffic control, building automation and spacecraft, and many other areas. Its advantages include of resources sharing, convenient in installation, expansion and maintenance, high reliability. There are some issues in data transmission, such as random time-varying delay, data packet dropout and data packet out of order. All above problems have affected the system performance and stability.
Considering the conditions of network delay and packet loss, the stability of networked systems is discussed based on Switched system model theory which obtained the quantitative relationship between system stability and upper bound of data dropout. In the premise of guaranteeing stability, the introduction of the thought of predictive control to process network link is very feasible, DMC is utilized on linear network system to realize predictive control, and its validity is demonstrated from control effect compared with PID.
There are two kinds of ideas to achieve valid control of nonlinear network system, one kind is to go through the linearization firstly, then realize control to the received linear network system, it is not very ideal through the;simulation results of DMC; Another kind is the direct control, the research of this aspect is very less now and this is also the innovation of this paper.
In view of the network link problems in the nonlinear networked control systems, based on the thought of predictive control, realizing nonlinear compensation control of the networked control systems with network transmission link on feed forward channel and feedback channels using asNMPC method. Considering CSTR model as the research object in which feed forward and feedback channels exist at the time-varying delay, timing reversal and lost package, combing the use of timestamp, asNMPC controller design will be completed. To solve the network link in feed forward channel, there are two kinds of circumstance, respectively is setting buffer and additional timestamp on transmission data, Compared with DMC in the cases of model mismatch.
Simulation results show that, asNMPC method is more effective than DMC prediction algorithm in nonlinear networked control systems, considering network link in CSTR the control effect of asNMPC is very well, which can complete compensating control effectively to network link.
基于切换模型理论讨论了网络化系统的稳定性问题,考虑网络延时和数据包丢失情况,得出了丢包上限和系统稳定性之间的定量关系。在保证稳定性前提下,引入预测控制思想对网络环节进行处理是一种十分可行的思路,利用DMC对线性网络化系统进行预测控制,并通过与PID控制效果的比较,证明了其有效性。
非线性网络化系统的控制可以有两种思路,一种是先经过线性化,再对得到的线性网络化系统进行控制,通过DMC仿真结果看出并不是十分理想；另一种是对其进行直接控制,目前针对这方面的研究工作还比较少,这也是本文的创新之处。
针对非线性网络化控制系统中的网络环节问题,本文在预测控制思想的基础上,针对前馈通道和反馈通道同时存在网络传输环节的情况,利用asNMPC方法实现了对于非线性网络化控制系统中上述问题的补偿控制。以CSTR模型为研究对象,考虑前馈和反馈通道同时存在时变延时、时序颠倒和丢包,借鉴时间标志的运用,进行asNMPC控制器设计。对于前向通道网络环节,分为两种情况处理,分别是设置缓冲区和在传输数据上附加时间标志,在模型失配情况下与DMC进行比较。
仿真结果表明,相对于DMC预测算法而言,在非线性网络化控制系统方面,asNMPC方法更加有效,对于CSTR非线性控制系统考虑网络环节时的控制效果很好,能够对网络环节进行有效的补偿控制。
As unceasing fusion between control technology and network information technology, the networked control system (NCS) has been used in intelligent traffic control, building automation and spacecraft, and many other areas. Its advantages include of resources sharing, convenient in installation, expansion and maintenance, high reliability. There are some issues in data transmission, such as random time-varying delay, data packet dropout and data packet out of order. All above problems have affected the system performance and stability.
Considering the conditions of network delay and packet loss, the stability of networked systems is discussed based on Switched system model theory which obtained the quantitative relationship between system stability and upper bound of data dropout. In the premise of guaranteeing stability, the introduction of the thought of predictive control to process network link is very feasible, DMC is utilized on linear network system to realize predictive control, and its validity is demonstrated from control effect compared with PID.
There are two kinds of ideas to achieve valid control of nonlinear network system, one kind is to go through the linearization firstly, then realize control to the received linear network system, it is not very ideal through the;simulation results of DMC; Another kind is the direct control, the research of this aspect is very less now and this is also the innovation of this paper.
In view of the network link problems in the nonlinear networked control systems, based on the thought of predictive control, realizing nonlinear compensation control of the networked control systems with network transmission link on feed forward channel and feedback channels using asNMPC method. Considering CSTR model as the research object in which feed forward and feedback channels exist at the time-varying delay, timing reversal and lost package, combing the use of timestamp, asNMPC controller design will be completed. To solve the network link in feed forward channel, there are two kinds of circumstance, respectively is setting buffer and additional timestamp on transmission data, Compared with DMC in the cases of model mismatch.
Simulation results show that, asNMPC method is more effective than DMC prediction algorithm in nonlinear networked control systems, considering network link in CSTR the control effect of asNMPC is very well, which can complete compensating control effectively to network link.
引文
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[2]杨业,王永骥,吴浩.非线性系统的网络化控制研究[J].系统工程与电子技术,2007,29(3)：419-421
[3]常玲芳,李惠光.随机最优非线性网络控制系统设计[J].电机与控制学报,2006,10(4)：435-439
[4]俞力.鲁棒控制---线性矩阵不等式处理方法[M].北京：清华大学出版社,2002.
[5]苏宏业,褚健.一类非线性时滞系统的稳定化控制器设计研究[J].自动化学报,1998,24(1)：30-36
[6]ASOKRay. Output feedback control under randomly varying distributed delays[J]. Journal of Guidance Control and Dynamics,1994,17(4):701-711
[7]王艳,陈庆伟,吴晓蓓,胡维礼.一类非线性网络控制系统的控制器设计[J].兵工学报,2006,27(4)：731-736
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[9]刘丽丽,张庆灵.非线性的实时网络控制系统稳定性分析[J].东北大学学报,2008,29(3)：305-307
[10]Gregory C, Walsh Octavian Beldiman, Bushnell L G. Asymptotic behavior of networked control systems[J]. IEEE Transactions on Automatic Control,2001, (46):1093-1096
[11]YANG Jun, WANG Xiang-dong. Stability of a class of networked control systems[C]. Proceedings of the 5th World Congress on Intelligent Control and Automation,2004:1401-1405
[12]Bruce J, Veloso M. Real2time randomized path planning for robot navigation[C]. Proc of IEEE/RSJ Int Conf on Intelligent Robot s and System. Lausanne,2002,3:2383-2388
[13]Yi X, He Y, Guan X. Cooperative location model under the nearest neighbor criterion position location and navigation[C]. Proc of PLANS 2004. Monterey,2004:658-661
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[15]唐功友,张勇.一类不确定非线性网络控制系统的扰动抑制[J].控制与决策,2008,23(9)：1054-1064
[16]Walsh GC, Beldiman O, Bushnell LG. Asymptotic behavior of nonlinear networked control systems[J]. IEEE Trans Automatic Control 2001;46(7):1093-1097
[17]Yu M, Wang L, Chu T. Sampled-data stabilization of networked control systems with nonlinearity[J]. IEEE Proc Control Theory Appl 2005;152(6):609-614
[18]Battilotti S. Control over a communication channel with random noise and delays[J]. Automatica 2008;41(2):348-360
[19]Wang Y, Hu WL, Fan WH. Fuzzy model and control for nonlinear networked control systems with delay[J], Control Eng China 2006;13(3):233-236
[20]杨珺,王向东.一类带有不确定性的网络控制系统的稳定性分析[J].沈阳工业大学学报, 2004,26(5)：535-538
[21]Xinchun Jia,Dawei Zhang,Lihong Zheng,Nanning Zheng. Modeling and stabilization for a class of nonlinear networked control systems:A T-S fuzzy approach[J]. Progress in Natural Science 18 (2008) 1031-1037
[22]Yong Zhang,Gong-You Tang,Nai-Ping Hu. Non-fragile control for nonlinear networked control systems with long time-delay[J]. Computers and Mathematics with Applications 57 (2009):1630-1637
[23]王征,谈大龙,王向东.网络控制系统稳定性研究[J].控制与决策,2002,17(增刊)：802-807
[24]Ilia G. Polushin, Peter X. Liu, Chung-Horng Lung. On the model-based approach to nonlinear networked control systems[J]. Automatica 44 (2008) 2409-2414
[25]Montestruque, L. A., & Antsaklis, P. J. (2004). On the model-based control of networked control systems[J]. Automatica,39,1837-1843
[26]Jian Sun, G.P. Liu. State feedback and output feedback control of a class of nonlinear systems with delayed measurements[J]. Nonlinear Analysis 67 (2007) 1623-1636
[27]Wen-An Zhang, Li Yu. Modelling and control of networked control systems with both network-induced delay and packet-dropout [J]. Automatica 44 (2008):3206-3210 ProcessAutomation,1981,90-95
[28]胡跃明,胡终须,毛宗源,李志权.非线性控制系统的近似化方法[J].控制理论与应用.2001,18(2)：160-165
[29]郭朝晖,郑加成,吴铁军.近似线性化方法综述[J].控制与决策.1999,14(5)：385-391
[30]朱其新,胡寿松,刘亚.无限时间长时延网络控制系统的随机最优控制[J].控制理论与应用,2004,21(3)：321-326
[31]张庆灵,邱占芝.网络控制系统[M].北京：科学出版社,2007
[32]孙海燕,侯朝桢.具有数据包丢失及多包传输的网络控制系统稳定性[J].控制与决策,2005,20(5)：511-515
[33]郭戈,贾二娜.网络化控制系统中的延时问题：分析与展望[J].控制与决策,2009,24(1)：1-6
[34]Hu shou-song, Zhu Qi-xin. Stochastic optimal control and analysis of stability of networked control systems with long delay [J]. Automatica,2003,39(11):1877-1884
[35]于之训,陈辉堂,王月娟.基于Markov延迟特性的闭环网络控制系统研究[J].控制理论与应用,2002,19(2)：263-267
[36]王飞跃,王成红.基于网络控制的若干基本问题的思考和分析[J].自动化学报,2002,28(增)：171-176
[37]樊卫华,蔡骅,陈庆伟等.基于异步动态系统的网络控制系统建模[J].东南大学学报(自然科学版),2003,33(2)：194-196
[38]Zhang W, Branicky M S, Phillips S M. Stability of networked control systems [J]. IEEE Control Systems Magazine,2001,21(2):84-99
[39]Gregory C, Walsh Octavian Beldiman, Bushnell L G. Asymptotic behavior of networked control systems [J]. IEEE Transactions on Automatic Control,2001,(46):1093-1096
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