球杆网络化预测控制系统的研究与实现
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摘要
网络化控制系统(Networked Control Systems, NCSs)是在传统控制中引入网络数据传输通道形成闭环的新型控制结构,具有用途广泛、便于维护、易于扩展的诸多优点。网络带来了一些优点的同时,也提出一些新的问题,如网络诱导时延、数据包丢失等使得将传统控制算法直接应用到网络化系统中的效果大大降低,甚至无法保持稳定。目前网络化控制系统已经吸引了控制领域许多学者的关注,关于网络化控制系统的分析与设计有了一些成果,也有了一些初步的应用。
本文主要是针对具有开环不稳定性和非线性的球杆系统设计基于网络化预测控制算法的网络化控制系统。基于中国科学院自动化研究所开发的NetCon控制器、NetConLink控制组态软件和NetConTop监控组态软件,以及Matlab/Simulink相关工具箱实现球杆系统的网络化预测控制。
论文的具体工作包括：首先介绍了网络化控制系统的基本问题如网络诱导时延和数据包丢失等,分类介绍了网络化控制系统的研究现状以及NetCon网络化控制实验平台的搭建；然后描述了球杆系统的电气以及机械结构,并分别运用机理建模、Matlab系统辨识工具箱建模和带遗忘因子的递推最小二乘法三种方法建立了球杆系统的数学模型,并将各种模型与实际对象做出了实验对比；接着详细阐述了网络化预测控制算法(Networked Predictive Control, NPC)的原理,给出了预测控制序列生成模块、时延补偿模块、数据缓存发送模块等各组成模块的实现方法,对于算法的稳定性也做出了分析；然后给出并分析了基于RTT(Round Trip Time)时延和NTP (Network Time Protocol)同步后时延的测量机理与实验结果,最后通过不同网络环境下的仿真与实物实验结果验证了网络化预测控制在球杆系统控制中的有效性以及相对传统控制方法的优越性。
Networked Control Systems (NCSs) is a novel kind of control system which is closed via network communication channel. Of many advantages such as wildly applicable, easily maintainable, extension, NCSs has attracted much attention worldwide. There has been some work on the analysis and design of the NCSs, and some applications in the lab and industrial environment.
This thesis mainly concerns with the design of Networked Predictive Control Algorithm based on the Networked Ball-Beam control system with the nature of open loop instability and nonlinearity. The project is based on the NCSs Lab design tools developed by the Institute of Automation of China Academy of Sciences, these include NetCon Controller, NetConLink Control Configuration Software and NetConTop Configuration Software. In addition, the Matlab/Simulink Toolboxes are also used to construct the system.
In details, this thesis introduced the fundamental issues such as networked-induced delay and data package dropout, state of the art and the NCSs design tools; Described the structure of ball-beam system and modeled the system with three different methods; fully discussed the principle of Networked Predictive Control Algorithm and design of each block; explained different ways of delay measurement; finally, the simulations and experiments results were given to testify the effectiveness of the design.
本文主要是针对具有开环不稳定性和非线性的球杆系统设计基于网络化预测控制算法的网络化控制系统。基于中国科学院自动化研究所开发的NetCon控制器、NetConLink控制组态软件和NetConTop监控组态软件,以及Matlab/Simulink相关工具箱实现球杆系统的网络化预测控制。
论文的具体工作包括：首先介绍了网络化控制系统的基本问题如网络诱导时延和数据包丢失等,分类介绍了网络化控制系统的研究现状以及NetCon网络化控制实验平台的搭建；然后描述了球杆系统的电气以及机械结构,并分别运用机理建模、Matlab系统辨识工具箱建模和带遗忘因子的递推最小二乘法三种方法建立了球杆系统的数学模型,并将各种模型与实际对象做出了实验对比；接着详细阐述了网络化预测控制算法(Networked Predictive Control, NPC)的原理,给出了预测控制序列生成模块、时延补偿模块、数据缓存发送模块等各组成模块的实现方法,对于算法的稳定性也做出了分析；然后给出并分析了基于RTT(Round Trip Time)时延和NTP (Network Time Protocol)同步后时延的测量机理与实验结果,最后通过不同网络环境下的仿真与实物实验结果验证了网络化预测控制在球杆系统控制中的有效性以及相对传统控制方法的优越性。
Networked Control Systems (NCSs) is a novel kind of control system which is closed via network communication channel. Of many advantages such as wildly applicable, easily maintainable, extension, NCSs has attracted much attention worldwide. There has been some work on the analysis and design of the NCSs, and some applications in the lab and industrial environment.
This thesis mainly concerns with the design of Networked Predictive Control Algorithm based on the Networked Ball-Beam control system with the nature of open loop instability and nonlinearity. The project is based on the NCSs Lab design tools developed by the Institute of Automation of China Academy of Sciences, these include NetCon Controller, NetConLink Control Configuration Software and NetConTop Configuration Software. In addition, the Matlab/Simulink Toolboxes are also used to construct the system.
In details, this thesis introduced the fundamental issues such as networked-induced delay and data package dropout, state of the art and the NCSs design tools; Described the structure of ball-beam system and modeled the system with three different methods; fully discussed the principle of Networked Predictive Control Algorithm and design of each block; explained different ways of delay measurement; finally, the simulations and experiments results were given to testify the effectiveness of the design.
引文
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[2]Liou L. W., Ray A. On modeling of integrated communication and control systems[J]. ASME Journal of Dynamic Systems, Measurement, and Control, 1990a,112(4):790-794
[3]Liou L. W., Ray A. Integrated communication and control systems: part Ⅲ -nonidentical sensor and controller sampling[J]. ASME Journal of Dynamic Systems, Measurement, and Control,1990b,112:357-364
[4]Liou L. W., Ray A. A Stochastic regulator for integrated communication and control systems: part Ⅰ - formulation of control law[J]. ASME Journal of Dynamic Systems Measurement, and Control,1991a,113:604-611
[5]Liou L. W., Ray A. A stochastic regulator for integrated communication and control systems:part Ⅱ - numerical analysis and simulation[J]. ASME Journal of Dynamic Systems Measurement, and Control,1991b,113:612-617
[6]Ray A. Output feedback control under randomly varying distributed delays[J]. Journal of Guidance, Control and Dynamics,1994,17(4):701-711
[7]Yang Y Q, Xu D, Tan M. Hybrid and stochastic stabilization analysis and ∞H control for networked control systems[C]. Proceedings of the 2004 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, December, 2004:502-506
[8]Nilsson J. Real-time control systems with delays[PhD thesis][D]. Lund Institute of Technology, Sweden,1998
[9]Xie L., Zhang J. M., Wang S. G. Stability analysis of networked control system[C]. Proceeding of the first international conference on machine learning and cybernetics, Beijing,2002:757-759
[10]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
[11]Xiong X. L., Lam J. Stabilization of linear systems over networks with bounded packet loss[J]. Automatica,2007,43:80-87
[12]Li H. B., Chow M. Y., Sun Z. Q. EDA-Based speed control of a networked DC motor system with time delays and packet losses[J]. IEEE Transactions on Industrial Electronics,2009,56:1727-1735.
[13]Goktas K. Distributed control of systems over communication networks[PhD Dissertation] [D]. Philadelphia, PA, USA. University of Pennsylvania,2000
[14]于之训,陈辉堂,王月娟.基于H∞和μ综合的闭环网络控制系统的设计[J].同济大学学报,2001,29(3)：307-311
[15]姜培刚,姜偕富,李春文,徐文立.基于LMI方法的网络化控制系统的H∞鲁棒控制[J].控制与决策,2004,19(1)：17-22
[16]Hu S. S., Zhu Q. X. Stochastic optimal control and analysis of stability of networked control systems with long delay[J]. Automatica,2003,39:1877-1884
[17]Hu S., Yam W. Y. Stability robustness of networked control systems with respect to packet loss[J]. Automatica,2007,43:1243-1248
[18]Liu G. P., Mu J. X., Rees D. Networked predictive control of systems with random communication delays[C]. in UKACC2004 International Conference on Control, Bath, UK,2004, ID-015
[19]Liu G. P., Xia Y., Rees D. Predictive control of networked systems with random delays[C]. Proc. IFAC World Congr., Prague, Czech Republic,2005:1-6
[20]Liu G. P., Mu J. X., Rees D., et al. Design and stability analysis of networked control systems with random communication time delay using the modified MPC[J]. International Journal of Control,2006,79:288-297
[21]Liu G. P., Xia Y. Rees D., et al. Design and stability criteria of networked predictive control systems with random network delay in the feedback channel[J]. IEEE Transactions on System, Man, and Cybernetics- Part C:Applications and Reviews,2007a,37(2):173-184
[22]Liu G. P., Xia Y. Rees D., et al. Networked predictive control of systems with random network delays in both forward and feedback channels[J]. IEEE Transactions on Industrial Electronics,2007b,54(3):1282-1297
[23]Hu W. S., Liu G. P., Rees D. Design and implementation of networked predictive control systems based on round trip time delay measurement[C]. Proceedings of the 2006 American Control Conference Minneapolis, Minnesota, USA,2006:674-679
[24]Hu W. S., Liu G. P., Rees D. Event-driven networked predictive control[J]. IEEE Transactions on Industrial Electronics,2007,54(3):1603-1613
[25]Ouyang H., Liu G. P., Rees D. Robust networked predictive control for systems with random network delay[C]. In Proceedings of 16TH IFAC World Congress, Prague,2005
[26]Ouyang H., Liu G. P., Rees D., et al. Predictive control of networked non-linear control systems[J]. Proc. Imech E Part Ⅰ: J. Systems and Control Engineering, 2007,221:453-463
[27]Chai S. C., Liu G. P., Rees D. and Xia Y. Q. Design and practical implementation of internet-based predictive control of a servo system[J]. IEEE Transactions on Control Systems Technology,2008,16(1):158-168
[28]Zhang Y., Li S. Y. Networked model predictive control based on neighbour-hood optimization for serially connected large-scale process[J]. Journal of process control,2007,17:37-50.
[29]熊远生,俞立,余世明.网络控制系统的滑模多步预估控制[J].控制理论与应用,2005,22(2)：301-306
[30]张奇智,张卫东.网络控制系统中的时戳预测函数控制[J].控制理论与应用,2006,23(1)：126-130
[31]Yue D. Robust stabilization of uncertain systems with unknown input delay[J]. Automatica,2004,40:331-336
[32]Yue D., Han Q. L. Delayed feedback control of uncertain systems with time-varying input delay[J]. Automatica,2005,41:233-240
[33]Lam J., Gao H. J., Wang C. H. Stability analysis for continuous systems with two additive time-varying delay components[J]. Systems & Control Letters,2007, 56:16-24
[34]Gao H. J., Chen T. W. New results on stability of discrete-time systems with time varying state delay[J]. IEEE Transactions on Automatic Control,2007, 52(2):328-334
[35]Lee S., Lee S. H., Lee K. C. Remote fuzzy logic control for networked control system[C]. IECON'01:The 27th Annual Conference of the IEEE Industrial Electronics Society,2001:1822-18271
[36]Lee K. C., Lee S. Remote controller design of networked control system using genetic algorithm[C]. ISIE 2001, Pusan, KOREA in IEEE,2001:1845-18501
[37]Lee K. C., Lee S., Lee M. H. Remote fuzzy logic control of networked control system via profibus-DP[J]. IEEE Transactions on Industrial Electronics,2003, 50(4):784-792
[38]王晓峰,吴平东,任长清,等.基于TCP/IP网络的远程伺服控制系统中的动态模糊控制器[J].计算机应用,2002,11：83-85
[39]Almutairi N. B. Adaptive fuzzy modulation for networked PI control systems[PhD thesis][D]. Carolina, USA: North Carolina State University,2002
[40]Tipsuwan Y., Chow M. Y. On the gain scheduling for networked PI controller over IP network[J]. IEEE/ASME Transactions on Mechatronics,2004a,9(3): 491-498
[41]Tipsuwan Y., Chow M. Y. Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation - part I: networked control[J]. IEEE Transactions on Industrial Electronics,2004b,51(6): 1218-1227
[42]Yue D., Han Q. L., Peng, C. State feedback controller design of networked control systems[J]. IEEE Transactions on Circuits and Systems,2004,51(11): 640-644
[43]Yue D., Han Q. L., Lam J. Network-based robust control of systems with uncertainty[J]. Automatica,2005,41:999-1007
[44]Zhang, W., Branicky, M. S., Phillips, S. M. Stability of networked control systems[J]. IEEE Control Systems Magazine, Feb.2001,84-99
[45]Walsh G.C. and Ye H. Scheduling of networked control system[J], IEEE Control Systems Magazine,2001,21:57-65
[46]Walsh G.C. and Ye H and Bushnell L. Stability analysis of networked control systems[J]. IEEE Transactions on Control Systems Technology,2002,10: 438-446
[47]Kweon S. K, Cho M. g. and Shin K.G., Soft real-time communication over Ethernet with adaptive traffic smoothing[J], IEEE Trans on Parallel and Distributed Systems,2004,15:90-100
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