控制系统的柔性设计
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摘要
随着工业自动化技术和计算机技术的进步，出现了各种新的控制概念。柔性控制是近年来发展起来的控制概念。它专门致力于以更少的时间周期和更低的费用开发开放、高性能、高可靠性的分布式容错系统。在已知一个被控对象的前提下，如何快速、有效的去设计其控制系统，选择一种合理的控制方法，保证控制系统性能要求，这是一个值得深入研究的问题。为此，提出了柔性控制系统。其目标就是提供一个集成工具包来支持整个发展周期：仿真／建模，发展及应用。
开发一种好的控制策略(通过试验和评估一些其他方法)在自动化制造系统(比如FMS)或半自动化制造系统(比如生产线)中是特别重要的。本文根据柔性控制的定义，结合近现代的控制理论，比较全面地阐述了一些柔性控制的具体实现过程。利用MATLAB提供的各种控制工具箱作为控制手段，针对某一类控制对象提出控制指标，用PID控制或者H_∞。控制，在MATLAB上通过建模仿真，在一个大范围中迅速找到满足这些控制指标的最优参数。通过以上的方法，解决了传统手工选择参数方法时需要通过经验试凑等的缺点，省时省力，达到了柔性的目的。再进一步将系统扩展为利用Java的网络编程优势，进行MATLAB和Java的混合编程，从而达到进行远程柔性控制的目的。
With the rapid development in the technology of industry automation and computer, many new control theories have arisen. Flexible control theory is developed recently. This theory specifically addresses the development of the capability to produce open, high performance, dependable, distributed fault tolerant systems in reduced timescales and at lower cost. How to design a control system fast and efficiently, choose a sound control method to guarantee the performance of the control system under a known object under control is a question to be investigated deeply. Therefore, the concept of the flexible control system is put forward. The aim is to provide an integrated suite of tools to support all the development life-cycle phases: simulation/modeling, development and implementation.
To develop a suitable control theory(thorough testing and evaluating some other method) is very important in automatic manufacture system(i.e. FMS) or semi-automatic manufacture system(i.e. assembly line). Based on the definition of flexible control, combining the control theory, the paper expounds some of the implements of the flexible control. Using the control toolboxes offered by MATLAB as control means, we bring forward some design method for a kind of control plant by
means of PID control or H∞ control. Results of simulation and modeling in
MATLAB show that it is more effective to find the optimal parameters quickly for various systems by following these control design procedures. Thus, we overcome the shortcomings of traditional manual choosing parameters and achieve more flexibility in design. Furthermore, using Java network programming, MATLAB and Java multi-programming, approaches proposed in the paper are also applied to remote flexible control systems.
开发一种好的控制策略(通过试验和评估一些其他方法)在自动化制造系统(比如FMS)或半自动化制造系统(比如生产线)中是特别重要的。本文根据柔性控制的定义，结合近现代的控制理论，比较全面地阐述了一些柔性控制的具体实现过程。利用MATLAB提供的各种控制工具箱作为控制手段，针对某一类控制对象提出控制指标，用PID控制或者H_∞。控制，在MATLAB上通过建模仿真，在一个大范围中迅速找到满足这些控制指标的最优参数。通过以上的方法，解决了传统手工选择参数方法时需要通过经验试凑等的缺点，省时省力，达到了柔性的目的。再进一步将系统扩展为利用Java的网络编程优势，进行MATLAB和Java的混合编程，从而达到进行远程柔性控制的目的。
With the rapid development in the technology of industry automation and computer, many new control theories have arisen. Flexible control theory is developed recently. This theory specifically addresses the development of the capability to produce open, high performance, dependable, distributed fault tolerant systems in reduced timescales and at lower cost. How to design a control system fast and efficiently, choose a sound control method to guarantee the performance of the control system under a known object under control is a question to be investigated deeply. Therefore, the concept of the flexible control system is put forward. The aim is to provide an integrated suite of tools to support all the development life-cycle phases: simulation/modeling, development and implementation.
To develop a suitable control theory(thorough testing and evaluating some other method) is very important in automatic manufacture system(i.e. FMS) or semi-automatic manufacture system(i.e. assembly line). Based on the definition of flexible control, combining the control theory, the paper expounds some of the implements of the flexible control. Using the control toolboxes offered by MATLAB as control means, we bring forward some design method for a kind of control plant by
means of PID control or H∞ control. Results of simulation and modeling in
MATLAB show that it is more effective to find the optimal parameters quickly for various systems by following these control design procedures. Thus, we overcome the shortcomings of traditional manual choosing parameters and achieve more flexibility in design. Furthermore, using Java network programming, MATLAB and Java multi-programming, approaches proposed in the paper are also applied to remote flexible control systems.
引文
1．张志涌．精通MATLAB 5.3版．北京：北京航空航天大学出版社，2000
2．申铁龙．H_∞控制理论及应用．清华大学出版社，1996
3. Zames G. Feedback and optimal sensitivity: model reference transformations, multiplicative seminars, and approximate inverses. IEEE Transaction on Automatic Control, 1981, 26:301-320
4．夏德钤．自动控制理论．机械工业出版社，1998
5. Francis B A, Zames G. On H_∞ optimal sensitivity theory for SISO feedback systems. IEEE Transaction on Automatic Control, 1984, 29:9-16
6. Francis B A, Helton J W, Zames G. H_∞ optimal feedback controllers for linear multivariable systems. IEEE Transaction on Automatic Control, 1984, 29:888-900
7. Glover K. All optimal Hankel-norm approximations of linear multivariable systems and their L_∞ -error bounds. International Journal of Control, 1984,39:1115-1193
8. Doyle j. Advance in multivariable control. Lecture Note at ONR/Honeywell Workshop, 1984
9. Francis BA. A course in H_∞ control theory, New York: Springer-verlag, 1987
10. Doyle J, Glover K, Khargonekar P, Francis B A. State-space solution to standard H_∞ and H_2 control problem. IEEE Transaction on Automatic Control, 1989, 34(8):831-842
11. Kimura K. Conjugation, interpolation and model-matching in H_∞, International Journal of Control, 1989,49:269-307
12. Green M, Glover K, Limebeer D, Doyle J. A J-spectral faetorization approach to H_∞ control. SAIM Journal of Control and Optimization, 1990,28(6):1350-1371
13. Tsai M C, Postlethwaite I. On J-lossless coprime factorization and H_∞ control. International Journal of Robust and Nonlinear Control, 1991,1:47-68
14. Balas G J, Doyle J, Glover K, Packard P, Smith R. μ-analysis and synthesis toolbox. MUSYN Inc. and The Math Works inc.,1991.
15．王恩平，秦华淑，王世林．线性控制系统理论引论．山东：山东科技出版社，
1991
16. Doyle J, Packard A, Zhou K. Review of LFTs, LMIs, and μ. Proceedings of the 30th IEEE CDC, Brighton: 1991,1227-1260
17. Doyle J. Analysis of feedback systems with structured uncertainties. IEE Proceedings of Control Theory and Applications, 1982,129:242-250
18．赵文峰，控制系统设计与仿真．西安电子科技大学出版社，2002
19．颜文俊，陈素琴，林峰．控制理论CAI教程．科学出版社，2002
20．刘英姿，陈荣秋．柔性(Flexibility)的概念及其控制模型．机械与电子，2002(1)
21．吴旭东，解学书．H_∞鲁棒控制中德加权阵选择．清华大学学报(自然科学版)，1997年第37卷第一期
22. Sigurd Skogestad, Ian Postlethwaite. Multivariable Feedback Control Analysis and Design. JOHN WILEY & SONS.
23．埃克尔．Java编程思想．机械工业出版社，2002
24．周克敏．鲁棒与最优控制．国防工业出版社，2002
25．MATLAB帮助文档
26．Java帮助文档
27. Kwakernaak Hilbert. Robust control and H ∞ optimization: tutorial paper. Automatica, 1993, 28(3): 255～273
28. postlethwaite I, Tsai Miching, Gu Dawei. Weighting function selection in H ∞ design, 11th IFAC,1990,Tallinn: 104～109
29. Meyer De, et al. The Flexibility: The Next Competitive Battle The Manufacturing Futures Survey[J]. Strategic Management Journal, 1989,10(2):135～144
30. Buzacott J A, Mandelbaum M. Flexibility and Productive Manufacturing Systrms[A]. Proceedings Annual ILK Conference[C]. Los Angeles, CA. 1985, 404-413
31. Chung C H, Chen I J. Managing Flexibility of Flexible Manufacturing Systems for Competitive Edge[M]. The Selection and Evaluation of Advanced manufacturing Technologies, Berlin: Springe-Verlag, 1990, 280～305
32. Gupta D, Buzacott J A. A Framework for Understanding Flexibility of Manufacturing Systems, 1989, 8(2): 89～97
33. Sarker B R, et al. A Survey and Critical Review of Flexibility Measures in Manufacturing System[J]. Production Planning and Control, 1994, 5(6): 512～523
34. Slack N. Flexibility as a Manufacturing Objective[J]. International Journal of Production and operation Management, 1983, 3(3): 4～13
35. Buzacott J A. The Fundamental Principles of Flexibility in Manufacturing Systems[A]. Proceedings of the International Conference on Flexible Manufacturing Systems[C].Brighton, UK, 1982.13～22
36．姚波，王福忠．H_∞控制性能指标及控制器的设计．沈阳师范学院学报(自然科学版)，2003年1月第22卷第一期
2．申铁龙．H_∞控制理论及应用．清华大学出版社，1996
3. Zames G. Feedback and optimal sensitivity: model reference transformations, multiplicative seminars, and approximate inverses. IEEE Transaction on Automatic Control, 1981, 26:301-320
4．夏德钤．自动控制理论．机械工业出版社，1998
5. Francis B A, Zames G. On H_∞ optimal sensitivity theory for SISO feedback systems. IEEE Transaction on Automatic Control, 1984, 29:9-16
6. Francis B A, Helton J W, Zames G. H_∞ optimal feedback controllers for linear multivariable systems. IEEE Transaction on Automatic Control, 1984, 29:888-900
7. Glover K. All optimal Hankel-norm approximations of linear multivariable systems and their L_∞ -error bounds. International Journal of Control, 1984,39:1115-1193
8. Doyle j. Advance in multivariable control. Lecture Note at ONR/Honeywell Workshop, 1984
9. Francis BA. A course in H_∞ control theory, New York: Springer-verlag, 1987
10. Doyle J, Glover K, Khargonekar P, Francis B A. State-space solution to standard H_∞ and H_2 control problem. IEEE Transaction on Automatic Control, 1989, 34(8):831-842
11. Kimura K. Conjugation, interpolation and model-matching in H_∞, International Journal of Control, 1989,49:269-307
12. Green M, Glover K, Limebeer D, Doyle J. A J-spectral faetorization approach to H_∞ control. SAIM Journal of Control and Optimization, 1990,28(6):1350-1371
13. Tsai M C, Postlethwaite I. On J-lossless coprime factorization and H_∞ control. International Journal of Robust and Nonlinear Control, 1991,1:47-68
14. Balas G J, Doyle J, Glover K, Packard P, Smith R. μ-analysis and synthesis toolbox. MUSYN Inc. and The Math Works inc.,1991.
15．王恩平，秦华淑，王世林．线性控制系统理论引论．山东：山东科技出版社，
1991
16. Doyle J, Packard A, Zhou K. Review of LFTs, LMIs, and μ. Proceedings of the 30th IEEE CDC, Brighton: 1991,1227-1260
17. Doyle J. Analysis of feedback systems with structured uncertainties. IEE Proceedings of Control Theory and Applications, 1982,129:242-250
18．赵文峰，控制系统设计与仿真．西安电子科技大学出版社，2002
19．颜文俊，陈素琴，林峰．控制理论CAI教程．科学出版社，2002
20．刘英姿，陈荣秋．柔性(Flexibility)的概念及其控制模型．机械与电子，2002(1)
21．吴旭东，解学书．H_∞鲁棒控制中德加权阵选择．清华大学学报(自然科学版)，1997年第37卷第一期
22. Sigurd Skogestad, Ian Postlethwaite. Multivariable Feedback Control Analysis and Design. JOHN WILEY & SONS.
23．埃克尔．Java编程思想．机械工业出版社，2002
24．周克敏．鲁棒与最优控制．国防工业出版社，2002
25．MATLAB帮助文档
26．Java帮助文档
27. Kwakernaak Hilbert. Robust control and H ∞ optimization: tutorial paper. Automatica, 1993, 28(3): 255～273
28. postlethwaite I, Tsai Miching, Gu Dawei. Weighting function selection in H ∞ design, 11th IFAC,1990,Tallinn: 104～109
29. Meyer De, et al. The Flexibility: The Next Competitive Battle The Manufacturing Futures Survey[J]. Strategic Management Journal, 1989,10(2):135～144
30. Buzacott J A, Mandelbaum M. Flexibility and Productive Manufacturing Systrms[A]. Proceedings Annual ILK Conference[C]. Los Angeles, CA. 1985, 404-413
31. Chung C H, Chen I J. Managing Flexibility of Flexible Manufacturing Systems for Competitive Edge[M]. The Selection and Evaluation of Advanced manufacturing Technologies, Berlin: Springe-Verlag, 1990, 280～305
32. Gupta D, Buzacott J A. A Framework for Understanding Flexibility of Manufacturing Systems, 1989, 8(2): 89～97
33. Sarker B R, et al. A Survey and Critical Review of Flexibility Measures in Manufacturing System[J]. Production Planning and Control, 1994, 5(6): 512～523
34. Slack N. Flexibility as a Manufacturing Objective[J]. International Journal of Production and operation Management, 1983, 3(3): 4～13
35. Buzacott J A. The Fundamental Principles of Flexibility in Manufacturing Systems[A]. Proceedings of the International Conference on Flexible Manufacturing Systems[C].Brighton, UK, 1982.13～22
36．姚波，王福忠．H_∞控制性能指标及控制器的设计．沈阳师范学院学报(自然科学版)，2003年1月第22卷第一期