摘要
网络控制系统(Networked Control Systems,简称NCS)是近十几年随着控制技术、网络技术和计算机应用技术的飞速发展而出现的一种新的控制系统理论,现已成为自动化领域的一个前沿课题。本文在近年国内、外关于网络控制系统理论研究成果的基础上,研究了网络控制系统的控制算法、调度策略、仿真工具与工程应用方面的部分问题,主要工作如下:
1.详细分析了影响网络控制系统建模的主要因素,如网络传输、节点驱动和时钟同步等。根据网络节点的不同驱动组合方式给出了网络控制系统中被控对象的离散模型;提出了一种优化建模方法,考虑了系统输出的变化趋势,提高了模型精度。
2.研究了广义预测控制在网络控制系统中的应用,建立了网络控制系统分布式模型,采用BP神经网络误差预测值补偿控制器预测输出与被控对象实际输出之间的误差,修正了控制器输出的控制增量值,提高了控制精度;利用隐式广义预测控制算法直接辨识最优控制器参数,减少了在线计算工作量,提高了效率。
3.在特定条件下,建立了具有迟延特性的状态空间预测模型,研究了预测函数控制算法在网络控制系统中的应用,算法对克服随机长时间迟延的影响效果更好。将具有不确定性传输迟延和数据丢包的网络控制系统视为灰色系统,采用GM(1,2)灰色预测模型,改进了控制算法,使计算参数减少到两个,简化了计算步骤。
4.设计了一种基于综合调度指标的混合调度方法,给出了基于RM静态调度和MEF-TOD动态调度的混合调度策略,同时发挥了两种调度算法的优越性;设计了一种基于BP神经网络和模糊反馈的两级调度策略,一级调度通过系统的结构设计减小了网络负荷;二级调度设计了模糊反馈信息调度器,根据不同的参数分配各个节点的发送信息优先级。两级调度策略在减小网络流量的基础上优化了信息优先级配置,提高了系统的控制品质。
5.研究了TrueTime工具箱的特性及其使用方法;设计了基于以太网的网络控制系统仿真平台,给出了仿真平台的设计结构、工作原理、程序流程和时钟同步、迟延测试等关键技术的实现方法,对基于以太网的网络控制系统理论研究与分析有一定帮助。
6.介绍了笔者参与研发的一套用于大型火力发电厂生产过程控制的现场总线控制系统的基本功能和整体结构,着重描述系统研发中的两项关键技术。首先介绍了事件-时间驱动方式工程实现的技术细节;然后介绍了采用混合任务集动态调度算法设计的高效率OPC服务器软件。该项技术实现了实时数据的双向交换,使不同网络控制系统之间的连接更加方便快捷,且开放性强,具有广泛的实际工程意义。
Networked Control System is the novel frame of control system theories born with control,network and computer application technologies.The paper studied on control algorithms,scheduling strategies,simulation tools and engineering applications based on the existing theoretical achievements.The main contents are:
1.Discussed in detail the main factors influencing networked control,such as transmission efficiency,network node drives,clock synchronization,and sampling period.Besides,according to the different combinations of controller,sensor and actuator drive methods,the discrete model of networked control system was deduced.
2.Studied the application of GPC in NCS and built up the NCS distributional model.BP neural network was adopted to predict the errors between the controller and object outputs for their compensation and thus achieving the enhanced precision.Then the Implicit Generalized Predictive Control was adopted to identify the optimal controller parameters,therefore decreasing the online calculation and improving the efficiency.
3.The State Space model was built up under certain specifications for the study of Predictive Functional Control applied in NCS.The network with uncertain transmission delay and data drop-off can be regarded as grey system.The paper adopted the GM(1,2) grey predictive control model to do research on the application of grey control theory in NCS.
4.A mixed scheduling method was designed based on SSI in which the strategy combining RM static scheduling and MEF-TOD dynamic scheduling algorithm was introduced for QoS scheduling.Besides,a two-layer scheduling strategy was proposed based on BP neural network and fuzzy feedback,one layer being intended for decreasing network load through optimal system structure.Fuzzy feedback information scheduling was devised on the other layer in which the priority of information inputted into controllers was decided according to response error and the error differences while the priority of information entering sensors was made by testing sampling time and sampled value changes.
5.Studied the characteristics and usage of TrueTime toolbox and designed the simulation platform of NCS based on Ethernet.The key techniques of structure building, working principles,program flow,clock synchronization,delay test and so forth were introduced and realized so that it would be helpful for the theoretical study of Ethernet-based NCS.
6.A set of FCS which the author has developed as a participant was introduced by describing its basic functions and entire structure while emphasizing two key techniques. The event-clock driven way was explained in detail.The OPC server was designed using dynamic scheduling algorithm of complex task collection,attaining real-time data exchanges.This technique made the connection between different network control systems more convenient;besides,its openness would ensure the extensive the uses in practice.
引文
[1]Bushnell L.G.,Networks and control.IEEE Control System Magazine.2001,21(1):22-23.
[2]Raji R.S.,Smart networks for control.IEEE Spectrum,1994,31(6):49-55.
[3]朱其新,网络控制系统的建模、分析与控制:[博士学位论文].南京:南京航空航天大学,2003.
[4]王常力,罗安.分布式控制系统(DCS)设计与应用实例.北京:电子工业出版社.2004.1-638.
[5]韩璞,王建国.自动化专业概论.北京:中国电力出版社.2007.1-142.
[6]周洪,邓其军,孟红霞,熊勇.网络控制技术及应用.北京:中国电力出版社.2007.1-176.
[7]张庆灵,邱占芝.网络控制系统.北京:科学出版社.2007.1-147.
[8]胡红革.网络化控制系统Petri网建模与分析:[博士学位论文].成都:电子科技大学,2004
[9]Ray A.,Distributed data communication networks for real time process control.Chemical Engineering Communications 1988,65(2):139-154.
[10]Liou L-W.,Ray A.A stochastic regulator for integrated communication and control systems:PartⅠ-formulation of control law,Transactions of the ASME,1991,113(4):604-611.
[11]顾洪军,张佐,吴秋峰.网络化控制系统的机理描述模型;控制与决策,2000(9),15(5):634-636.
[12]Hokayem P.F.and Abdallah C.T.Inherent Issues in networked control systems:a survey.Proceeding of the 2004 American Control Conference,2004:4897-4902.
[13]Srinivasagupta D.,Schattler H.and Joseph B.Time-stamped model predictive control:An algorithm for control of processes with random delays.Computers and Chemical Engineering,2004,28(8):1337-1346.
[14]Kyung Chang Lee,Suk Lee and Man Hyung Lee.QoS-Based Remote Control of Networked Control Systems Via Profibus Token Passing Protocol.IEEE Trans.on Industrial Informatics,2005,1(3):183-191.
[15]Gaid M B,Cela A,Hamam Y.Optimal integrated control and scheduling of systems with communication constraints.Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference,Seville,Spain.[S.1.]:IEEE Press,2005:854-859.
[16]Gaid M B,Cela A,Hamam Y.Optimal integrated control and scheduling of networked control systems with communication constraints:application to a car suspension system.IEEE Transactions on Control Systems Technology,2006,14(4):776-787.
[17]Arzen K E,Cervin A,Eker J.An introduction to control and scheduling co-design.Proceedings of the 39th IEEE Conference on Decision and Control,Sydney,Australia.[S.l.]:IEEE Press,2000(5):4865-4870.
[18]Branicky M S,Phillips S M,Zhang W.Stability of networked control systems:Explicit analysis of delay[A].Proceedings of American Control Conference.2000,4:2352-2357.
[19]Luck R,Ray A.An observer-based compensator for distributed delays.Automatica.1990,26(5):903-908.
[20]Lin H,Antsaklis P J.Persistent disturbance attenuation properties for networked control systems[A].Proceedings of the 43th Conference on Decision and Control.2004,1:953-958.
[21]Lin H,Zhai G,Antsaklis P J.Robust stability and disturbance attenuation analysis of a class of networked control systems.Proceedings of 42th Conference on Decision and Control.2003,2:1182-1197.
[22]Lin H,Zhai G,Fang L,Antsaklis P J.Stability and H~∞ performance preserving scheduling policy for networked control systems.Proceedings of the 16th World Congress of International Federation Automatic Control.2005.
[23]Zhai G,Hu B,Yasuda K,Michel A N.Qualitative analysis of discrete-time switched systems[A].Proceedings of American Control Conference.2002,3:1880-1885.
[24]Walsh G C,Beldiman O,Bushnell L G.Stability analysis of networked control system.Proceedings of American Control Conference.San Diego,CA,USA:IEEE Press,1999:2876-2880.
[25]Walsh G C,Beldiman O,Bushnell G.Asymptotic behavior of nonlinear networked control systems.IEEE Trans on Automatic Control,2001,46(7):1093-1097.
[26]Nesic D.and Teel A.R.Input-Output stability properties of networked control systems.IEEE Trans.on Automatic Control,2004,49(10):1650-1667.
[27]Zhang W,Branicky M S.Stability of networked control systems with time-varying transmission period.Conference on Communication,Control and Computing,2001.
[28]Seiler P,Sengupta R.Analysis of communication losses in vehicle control problems.Proceedings of American Control Conference,Arlington.2001,2:1491-1496.
[29]Seller P,Sengupta R.An H~∞ approach to networked control[J].IEEE Transactions on Automatic Control.2005,50(3):356-364.
[30]Costa O L V,Fragoso.Stability results for discrete-time linear systems with Markovian jumping parameters.Journal of Mathematics Analysis and Application.1993,179(1):154-178.
[31]Farias D P De,Geromel J C.Output feedback control of Markov jump linear systems in continuous-time.IEEE Transactions on Automatic Control.2000,45(5):944-949.
[32]Elia N.Remote stabilization over fading channels.System Control Letter.2005,54(3):237-249.
[33]Ling Q,Lemmon M D.Robust performance of soft real-time networked control systems with data dropouts.Proceedings of the 41st IEEE Conference on Decision and Control.Las Vegas,Nevada,USA:IEEE Press,2002:225-1230.
[34]Walsh G C,Hong Y,Bushnell L G.Stability analysis of networked control systems.IEEE Transaction on Control Systems Technology.2002,10(3):438-446.
[35]Xie L,Zhang J M,Wang S Q.Stability analysis of networked control system.Proceedings of the 1st International Conference on Machine Learning and Cybernetics.2002,2:757-759.
[36]Braslavsky J H,Middleton R H,Freudenberg J S.Feedback stabilization over signal-to-noise ratio constrained channels.Proceeding of American Control Conference,Boston.2004,4:4903-4908.
[37]Elia N,Mitter S K.Stabilization of linear systems with limited information.IEEE Transactions on Automatic Control.2001,46(9):1384-1400.
[38]Hespanha J P,Ortega A,Vasudevar L.Towards the control of linear systems with minimum bit-rate.Proceedings of International Symposium on the Mathematical Theory of Networks and Systems.2002.
[39]Nari G N,Evans R J.Exponential stability of finite-dimensional linear systems with limited data rates.Automatica.2003,39(4):585-593.
[40]Tatikonda S,Mitter S.Control under communication constraints.IEEE Transaction on Automatic Control.2004,49(7):1056-1068.
[41]Wong W S,Brockett R W.Systems with finite communication bandwidth constraints-Ⅱ:Stabilization with limited information feedback.IEEE Transactions on Automatic Control.1999,44(5):1049-1053.
[42]Liberzon D,Hespanha P.Stabilization of nonlinear systems with limited information feedback[J].IEEE Transactions on Automatic Control.2005,50(6):910-915.
[43]Nair G N,Evans R J et al.Topological feedback entropy and nonlinear stabilization.IEEE Transactions on Automatic Control.2004,49(9):1585-1597.
[44]Tang G,Guo L.Adaptive stabilization of unknown linear systems under communication constraints.IEEE Transactions on Control Systems and Technology.2002,10(4):503-518.
[45]Nilsson J.Real-time control systems with delays[D].Lund,Sweden:Lund Institute of Technology.http://citeseer.nj.nec.com/nilsson98realtime.html,1998.
[46]Nilsson J,Bernhardsson B,Wittenmark B.Stochastic analysis and control of real-time systems with random time delays.Automatica.1998,34(1):57-64.
[47]Nilsson J,Bernhardsson B,Wittenmark B.Stochastic analysis and control of real-time systems with random time delays.Proceedings of the 13th World Congress of International Federation Automatic Control,1996.
[48]Nilsson J,Bernhardsson B.LQG control over a Markov communication network.Proceedings of the 36~(th) Conference on Decision and Control.1997,5:4586-4591.
[49]Lincoln B,Bernhardsson B.Optimal control over networks with long random delays.Proceedings of the 14th International Symposium on Mathematical Networks and Systems,2000.
[50]Montestruque L.A.and Antsaldis P.J.Stability of model-based networked control systems with time-varying transmission times.IEEE Trans.on Automatic Control.2004,49(9):1562-1572.
[51]Fuchun L.and Yu Y.Modeling And Analysis Of Networked Control Systems Using Hidden Markov Models.Prec.of Inter.Conf.on Machine Learning and Cybernetics,Guangzhou 2005.8:925-931.
[52]Azimi-Sadjadi,B.Stability of networked control systems in the presence of packet losses.In Proc.of 42nd IEEE Conf.on Decision and Control.2003:676-681.
[53]Hai L.Guisheng Z.and Panes J.A.Robust Stability and Disturbance Attenuation Analysis of a Class of Networked Control Systems.Proc.of the 42nd IEEE Conf.on Decision and Control.Hawaii USA,2003:1182-1187.
[54]谢林柏,方华京等.迟延网络化控制系统的H2/H∞混合控制.控制理论与应用.2004,21(6):1020-1024.
[55]Goktas F.Distributed control of systems over communication networks.USA:University of Pennsylvania,2000.
[56]Filipiak J.Modeling and control of dynamic flows in communication networks.Berlin:Springer,1988.
[57]Feng X,Shanbin L,and Youxian S.Neural Network Based Feedback Scheduler for Networked Control System with Flexible Workload.Proc.of ICNCOS,LNCS,Springer-Verlag,Heidelberg,2005.
[58]Lee K.C.,Lee S.,and Lee M.H.Remote fuzzy logic control of networked control system via Profibus-DP.IEEE Trans.on Industrial Electronics,2003,50(4):784-792.
[59]Lingfang C.,Huiguang L.A class of nonlinear networked control system based on exact T-S model.Prec.of Inter.Conf.on Machine Learning and Cybernetics,Guangzhou.2005.8:808-812.
[60]樊卫华,蔡骅,周川,胡维礼,MIMO网络控制系统的建模与分析,控制理论与应用,2005,22(3):487-490.
[61]邱占芝,张庆灵,一类多输入多输出网络控制系统的稳定性分析,控制与决策,2005,20(5):525-530.
[62]Yong B,Qiu-qiu D,Ying-liu C,et.al.Fault Detection Based on Robust Ⅲ states Observer on Networked Control Systems.IEEE Inter.Conf.on Control and Automation.Budapest,Hungary.2005:1237-1241.
[63]Zhang Wei.Stability analysis of networked control systems.US:Case Western Reserve University,2001.
[64]Hong S H.Scheduling algorithm of data sampling times in the integrated communication and control systems.IEEE Transactions on Control Systems Technology,1995,3(2):225-230.
[65]Liu Luyuan,Wan Renjun,LI Bing.On static scheduling algorithm for networked control based on TTCAN protocol.Control and Decision,2004,19 (7):814-816.
[66]Raja P,Ulloa G,Lausanne E P.Priority polling and dynamic time-window mechanisms in a multicycle fieldbus.Proceedings of the Computers in Design,Manufacturing and Production.Los Alamitos,CA,USA:IEEE Computer Society Press,1993:452-460.
[67]Hong S H.Bandwidth allocation scheme for cyclic-service fieldbus networks.IEEE /ASME Transactions on Mechatronics,2001,6(2):197-204.
[68]Park H S,Kim Y H,Kim D S,et al.A scheduling method for network-based control systems.IEEE Transactions on Control Systems Technology,2002,10(3):318-330.
[69]Walsh G C,Hong Ye.Scheduling of networked control systems.IEEE Control System Magazine,2001,21(1):57-65.
[70]Kim D S,Lee Y S,Kwon W H,et al.Maximum allowable delay bounds of networked control systems.Control Engineering Practice,2003,11(11):1301-1313.
[71]Hong S H,Kim Y C.Implementation of a bandwidth allocation scheme in a token-passing field-bus network.Instrumentation and Measurement,2002,51(2):246-251.
[72]Kim Y H,Kwon W H,Park H S.Stability and a scheduling method for network-based control systems The 22nd Annual Conference of the IEEE Industrial Electronics Society,Taipei,Taiwan.[S.l.]:IEEE Press,1996(2):934-939.
[73]Kim Y H,Park H S,Kwon W H.A scheduling method for network-based control systems.Proceedings of the American Control Conference,Philadelphia,Pennsylvania,USA.[S.l.]:IEEE Press,1998(2):718-722.
[74]Velasco M,Fuertes J M,Lin C,et al.A control approach to bandwidth management in networked control systems.The30th Annual Conference of the IEEE Industrial Electronics Society,Busan,Korea.[S.l.]:IEEE Press,2004:2343-2348.
[75]Zuberi K M,Shin K G.Scheduling messages on control area network for real-time CIM applications.IEEE Transactions on Robotics and Automation,1997,13(2):310-314.
[76]Sumant Kowshik,Girish Baliga;Graham,S,Sha,L.Co-design based approach to improve robustness in networked control systems:Proceedings.2005 International Conference on Dependable Systems and Networks,2005:454-463.
[77]Chen-Chou Hsieh,Pau-Lo Hsu,The event-time triggered network control structure for CAN-based motion systems,2005 IEEE International Conference on Control Applications (CCA) (IEEE Cat.No.05CH37713),2005:722-726 vol.1.
[78]Kwanjoo Myoung,Jongman Heo,Week Hyun Kwon,Dong-Sung Kim Design and implementation of home network control protocol on OSGi for home automation system,The 7~(th)International Conference on Advanced Communication Technology(IEEE Cat.No.05EX1046),2005:1163-1168 Vol.2.
[79]BAI Tao.Performance analysis and scheduling optimization of networked control systems.Shanghai:Shanghai Jiaotong University,2005.
[80]Lian F L,Moyne J,Tilbury D.Network design consideration for distributed control systems.IEEE Transactions on Control Systems Technology,2002,10(2):297-307.
[81]Sere D,Lehoczky J P,Sha L,et al.On task schedulability in Real-Time control systems.Proceedings of the IEEE Real-Time Systems Symposium.Piscataway,NJ,USA:IEEE,1996.13-21.
[82]Seto D,Lehoczky J P,Sha L.Task period selection and schedu-lability in real-time systems.Proceedings of the IEEE Real-time Systems Symposium.Piscataway,NJ,USA:IEEE,1998:188-198.
[83]Cervin A.Integrated Control and Real-time Scheduling.Sweden:Lund Institute of Technology,2003.
[84]杨顶方,王树青.NCS调度与控制的共同设计.自动化仪表,2004,25(12):9-11,14.
[85]何坚强,张焕春,经亚枝.网络控制系统中采样周期的优化选取方法.吉林大学学报(工学版),2004,34(3):479-482.
[86]Tipsuwan Y,Chow M Y.Network-based controller adaptation for network QoS negotiation and deterioration.IEEE Industrial Electronics Society.Proceedings of the 27th annual conference.Denver:IEEE Press,2001:1794-1799.
[87]Mart(?) P,Y(?)pez J,Velasco M,et al.Managing quality-of-control in network-based control systems by controller and message scheduling co-design.IEEE Trans on Industrial Electronics,2004,51(6):1159-1167.
[88]Xia Feng,Liu Li- ping,Sun You-xian.Flexible quality- of- control management in embedded systems using fuzzy feedback scheduling.Proceedings of SPIE- The International Society for Optical Engineering,San Jose,USA.[S.1.]:SPIE Press,2006:624-633.
[89]Sahoo D R,Swaminathan S,Al-Omari R,et al.Feedback control for real-time scheduling [A].Proceedings of the 2002 American Control Conference.Piscataway,NJ,USA:IEEE,2002.1254-1259.
[90]Stankovic J A,Lu C Y,Son S H,et al.The case for feedback control real-time scheduling.Proceedings of the Euromicro Conference on Real-Time Systems.Piscataway,NJ,USA:IEEE,1999.11-20.
[91]Lu C Y,Stankovic J A,Son S H,et al.Feedback control real-time scheduling:Framework,modeling,and algorithms.Real-Time Systems,2002,23(122):85-126.
[92]SETO D,LEHOCZKYJ P,SHA L,et al.On task schedulability in real-time control systems.In Proceedings of 17th IEEE Real Time Systems Symposium.Washington D C,1996.
[93]Eker J,Hagander P,Arzen K E.A feedback scheduler for real-time controller tasks.Control Engineering Practice,2000,8(12):1369-1378.
[94]黎善斌,王智,张卫东等.网络控制系统的研究现状与展望.信息与控制,2003,32(3):239-244.
[95]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,自动化学报,2002,28:171-176.
[96]于之训,陈辉堂,王月娟.闭环网络控制系统研究综述,信息与控制,2001,30(7):689-695.
[97]岳东,彭晨,Qinglong Han.网络控制系统的分析与综合.北京:科学出版社.2007.1-266.
[98]黎善斌.网络控制系统的鲁棒控制算法研究:[博士学位论文].杭州:浙江大学,2005.
[99]方来华.网络控制系统分析、建模及控制研究:[博士学位论文].天津:天津大学,2005.
[100]胡维礼.网络控制系统的建模与控制:[博士学位论文].南京:南京理工大学,2004.
[101]谢林伯.网络化控制系统中若干问题的研究:[博士学位论文].武汉:华中科技大学,2004.
[102]舒迪前.预测控制系统及其应用[M].北京:机械工业出版社.1996.
[103]Richalet J,et al.Model Predictive Heuristic Control:Application to Industrial Processes.Automatica.1978,14(5):413-428.
[104]Rouhani R,Mehra R K.Model Algorithmic Control(MAC),Basic Theoretical Properties.Automatica,1982,18(4):401-414.
[105]Culter C R,Ramaker B L.Dynamic Matrix Control-A Computer Control Algorithm.Proc.JACC.SanFranciso,1980.
[106]De Keyser R M C,Van Cauwenberghe A R.A Self-Tuning Multistep Predictor Application.Automatica,1981,17(1):167-174.
[107]De Keyser R M C,Van Cauwenberghe A R.Extended prediction self-adaptive control.IFAC Symp.Ident.Syst.Param.Est York,1985.
[108]Ydstie P S.Extended horizon adaptive control.IFAC 9th World Congress.Budapest,Hungary,1984.
[109]Clarke D W,Mohtadi C,Tufts P S.Generalized Predictive Control,Part 1:The Basic Algorithm;Part 2:Extensions and Interpretations.Automatica,1987,23(2):137-160.
[110]Lelic M A,Zarrop M B.Generalized pole-placement self-tuning controller,Part 1:Basic algorithm.Intl.J.Control,1987,46(2):547-568.
[111]Lelic M A,Zarrop M B.Generalized pole-placement self-tuning controller,Part 2:Application to robot manipulator control.Intl.J.Control,1987,46(2):569-601.
[112]Demircloglu H,Gawthrop P J.Continuous-time Generalized Predictived Control(CGPC).Automatica,1991,27(1):55-74.
[113]Garcia C E,Morari M.Internal Model Control 1.A Unifying Review and Some New Results.I&EC Process Des.Dev,1982,21(2):308-323.
[114]Kuntze H B,et al.On the predictive functional control of an elastic industrial robot.Proc.25th CDC.Athens,Greece:1986,1877-1881.
[115]王伟.广义预测控制理论及其应用 北京:科学出版社,1998,148-154.
[116]李国勇.智能控制及其Matlab实现 北京:电子工业出版社,2005,342-345.
[117]Richalet J.Predictive functional control:application to fast and accurate robot.Proc of the 10th Conf.IFAC,Munich,1987:251-258.
[118]Zhang Lingquan,and Wang Shuqing.Studies and applications of predictive functional control in temperature tracking of chemical reactors.Control Theory & Applications,vol.18,no.4,pp.559-563,2001.
[119]Deng Julong.Grey Control System.Wu:Huazhong University of Science and Technology Press,1993.
[120]Xiong Hejin,Xu Zhonghua.Grey Control.Beijing:National Defense Industry Press,2005.
[121]Luo Kaiyuan,Gao Feng,Hu Lirui.Grey Generalized Predictive Control Algorithm and Simulation.Control theory and applications,2002,19(2):207-210.
[122]Zhang W,Branicky M S,Phillips SM.Stability of networked control systems.IEEE Control Systems Magazine,2001,21(1):84-99.
[123]Babak A S.Stability of Networked Control Systems in the Presence of Packet Losses.Proc of IEEE Conf on Decision and Control.Hawaii,2003:676-681.
[124]Soglo B.Yang Xianhui.Compensation for Network-induced Delays and Packet Dropout and System Stability Analysis.Control and Decision,2006,21(2):201-209.
[125]Can Yang,Shanan Zhu,Wanzeng Kong,Liming Lu.Application of generalized predictive control in networked control system,Journal of Zhejiang University SCIENCE A,2006,1(2):225-233.
[126]Pan Honghua,Hu Jiasheng,Zhang Shengyun.Study of predictive functional control algorithm based on grey system model.Control and Decision Magzine,2004,19(1):117-119.
[127]邓聚龙.灰色控制系统.武昌:华中理工大学出版社,1993.
[128]Fu-Chun Liu,Yu Yao,Modeling and analysis of networked control systems using hidden Markov models.Proceedings of Fourth ICMLC,2005,18-21:928-931.
[129]Rabiner,L.R.,A tutorial on hidden Markov models and selected applications in speech recognition,Proceedings of IEEE,Vol 77,No.2,Feb.1989:257-286.
[130]朱其新,胡寿松,网络控制系统的随机输出反馈控制.应用科学学报,20043(1):71-75.
[131]Liu J.Real-time systems.Prentice Hall,Upper Saddil River,NJ,2000.
[132]Chow M,Tipsuwan Y.Gain adaptation of networked DC motor controllers based on QoS variations.IEEE Transactions on Industry Electronics,2003,vol.50:936-943.
[133]王艳,蔡骅,网络控制系统反馈调度器的设计,电子学报,2007,35(2):379-383.
[134]Yepez J,Marti P,Fuertes J M.Control loop scheduling paradigm in distributed control systems.In:Proceedings of the 29~(th) Annual Conference of the IEEE Industrial Electronics Society.Roanoke,USA:IEEE,2003:1441-1446.
[135]Xia F,Dai X H,Wang Z,Sun Y X.Feedback based network scheduling of networked control systems.In:Proceedings of the International Conference on Control and Automation.Budapest,Hungary:IEEE,2005:1231-1236.
[136]Wang Z M,Zhu X M.El based scheduling for thermal process control.In:Proceedings of the International Conference on Control and Automation.Budapest,Hungary:IEEE,2005:656-660.
[137]A Cervin,D Henriksson,Bo Lincoln,etc.How Does Control Timing Affect Performance.IEEE Control System Magazine.2003:16-30.
[138]Dan Henriksson,Anton Cervin.TrueTime 1.13 Reference Manual.Department of Automatic Control,Lund Institute of Technology,2003.
[139]黄海.网络控制系统实验平台建设与算法设计:[博士学位论文].杭州:浙江大学,2007.
[140]周黎辉,韩璞,姚万业等.一种基于现场总线的分散控制系统的研制.电站系统工程,2003,19(3):53-55.
[141]宋明权,周纯洁,杨樊等.基于C8051F040的CAN通讯接口的开发与应用.计算技术与自动化,2005,24(1):42-45.
[142]孙尧,闫保中,孔祥力等.C8051F040单片机CAN控制器的波特率设置研究.应用科技,2007,34(1):51-54.
[143]OPC Data Access Custom Interface Specification 2.05,OPC Foundation,June 28,2002.
[144]张小玮,慕春棣.OPC实时任务系统动态调度算法的研究与设计.微机算计信息2006,22(1-1).