具有短时延的网络控制系统的鲁棒控制研究

文档编号:TX296  文档字数:10555,页数:20
具有短时延的网络控制系统的鲁棒控制研究
     
摘要：网络控制系统（NCS）是由网络技术和控制技术交叉融合发展而来的，具有资源共享、价格低、重量轻、安装方便、维护容易、能耗小等优点。本文主要针对具有短时延的网络控制系统，提出了一种基于鲁棒控制的方法来解决该类系统的稳定化控制问题。主要工作如下：首先对网络控制系统的发展及鲁棒控制的概念进行描述；接着考虑状态反馈控制规律，将闭环网络控制系统描述为一个离散时间线性不确定系统模型，得到了该系统的渐近稳定性条件，且该条件建立了系统稳定性与两个实验参数,即允许时延上界（ADB）和允许时延变换范围（ADVR），之间的定量关系。并且给出了稳定化反馈控制器的设计步骤。最后通过一个示例验证了所提方法的有效性。
关键词：网络控制系统；时变时延；渐近稳定；不确定性；鲁棒控制

 A Robust Control Approach to Networked
 Control Systems with Short Time Delays
 Student majoring in Automation      
Tutor             
Abstract：Network control system (NCS) is developed from the cross-integration of network technology and control technology, which is with advantages of sharing resources, low price, light weight, easy installation and maintenance, low energy consumption and so on. A robust control approach is proposed in this paper to solve the stabilization problem for networked control systems (NCS) with short time-varying delays. Main tasks are as follows: First, describing the development of network control system and the concept of robust control. Next, by considering state feedback controllers, the closed-loop NCS is described as a discrete-time linear uncertain system model. Then, the asymptotic stability condition for the obtained closed-loop NCS is derived, which establishes the quantitative relation between the stability of the closed-loop NCS and two delay parameters, namely, the allowable delay upper bound(ADB) and the allowable delay variation range(ADVR). Furthermore, design procedures for the stabilizing controllers are also presented. An illustrative example is finally given to demonstrate the effectiveness of the proposed method. 
Key words：Networked control systems (NCS)；time-varying delay；asymptotic stability；Uncertainties；Robust control 

目录

摘要 2
关键词 2
Abstract 2
Key words 2
引言 2
1 选题背景及意义 3
1.1 网络控制系统的发展 3
1.2 鲁棒控制简介 4
1.3 网络诱导时延 5
1.4本课题的研究意义 5
2 时延网络及系统离散化 6
2.1 时延网络 6
2.2 线性连续系统的时间离散化 7
2.2.1 近似离散化 7
2.2.2 线性连续系统状态方程的离散化 8
3 网络系统模型和稳定性分析 10
3.1网络系统模型 10
3.2稳定性分析及稳定控制器的设计 11
3.2.1 稳定性分析 11
3.2.2 控制器设计算法 15
4 系统仿真 15
5 结论 17
致谢 17
参考文献 17

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