网络控制系统的稳定性研究及调度策略
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摘要
近年来,随着控制技术、网络技术和计算机应用技术的飞速发展,网络控制系统(networked control system, NCS)受到了越来越广泛的关注,并成为国际控制领域的一个研究热点,其具有信息资源共享、连接线数大大减少、易于扩展、易于维护、高效率、高可靠性及灵活等优点。然而由于闭环控制中网络的引入,网络控制系统中的很多基本问题有待于深入研究,如网络控制系统的稳定性问题及网络资源的调度问题。本文针对网络控制系统中存在的基本问题,从系统的建模、控制和网络资源的调度等方面进行了研究,主要的研究内容及结论如下：
本文首先针对只有传感器到控制器为网络连接的一类网络控制系统,考虑系统的被控对象仅输出量可以测量的情况,设计了适合于网络环境的状态观测器,并利用状态观测器对丢包和时延进行了适当补偿。然后分别应用离散时间和离散与连续相结合的方法建立了包括状态观测器在内的整个系统的闭环模型,分析了网络控制系统的稳定性,并给出了仿真结果,证明了离散与连续相结合建模方法的优点。
进而,对传感器、控制器和执行器均为网络连接的一类网络控制系统,在传感器、控制器和执行器分别为不同的节点驱动组合模式下,根据不同驱动组合模式下网络控制系统的特点,选择前面提出的两种建模方法,通过数据丢包率,将包括状态观测器的整个闭环系统建立为受事件发生率约束的异步动态系统,最后分析了使系统指数稳定的充要条件。并通过仿真实验,对所提出的方法进行了验证和比较。
在所研究的网络控制系统中,网络时延为随机时延时,将随机时延看作是被控对象的不确定性因素,并将其转化为具有不确定性的线性离散系统,研究了网络控制系统的鲁棒H∞稳定性问题。然后同时考虑随机的网络时延和数据丢包,将网络中数据包传输的丢包过程看作是由结构事件组成的随机过程,给出了系统的鲁棒H∞稳定性的充分条件。进而结合前面给出的指数稳定性和鲁棒H∞稳定性的分析方法,给出了使系统指数收敛的鲁棒H∞稳定性的充分条件,并通过仿真验证了该方法的优越性。
控制系统分析及控制器设计与通信调度策略是网络控制系统研究的两个重要分支,针对具体控制问题需协调考虑两方面的因素。基于此,最后对由多个控制回路组成的网络控制系统分析了其调度策略。对可调度的情况,采用了一种基于网络传输误差和LQG最优理论的控制系统调度设计方法。对不可调度情况,提出使用网络监测得到网络传输误差,通过调整传感器的采样周期和在控制器进行数据包补偿的调度方法。最后通过仿真实验验证了调度方法的有效性。
With the rapid development of control technology, network technology and computer applied technology, networked control systems(NCSs) has received more and more attention, and it is becoming an important issue in automation field. The NCSs have the advantages of information sharing, much fewer wire, easy reconfiguration, easy maintenance, high efficiency, high reliability and high mobility. However, because of the introduction of network in closed-loop system, there are many questions should be further studied, such as the stability problem and network scheduling. The dissertation is concerned with the basic problems in NCSs, the modeling, control and scheduling of NCSs are studied, and the main contents are as follow:
For a class of NCSs which only the sensor and controller are connected with network, and the states of the plant are unmeasured, a state observer is designed to compensate for time delay and data dropout. Then by using two different kind of modeling method:one is discrete-time modeling, the other is discrete-time and continuous-time modeling, the whole closed system is described by a maths model, at last, the stability of NCSs are analyzed, and the simulation result is given, which shows the advantage of the discrete-time and continuous-time modeling method.
The NCSs which sensor, controller and actuator are connected with network is analyzed further. When the sensor, controller and actuator are different drive modes, by analysis the characteristic of NCSs in different nodes drive mode, proper modeling method given before are chosen. Then based on data packet dropout rate, the whole closed system including the state observer is modeled as asynchronous dynamical system constrained by configuration event rate. Sufficient and necessary conditions for exponential stability of the closed loop system are obtained, and simulation example is done in truetime for comparison and validation.
For the class of NCSs given above, when the time delay is stochastic, the stochastic time delay is regarded as an incertitude factor. Then the whole system is modeled as an uncertain linear discrete system, Sufficient and necessary condition for robust H∞stability of NCSs is obtained. Then focusing on both time delay and data packet dropout, the data packet dropout process is considered as a stochastic process, by using Lyapunov principle, robust H∞stability of the system is analyzed, sufficient and necessary condition for robust is obtained. Then based on the exponential stability analysis method and robust H∞stability analysis method, the robust H∞stability with exponential convergence of the closed loop system is analyzed, simulation result shows the advantage of this method.
Control and scheduling are two important research topics of NCSs. As the control loops need coordinating, the scheduling methods are analyzed for the NCSs with many control loops after the analysis for only one control loops. A scheduling method on network-induced error and LQG (Continuous linear-quadratic-Gaussian) theory is designed to solve collision of communication in networked control systems. For under scheduling, by monitoring network-induced error, a scheduling method of changing sensor sample periods and to compensate sample data in controller is put forward. At last, the simulation validates the effectiveness of the proposed scheduling method.
本文首先针对只有传感器到控制器为网络连接的一类网络控制系统,考虑系统的被控对象仅输出量可以测量的情况,设计了适合于网络环境的状态观测器,并利用状态观测器对丢包和时延进行了适当补偿。然后分别应用离散时间和离散与连续相结合的方法建立了包括状态观测器在内的整个系统的闭环模型,分析了网络控制系统的稳定性,并给出了仿真结果,证明了离散与连续相结合建模方法的优点。
进而,对传感器、控制器和执行器均为网络连接的一类网络控制系统,在传感器、控制器和执行器分别为不同的节点驱动组合模式下,根据不同驱动组合模式下网络控制系统的特点,选择前面提出的两种建模方法,通过数据丢包率,将包括状态观测器的整个闭环系统建立为受事件发生率约束的异步动态系统,最后分析了使系统指数稳定的充要条件。并通过仿真实验,对所提出的方法进行了验证和比较。
在所研究的网络控制系统中,网络时延为随机时延时,将随机时延看作是被控对象的不确定性因素,并将其转化为具有不确定性的线性离散系统,研究了网络控制系统的鲁棒H∞稳定性问题。然后同时考虑随机的网络时延和数据丢包,将网络中数据包传输的丢包过程看作是由结构事件组成的随机过程,给出了系统的鲁棒H∞稳定性的充分条件。进而结合前面给出的指数稳定性和鲁棒H∞稳定性的分析方法,给出了使系统指数收敛的鲁棒H∞稳定性的充分条件,并通过仿真验证了该方法的优越性。
控制系统分析及控制器设计与通信调度策略是网络控制系统研究的两个重要分支,针对具体控制问题需协调考虑两方面的因素。基于此,最后对由多个控制回路组成的网络控制系统分析了其调度策略。对可调度的情况,采用了一种基于网络传输误差和LQG最优理论的控制系统调度设计方法。对不可调度情况,提出使用网络监测得到网络传输误差,通过调整传感器的采样周期和在控制器进行数据包补偿的调度方法。最后通过仿真实验验证了调度方法的有效性。
With the rapid development of control technology, network technology and computer applied technology, networked control systems(NCSs) has received more and more attention, and it is becoming an important issue in automation field. The NCSs have the advantages of information sharing, much fewer wire, easy reconfiguration, easy maintenance, high efficiency, high reliability and high mobility. However, because of the introduction of network in closed-loop system, there are many questions should be further studied, such as the stability problem and network scheduling. The dissertation is concerned with the basic problems in NCSs, the modeling, control and scheduling of NCSs are studied, and the main contents are as follow:
For a class of NCSs which only the sensor and controller are connected with network, and the states of the plant are unmeasured, a state observer is designed to compensate for time delay and data dropout. Then by using two different kind of modeling method:one is discrete-time modeling, the other is discrete-time and continuous-time modeling, the whole closed system is described by a maths model, at last, the stability of NCSs are analyzed, and the simulation result is given, which shows the advantage of the discrete-time and continuous-time modeling method.
The NCSs which sensor, controller and actuator are connected with network is analyzed further. When the sensor, controller and actuator are different drive modes, by analysis the characteristic of NCSs in different nodes drive mode, proper modeling method given before are chosen. Then based on data packet dropout rate, the whole closed system including the state observer is modeled as asynchronous dynamical system constrained by configuration event rate. Sufficient and necessary conditions for exponential stability of the closed loop system are obtained, and simulation example is done in truetime for comparison and validation.
For the class of NCSs given above, when the time delay is stochastic, the stochastic time delay is regarded as an incertitude factor. Then the whole system is modeled as an uncertain linear discrete system, Sufficient and necessary condition for robust H∞stability of NCSs is obtained. Then focusing on both time delay and data packet dropout, the data packet dropout process is considered as a stochastic process, by using Lyapunov principle, robust H∞stability of the system is analyzed, sufficient and necessary condition for robust is obtained. Then based on the exponential stability analysis method and robust H∞stability analysis method, the robust H∞stability with exponential convergence of the closed loop system is analyzed, simulation result shows the advantage of this method.
Control and scheduling are two important research topics of NCSs. As the control loops need coordinating, the scheduling methods are analyzed for the NCSs with many control loops after the analysis for only one control loops. A scheduling method on network-induced error and LQG (Continuous linear-quadratic-Gaussian) theory is designed to solve collision of communication in networked control systems. For under scheduling, by monitoring network-induced error, a scheduling method of changing sensor sample periods and to compensate sample data in controller is put forward. At last, the simulation validates the effectiveness of the proposed scheduling method.
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