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混杂有向图模型与混杂控制系统的应用问题研究
王洪洋
Subtype工学博士
Thesis Advisor郑应平
1999-06-01
Degree Grantor中国科学院自动化研究所
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword混杂系统 混杂控制系统 建模 混杂有向图 Plc Holonic递阶控制 Hvac 机器人自动装配 Hybrid Systems Hybrid Control Systems Modeling Hybrid Digraph Plc Holonic Hierarchical Control Hvac Robotic Assembly
Abstract混杂系统指的是离散事件系统与连续变量系统混合而成的统一的动态系统,它 的提出和发展是由于研究现代高技术和工业过程控制问题的需要。从信息角度, 混杂控制系统提供了一种利用和处理混杂的定型和定量信息以及混杂的量变和质 变动态特性的体系结构和方法,特别强调控制与决策的高度统一,是研究一大类 复杂系统控制的一条有效的途径。本文在现有的混杂系统理论和传统控制理论已 有成果的基础上,结合最新的控制与制造技术,侧重于研究混杂系统的建模与控 制,以及在一些典型工业控制中的应用。提出了混杂有向图模型,讨论了如何用 PLC和Holonic技术实现混杂系统的控制,并研究了混杂系统理论在机器人自动装 配过程中的应用问题。 论文的主要研究内容和贡献有: 1、首先,详细地综述了混杂系统理论。分析了混杂现象,并给出了混杂系统 的一般概念。在回顾了混杂系统的简要发展历程之后,综述了五大类典型的混杂 系统模型:混杂系统的DEDS建模方法,混杂系统的动态系统方法,混杂系统的 代数方法,混杂系统的仿真语言方法,以及其他一些建模方法等。并详述了 Witsenhausen模型,等几种具有代表性的建模方法。然后,对混杂系统的分类方法 进行了研究,并分析了可控性、可达性、稳定性等等各种典型的混杂系统控制问 题。以thermoscat等几种应用实例,讨论了混杂系统理论的建模和应用方法。最后 展望了混杂系统理论发展的前景。这一部分,基本上覆盖了混杂系统现有的基本 模型、控制问题和应用,可以将这一部分当作混杂系统理论的入门教材。 2、其次,提出一种混杂有向图(hybrid directed graph,HDG)模型,对一类混杂 系统进行建模。这一部分中,在讨论了混杂系统的机理之后,提出了一种新的混 杂有向图模型,给出了其基本框架和形式化描述,并讨论了混杂有向图的运行机 制,然后分析了有关的基本性质。通过几个具体的建模实例,描述了混杂有向图 建模过程的一般方法。简洁直观是该模型最大的特点和优点,同时又具有强大的 描述能力。利用有向图的极大强连通子图的概念,对混杂有向图进行了分解工作, 这种分解方法有利于混杂有向图的性质研究和控制。最后,分别讨论了可控性、 稳定性和最优控制等基本问题。 3、第三,讨论了混杂系统的一种实现方法,即用PLC实现混杂系统控制。在 简介了PLC与梯形图并介绍了PLC的基本功能和 RLL语言的优点及障碍之后,给 出了PLC的梯形图语言元素的基本逻辑指令。然后叙述
Other AbstractHybrid systems are dynamical systems consisting of the interaction of discrete and continuous variables components. They arise and develop from the needs of modeling the complicated behavior of high-technology artificial systems and modem industry process. From the point of view of information, hybrid control systems provide the structure and methodology to use and process the hybrid information and characteristics with quality and quantity. Especially, it is important to unite the control and decision. And it is an effective method to study a mass of complex Control systems. On the base of hybrid systems theory and traditional control and the union of novel control methods and manufacturing technology, the importance of this thesis are the modeling and control of hybrid systems and their application in typical industrial control. This paper give a novel hybrid system model, hybrid digraph, discuss how to use PLC and Holonic networks to realize the control of hybrid systems, and study its application in robotic assembly. The main works and contribution of this paper include: 1. Firstly, summarizing the theory of hybrid systems in detail. After analyzing hybrid phenomenon, it is given the general concept of hybrid systems and the brief history of its development. Five classes of typical hybrid systems models are summarized, which include: DEDS modeling method, dynamical systems method, algebra method, simulation languages, and other modeling methods. Some representative methods are analyzed including Witsenhausen model as known. Followings, it is studied the classification methodology of hybrid systems and some kinds of typical control problems including controllability, reachabitity, stability, etc. Thermostat and other applications as examples, it is discussed the methodology of hybrid systems theory modeling and application. Finally, the developing prospect of hybrid systems theory is given. This part covers basic models, control problems and its applications and can be as elementary course of hybrid systems theory. 2. Secondly, a kind of hybrid digraph is presented which can be used to model a class of hybrid systems. In this part, after the discussion of mechanism of hybrid systems, the frame, description and some basic characters of HDG are given. The general modeling process is described by some examples. Simplification, visualization, and good describing ability are the features and merits of HDG. The discomposition is beneficial for the studies and control of HDG. Finally, some general control problems are discussed including of controllability, stability and optimal control. 3. Thirdly, one realization method of hybrid system is proposed that uses PLC to realize its controlling. This part narrates how to use PLC to realize the control of hybrid systems and give three realization methods. Firstly, the principle and method of RLL direct realization are given. Second is how to translate
shelfnumXWLW542
Other Identifier542
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/5696
Collection毕业生_博士学位论文
Recommended Citation
GB/T 7714
王洪洋. 混杂有向图模型与混杂控制系统的应用问题研究[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,1999.
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