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网络化控制系统的设计与整定
其他题名Design and Tuning of Networked Control Systems
李坤杰
学位类型工学博士
导师刘国平
2007-06-11
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词网络化控制系统 实时仿真 实现 最优整定 事件驱动 Networked Control System Real-time Simulation Realization Optimal Tuning Event-driven
摘要网络化控制系统指通过串行通讯网络连接回路的控制系统,它是计算机技术、集成电路技术、网络技术和控制理论等多种技术综合的结果,由社会生活的实际需求而推动,随着科技的进步而发展。从广义上说,网络化控制系统包括由现场总线等各种网络组成的控制系统,但从狭义角度来看,它用于特指使用以太网/因特网连接的控制系统。网络的引入给网络化控制系统带来了很多的优点,但它的共享通信信道特性也产生了一些问题,如随机网络延时、数据乱序和丢包等。 论文的主要内容和创新如下: (1)对于网络化控制系统的基本结构和通信协议进行介绍,并且阐述了它的主要应用即现场总线和工业以太网,此外,概述了中科院自动化所开发的NetCon系统,用于网络化控制系统的设计和实现。 (2)研究了网络化控制系统的仿真,提出了网络预测控制的简化算法,并在NetCon系统的基础上实现了实时仿真。网络化控制系统的仿真存在多种软件,如网络仿真软件OPNET和NS2,控制系统仿真软件Matlab和Scilab,以及把两者进行结合的Truetime和NetCon系统。NetCon系统可以进行网络化控制系统的实时仿真,因此在NetCon系统的基础上实现了网络预测控制及其简化算法,进行了实时仿真。 (3)研究了网络化控制系统的实现,在NetCon系统的基础上进行快速原型开发,完善网络化控制系统的标准开发流程,进行了基于本地/城域网/广域网的网络控制实验。网络化控制系统的建模、仿真和实现,组成了网络化控制的标准设计开发流程,它们都可以在NetCon 系统上完成。然后,使用NetCon系统进行快速原型开发,得到过程控制系统的本地实现和网络实现,验证了流程的可行性。 (4)研究了网络化控制系统的最优整定,提供了网络化控制器参数整定的解决方案,并通过预先仿真以检验参数效果,保障系统正常运行。在Matlab外部接口基础上编写了Nclib网络通讯软件,然后与NetCon网络控制器通信,获取程序运行信息,最后根据损失函数计算出最优参数值,完成网络化控制系统的在线最优整定。此外,在把整定参数下载到控制器运行之前,通过预先仿真可以验证整定参数效果,从而保障网络化控制系统的正常运行。 (5)研究了网络化控制系统的事件驱动模型,在NetCon系统的基础上进行了建模和实现,并且对极大极小系统的全局优化算法进行了仿真和分析。对于事件驱动模式下的网络化控制系统,使用Stateflow建立有限状态机模型,利用Stateflow Coder在NetCon系统的基础上进行实现。此外,使用极大极小代数进行数学建模,对于极大极小系统的全局优化算法进行了仿真和分析。 论文最后对研究成果进行了总结并对未来工作进行了展望。
其他摘要A feedback control system whose loop is closed through a serial network can be called a networked control system(NCS). NCS is the result of integrating the computer technology, integrated circuit technology, network technology and control theory. With the development of science and technology, it has made much progress while driven by practical demands of social lives. Generally speaking, NCS can be made up with any network, such as Fieldbus,Ethernet and so on. On the other hand, it is the control system only connected with Ethernet/Internet. The introduction of networks benefits much to the control systems while it also causes some problems, such as random network delay, packet dropout and data disorder. Main work and contributions in this dissertation are described as follows: (1)The basic structures and communication protocols of NCS are introduced. The Fieldbus and industrial Ethernet are also mentioned. Moreover, the NetCon system developed by IACAS(Institute of Automation, Chinese Academy of Sciences) is detailed for the use of design and implementation of NCS. (2)The simulaton of NCS is studied. A simplified algorithm of network predictive control system is addressed and its real-time simulations are also realized. There are many different methods to simulate NCS, such as OPNET and NS2 can be used for simulation of networks while the simulation of control systems can be made by Matlab and Scilab. The NetCon and Truetime can combine the simulation of networks with that of control systems. The NetCon system can be employed for real-time simulation. (3)The realization of NCS is addressed and rapid control prototyping is proposed, based on NetCon system a standard development process is given by means of which the experiments based on local/MAN/WAN are realized. A standard research and development process is made up of Modeling, simulation and realization and they can all be completed by NetCon system. Then RCP of NCS is implemented and the process is proved to be effective based on network experiments. (4)The optimal tuning of NCS is proposed. A solution for parameter tuning of network controllers is addressed and by simulation in advance the effects of tuning parameters are verified to guarantee the normal safe running of NCS. Nclib software is firstly programmed in Matlab MEX-file and then it is used for communication between Matlab workspace and the NetCon controller. Optimal parameters are searched by minimizing the cost function until the total process of tuning is finished. (5)The event-driven model of NCS is considered. Simulation and realization of event-driven NCS are executed, based on the NetCon system and a global optimization algorithm of max-min systems is simulated and analyzed. Modeling of finite state machines is given in Stateflow and it is realized with Stateflow Coder using the NetCon system. Finally, the conclusions are given and several prospects of future work are formulated.
馆藏号XWLW1112
其他标识符200418014628029
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/6016
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
李坤杰. 网络化控制系统的设计与整定[D]. 中国科学院自动化研究所. 中国科学院研究生院,2007.
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