网络控制系统中延时机理及状态预估控制方法的研究
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摘要
网络控制系统,简称为NCS(Networked Control System),是一种通过实时网络构成闭的环分布式反馈控制系统。其中,控制器、传感器、执行器各节点通过一条共享的网络来交换信息。网络控制系统集成了计算机技术、通信技术和控制理论,是一个新兴的研究热点并且正成为现代工业生产的主要发展方向。它具有信息资源能够共享、系统成本低、使用灵活、易于维护等优点,但同时网络传输也会产生时间延迟、数据包丢失等问题。这不仅给NCS的分析带来了困难,而且使得许多传统的控制理论不能直接应用到NCS的设计当中。
本文根据网络诱导延时的基本组成,对几种典型的现场总线的媒质竞争访问机制、延时形成机理、特点和实时性等进行对比研究,通过对网络最差响应时间及延时统计特性进行分析,讨论了不同协议下影响延时的主要因素。在此基础上,建立了3种延时条件下(短延时无数据包丢失,短延时有数据报丢失以及长延时)NCS的数学模型。分析了网络诱导延时、节点驱动方式对NCS控制性能的影响。指出采用时钟驱动虽然增加了延时时间,但提供了采用先进控制算法对NCS中延时丢包补偿的途径。
为了减轻甚至消除网络传输对控制计算的影响,本文研究了一种基于时间戳的时延补偿算法。在短延时条件下,针对该算法要求模型准确、只能对传感器到控制器之间的时延进行补偿的缺点,提出了一种在控制器中建立对象状态的近似模型、执行器采用时钟驱动的状态预估控制方法,并推导了此类系统稳定的充分必要条件,达到了较好控制的效果。采用对象预估模型以及已有的对象实测状态对当前状态变量进行多步预估,实现对随机长延时的补偿。进一步将该方法应用在短延时存在丢包的情况下,分别对网络诱导延时和数据丢包进行预估补偿,改善了NCS的性能。
为了尽可能地减少网络控制系统对网络带宽的需求,本文研究了前向通道和后向通道均存在网络链接时,基于状态预估控制方法的网络控制系统采样间隔最大化的问题,其目的是在保证系统稳定情况下,尽量降低对网络带宽的占用。分别在状态反馈、输出反馈和离散情况下,研究了基于状态预估的网络控制系统的建模、稳定性分析、控制器设计和仿真,分析了数据链路的增加,状态估计误差和延时对最大通讯间隔的影响。
提出通过在执行器端设置缓冲区的办法,实现对控制器与执行器之间网络延时的测量和补偿。利用广义预测控制算法的特点,结合缓冲区的方法实现了对网络控制系统的传输时延综合补偿和最优控制。仿真结果验证了控制器设计方法的有效性。
Networked control systems (NCSs) are distributed feedback control systems whose sensors, actuators, and control units are connected through communication networks. This type of system has the advantage of greater flexibility with respect to traditional control systems. Also, it allows for reduced wiring, as well as a lower installation cost. It also permits greater agility in diagnosis and maintenance procedures. NCSs are the collaboration of three engineering fields, computer engineering, communication engineering (either wired or wireless) and control engineering, and become a novel interdisciplinary research front as the development direction of modern industry. Therefor, some problem such as time delay, data package loss, may accur in the network transmission, which can make the analysis to NCS a difficult task. Because the classical control theory can not be directly applied to NCSs’controller design.
Firstly, the media access mechanism, the delay mechanism and charactersitcs and real-time property of several tapical fieldbuses are studied with comparison according to the composition of the network induced delay. The primary factors that affect the forming of the delay in different protocols are discussed via analyzing the worst-case response time and statistical properties of the delay in the network. On the basis above, the mathematical models in three kinds of delay conditions, short delay without data package loss, short delay with data package loss and long delay, of NCS are built. Then, the influence of the network induced delay and the node driven modes to the control performance of NCS is discussed. And, it is pointed that the time driven mode increases the delay, but gives a way to compensate the delay with package loss by using advanced control arithmetics.
Whereafter, a delay compensation arithmetic based on time-stamp (TS-DCA) is studied to reduce or eliminate the influence of the network transmission to the control computing. In the short delay condition, a state prediction control method that model the state of the plant in the controller and use time driven mode in actuator is propsed to improve the TS-DCA which need accurate model and can only compensate the delay between sensor and controller. Also, the necessary and sufficient conditions for this kind of NCS’s stability are derivated.
Furthemore, the maximum sampling interval in the state prediction based networked control system is studied, as foreward channel connect with backward channel using network. The aim is to reduce the network bandwidth in condition of keeping the system in statbility. Modeling, stability analysis, control and simulating of the state prediction based networked control system in the case of state feedback, output feedback and discrete time, are studied. Also, the effect of state estimation error and delay to the maximum communication interval is analyzed.
Finally, the approach to realizing measurement and compensation of the delay between controller and actuator by setting buffer at the actuator is proposed. The GPC arithmetic is utilized to achieve delay compensation and optimal control of NCS. Simulation results show the validity of the proposed controller design method.
本文根据网络诱导延时的基本组成,对几种典型的现场总线的媒质竞争访问机制、延时形成机理、特点和实时性等进行对比研究,通过对网络最差响应时间及延时统计特性进行分析,讨论了不同协议下影响延时的主要因素。在此基础上,建立了3种延时条件下(短延时无数据包丢失,短延时有数据报丢失以及长延时)NCS的数学模型。分析了网络诱导延时、节点驱动方式对NCS控制性能的影响。指出采用时钟驱动虽然增加了延时时间,但提供了采用先进控制算法对NCS中延时丢包补偿的途径。
为了减轻甚至消除网络传输对控制计算的影响,本文研究了一种基于时间戳的时延补偿算法。在短延时条件下,针对该算法要求模型准确、只能对传感器到控制器之间的时延进行补偿的缺点,提出了一种在控制器中建立对象状态的近似模型、执行器采用时钟驱动的状态预估控制方法,并推导了此类系统稳定的充分必要条件,达到了较好控制的效果。采用对象预估模型以及已有的对象实测状态对当前状态变量进行多步预估,实现对随机长延时的补偿。进一步将该方法应用在短延时存在丢包的情况下,分别对网络诱导延时和数据丢包进行预估补偿,改善了NCS的性能。
为了尽可能地减少网络控制系统对网络带宽的需求,本文研究了前向通道和后向通道均存在网络链接时,基于状态预估控制方法的网络控制系统采样间隔最大化的问题,其目的是在保证系统稳定情况下,尽量降低对网络带宽的占用。分别在状态反馈、输出反馈和离散情况下,研究了基于状态预估的网络控制系统的建模、稳定性分析、控制器设计和仿真,分析了数据链路的增加,状态估计误差和延时对最大通讯间隔的影响。
提出通过在执行器端设置缓冲区的办法,实现对控制器与执行器之间网络延时的测量和补偿。利用广义预测控制算法的特点,结合缓冲区的方法实现了对网络控制系统的传输时延综合补偿和最优控制。仿真结果验证了控制器设计方法的有效性。
Networked control systems (NCSs) are distributed feedback control systems whose sensors, actuators, and control units are connected through communication networks. This type of system has the advantage of greater flexibility with respect to traditional control systems. Also, it allows for reduced wiring, as well as a lower installation cost. It also permits greater agility in diagnosis and maintenance procedures. NCSs are the collaboration of three engineering fields, computer engineering, communication engineering (either wired or wireless) and control engineering, and become a novel interdisciplinary research front as the development direction of modern industry. Therefor, some problem such as time delay, data package loss, may accur in the network transmission, which can make the analysis to NCS a difficult task. Because the classical control theory can not be directly applied to NCSs’controller design.
Firstly, the media access mechanism, the delay mechanism and charactersitcs and real-time property of several tapical fieldbuses are studied with comparison according to the composition of the network induced delay. The primary factors that affect the forming of the delay in different protocols are discussed via analyzing the worst-case response time and statistical properties of the delay in the network. On the basis above, the mathematical models in three kinds of delay conditions, short delay without data package loss, short delay with data package loss and long delay, of NCS are built. Then, the influence of the network induced delay and the node driven modes to the control performance of NCS is discussed. And, it is pointed that the time driven mode increases the delay, but gives a way to compensate the delay with package loss by using advanced control arithmetics.
Whereafter, a delay compensation arithmetic based on time-stamp (TS-DCA) is studied to reduce or eliminate the influence of the network transmission to the control computing. In the short delay condition, a state prediction control method that model the state of the plant in the controller and use time driven mode in actuator is propsed to improve the TS-DCA which need accurate model and can only compensate the delay between sensor and controller. Also, the necessary and sufficient conditions for this kind of NCS’s stability are derivated.
Furthemore, the maximum sampling interval in the state prediction based networked control system is studied, as foreward channel connect with backward channel using network. The aim is to reduce the network bandwidth in condition of keeping the system in statbility. Modeling, stability analysis, control and simulating of the state prediction based networked control system in the case of state feedback, output feedback and discrete time, are studied. Also, the effect of state estimation error and delay to the maximum communication interval is analyzed.
Finally, the approach to realizing measurement and compensation of the delay between controller and actuator by setting buffer at the actuator is proposed. The GPC arithmetic is utilized to achieve delay compensation and optimal control of NCS. Simulation results show the validity of the proposed controller design method.
引文
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