基于网络时延分析的控制器设计与实验研究

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1、浙江大学硕士学位论文基于网络时延分析的控制器设计与实验研究姓名：芦帅申请学位级别：硕士专业：模式识别与智能系统指导教师：张建明20050301浙江大学硕士学位论文AbstractNetworkedControlSystem(NCS)isanintegrationofnetworkingcommunicationtechnologyandcybernetictheoretic.AnNCSconnectsthecontrollers,thesensorsandtheactuatorsthroughonesharednetwor

2、kingtoformfeedbackcontrolloops.Inthepastfewyears,astherapidgrowthappearsintheweldofindustrialautomatics,navigationtechnologyandaerospacescience,thestudyofNCShasdrawnmoreandmoreeyesoftheresearchers'.UncertaindelaysareinsertedintoNCSloopbythesharednetworking,andthus

3、makesithardtoapplytraditionalanalyticalmethodologytoanNCS.Soit'sboutrewardingacademicallyandpracticallytostudythephilosop场behindNCS.Thisthesisdoessomeresearchworksinthefollowingfacetsaroundthenetworking-induceddelayinNCSFirst,itreviewsformalworkwhichincludingNCSmo

4、deling,time-delayevaluationandcompensation,stabilityanalysis,optimalstochasticcontroltheoretics,sampletimeschedul吨，controllerdesignandQoSadaptionetc.Thenproposeditsmainwork.Second,itproposesoneviewpointthatrnandr_areNOTequaltothesystemandprovesit妙buildingamulti-de

5、laymodelofNCS.ThismodelalsohelpstodeduceanewsuficientconditiontoensurethestabilityofNCSbasedonLyapunovtheoreticsThird,aMatlab/Simulinksimulationplatformisbuilttobeusedastoolsinthisthesis,andanexperimentplatformbasedonrealEthernetisbuiltforfuturestudyAtlast,itpropo

6、sedadesignmethodologyofanadaptivefuzzyNCScontrllerbasedonbandwidthengrossingrate.Duringthiswork,itcomparesafuzzylogiccontrollerwithaPDcontrollerinvarioustime-delayenvironments.Thenitconstructsafunctionbetweenthebandwidthengrossingrateandthestochasticdistributionmo

7、delofnetwork-induceddelay.Andthisfunctionisusedtoproposethisdesignmethodology.Keywords:networkedcontrolsystems;network-induceddelay;stabilityanalysis;simulationfuzzycontroller;adaptivecontrol.II-浙江大学硕士学位论文致谢致谢值此论文完成之际，我衷心感谢张建明副研究员两年多来对我孜孜不倦的教育和指导。张老师把我带入了控制理论研究的大门

8、，在学习过程中给予我悉心的指导，为我提供了一个宽松、和谐的研究环境，引导我在科研工作中一步步前进，我的每一次进步和取得的成绩都是与张老师的教育、帮助都是分不开的。张老师不仅在科研工作中给予我最大的帮助，同时在生活中给予了我无微不至的关怀，在此衷心表示感谢!张老师勤奋敬业、知识渊博、思维敏锐、治学态度严谨