基于Delta算子方法的变采样网络化控制研究

Many problems are induced for the introduction of the communication networks into control closed-loop. In order to achieve the high control performance, the networks bandwidth should be well used when the information is transported among the control nodes. However, the available networks bandwidth is real-time changed based on the environment of networks load. Hence, it is difficult to obtain good control effect in the environment of changing networks bandwidth by using traditional fixed period sampling approach, which is suit for the networks environment with fixed bandwidth. Therefore, this project studies a time-varying sampling control problem based on the real-time available bandwidth of networks, a new networked control system model is given based on the delta operator approach. Some problems on state estimation and controller design are also deeply investigated in the project. Firstly, a delta operator system model with time delays and switched parameters is proposed to describe networked control systems. In the new model, the sampling period values are used explicitly, by which the available networks bandwidth is real-time reflected. Secondly, both filtering and control of networked systems are studied, some new state estimation and control strategies depending on sampling periods are proposed. Finally, a wireless networked inverted pendulum experimental platform is set up to illustrate the effectiveness and the potential of the developed techniques. The research results of this project are expected to enrich the contents of time-varying sampling control, develop networked control theory, and provide new ideas and methods for control engineering practice in complex networks environment.

网络嵌入到控制闭环给系统的分析与设计提出了诸多挑战。为了实现系统的高质量控制，传输控制节点信息时网络带宽最好得到充分利用。然而，网络负载的多变导致网络可用带宽实时变化，适用于固定网络带宽的传统定周期采样控制方法很难在多变带宽的环境下取得好的控制效果。因此，本项目提出根据网络化实时可用带宽的变采样控制策略，基于Delta算子建立网络化控制系统新模型，进一步对滤波和控制器设计等问题进行研究。首先，本项目建立一个带切换参数的时滞Delta算子模型，新模型融入了采样周期参数，可实时反映和利用网络带宽。其次，研究网络化系统滤波与控制问题，提出依赖于变采样周期的状态估计新方法和控制新策略。最后，我们将研究结果应用于无线网络化倒立摆实验平台，进行试验研究。研究成果将丰富变采样控制研究内容，发展网络化控制理论，同时对复杂网络环境下的控制工程提供新的研究思路和方法。

网络嵌入到控制闭环给系统的分析与设计提出了诸多挑战。网络负载的多变导致网络可用带宽实时变化，适用于固定网络带宽的传统定周期采样控制方法很难在多变带宽的环境下取得好的控制效果。因此，本项目提出变采样网络化控制策略，基于Delta算子系统建立网络化控制新模型，进一步对滤波和控制等问题进行研究。首先，建立一个Delta算子系统模型，新模型融入采样周期参数，可实时反映和利用网络带宽。其次，研究网络化系统滤波与控制问题，提出依赖于变采样周期的状态估计新方法和控制新策略。最后，将研究结果应用于物联网实验平台，进行实验验证。研究成果将丰富变采样理论，发展执行器饱和网络化控制系统研究内容，同时对物联网的应用提供新的研究思路和方法。