网络化控制系统中的时延补偿控制策略研究

Networked control systems (NCSs) invovling many communities, such as computer sciences, communications and automatic control, have been an active research area in the past several years.In NCSs, network-induced delay is the main source of the performance deterioration or even causes the instability of the NCSs, and it is effective to enhance the control performance by compensating for the delay actively. This project focuses on the network delay compensation control problems for the systems with feedback channel delay, the systems with forward channel delay and the systems with both feedback and forward channel delays, respectively. By modelling the network delay as network communication disturbance, and constructing suitable disturbance observer to estimate and compensate the disturbance, the network delay compensation control schemes are proposed based on the disturbance estimation and compenastion techniques, which can not only compensate the network delay actively, but also reduce the network communication load. Moreover, by considering the limitations of the existing networked predictive control approaches, the quantized networked predictive schemes are designed. For the nonlinear NCSs, the fuzzy networked predictive approaches are also established. Both the simulations and experiments will be provided to illustrate the effectiveness and applicability of the developed techniques. This project is devoted to develope the effective network-induced delay compensation schemes in the NCSs, and provide the theoretical support for the practical applications of NCSs.

网络化控制系统涉及计算机、通信与自动控制等领域，已成为近年来国内外研究的热点。在网络化控制系统中，网络时延是导致系统性能下降甚至失稳的主要原因，而主动补偿网络时延是改善系统控制性能的有效途径。本项目着重研究网络化系统中的时延补偿控制问题，分别针对反馈通道存在网络时延、前向通道存在网络时延以及反馈通道和前向通道同时存在网络时延的系统，将网络时延建模为网络通信扰动并构造合适的扰动观测器对其进行估计、补偿，提出基于扰动估计补偿技术的网络时延补偿控制策略。该方法在主动补偿网络时延的同时还可以减小网络通信负担。本项目还针对现有网络预测控制方法中数据包过大导致网络负载严重的问题，提出量化网络预测控制方法；针对非线性网络化系统的时延补偿问题,提出模糊网络预测控制方法。所给出的理论结果将通过数值仿真和实验进行验证。本项目旨在提出一套较为完整的网络时延补偿控制方法，为网络化控制系统在实际应用中提供理论支持。

完成人以网络化控制系统为研究对象，针对网络化控制系统中的网络时延补偿问题展开了深入的研究工作。在网络化控制系统中，网络时延是导致系统性能下降甚至失稳的主要原因，而主动补偿网络时延是改善系统控制性能的有效途径。本项目以主动补偿网络时延对系统的影响为目标，结合滑模控制、抗干扰控制等方法提出了一套较为完整的网络时延补偿控制方法，为网络化控制系统在实际应用中提供了理论支持。