【正文】 華北電力大學(xué)碩士學(xué)位論文摘要 i摘 要 隨著計(jì)算機(jī)技術(shù)的發(fā)展，控制系統(tǒng)與網(wǎng)絡(luò)通信系統(tǒng)的集成成為控制網(wǎng)絡(luò)技術(shù)研究的熱點(diǎn)，為此提出了網(wǎng)絡(luò)控制系統(tǒng)（ NCS）。本文介紹了網(wǎng)絡(luò)控制系統(tǒng)的工業(yè)背景和研究現(xiàn)狀，重點(diǎn)介紹了網(wǎng)絡(luò)時延問題的研究進(jìn)展。分析了網(wǎng)絡(luò)控制系統(tǒng)的時延產(chǎn)生原因及特性，根據(jù)采樣時間的不同和驅(qū)動方式的不同進(jìn)行了建模分析。根據(jù)不同的模型分析了固定時延、隨機(jī)時延的補(bǔ)償控制器設(shè)計(jì)。本文重點(diǎn)介紹了針對不確定時延采用 FuzzyPID控制器的設(shè)計(jì)和仿真研究。在最后，介紹了一種 Matlab環(huán)境下的實(shí)時控制系統(tǒng)仿真工具箱 Truetime，給出 了具有時延特征的網(wǎng)絡(luò)控制系統(tǒng)的控制仿真結(jié)果。 關(guān)鍵詞： 網(wǎng)絡(luò)控制系統(tǒng) ， 網(wǎng)絡(luò) 時延 ， 時延補(bǔ)償， FuzzyPID 控制器 ABSTRACT With the development of puter technology, some considerable attentions have been directed to the integrated control systems and work munication control system. So Network Control System（ NCS） is proposed. In this thesis ， the paper introduces the engineering background and research achievements, and focuses on the progress of work delay. The causes and the characteristic of workinduced delay are analyzed. According to the different of sampling time and drive way, model is built and analyzed. Depending on the different models, the controller with the pensation about the fixed time delay and random delay controller are designed. This paper focuses on using Fuzzy PID controller against uncertainty delay to design and simulation testing. In conclusion， Simulink toolbox， named by Truetime， based on Matlab has been introduced in this paper. And the characteristics of the NCS simulation results are given. Liu Jian (Control Theory and Control Engineering) Directed by prof. Ma Yongguang KEY WORDS ： Networked control systems, Networkinduced delay, Delay pensation, FuzzyPID controller 華北電力大學(xué)碩士學(xué)位論文目 錄 1 目 錄 中文摘要 英文摘要 第一章 緒 論 ................................................................................................ 1 網(wǎng)絡(luò)控制系統(tǒng)的發(fā)展與基本概念 ...............................................................1 計(jì)算機(jī)控制系統(tǒng)的發(fā)展 ....................................................................1 網(wǎng)絡(luò)控制系統(tǒng)的描述 ........................................................................3 網(wǎng)絡(luò)控制系統(tǒng)時延研究現(xiàn)狀 ......................................................................4 NCS 的數(shù)學(xué)模型的建立 ....................................................................4 NCS 控制器設(shè)計(jì)方法 ........................................................................5 本文研究的出發(fā)點(diǎn)與主要工作 ..................................................................7 目的和意義 ......................................................................................7 研究內(nèi)容 .........................................................................................8 第二章 具有網(wǎng)絡(luò)誘導(dǎo)時延的 NCS 分析 .................................................... 9 引言 .........................................................................................................9 網(wǎng)絡(luò)控制系統(tǒng)的采樣技術(shù) ....................................................................... 10 同步采樣和非同步采樣 .................................................................. 10 時間驅(qū)動方式和事件驅(qū)動方式 ........................................................ 11 多速率采樣 .................................................................................... 12 控制網(wǎng)絡(luò)與網(wǎng)絡(luò)控制系統(tǒng)的時延分析 ...................................................... 12 控制網(wǎng)絡(luò) ....................................................................................... 13 網(wǎng)絡(luò)控制系統(tǒng)的時延分析 ............................................................... 16 小結(jié) ....................................................................................................... 18 第三章 具有網(wǎng)絡(luò)誘導(dǎo)時延的 NCS 建模與控制 ....................................... 19 引言 ....................................................................................................... 19 具有網(wǎng)絡(luò)誘導(dǎo)時延的 NCS 的數(shù)學(xué)建模 .................................................... 19 具有固定 時延的 NCS 的控制器設(shè)計(jì) ........................................................ 21 具有隨機(jī)時延的 NCS 的控制器設(shè)計(jì) ........................................................ 22 基于時延統(tǒng)計(jì)規(guī)律的隨機(jī)控制器設(shè)計(jì) ............................................. 23 基于時變、有界時延的隨機(jī)時延的補(bǔ)償 .......................................... 24 小結(jié) ....................................................................................................... 26 第四章 FuzzyPID 網(wǎng)絡(luò)控制器設(shè)計(jì) ............................................................ 27 引言 ....................................................................................................... 27 模糊控制理論基礎(chǔ) .................................................................................. 27 模糊控制系統(tǒng)的組成 ...................................................................... 27 華北電力大學(xué)碩士學(xué)位論文目 錄 2 模糊控制器原理 ............................................................................. 28 模糊控制器的輸入輸出變量 ............................................................ 30 模糊控制器設(shè)計(jì)的基本方法 ............................................................ 31 帶 PID 的網(wǎng)絡(luò)化控制系統(tǒng) ........................................................................ 31 模糊補(bǔ)償 PID 控制器設(shè)計(jì) ........................................................................ 32 fuzzyPID 復(fù)合控制器設(shè)計(jì) ...................................................................... 33 小結(jié) ....................................................................................................... 34 第五章 基于 matlab/simulink 的 NCS 仿真環(huán)境研究 ............................. 35 引言 ....................................................................................................... 35 Truetime 工具箱結(jié)構(gòu)與功能 .................................................................... 35 計(jì)算機(jī)模塊 .................................................................................... 36 網(wǎng)絡(luò)模塊 ........................................................................................ 36 初始化 .................................................................................................... 37 網(wǎng)絡(luò)控制系統(tǒng)仿真研究 ........................................................................... 38 仿真說明 ................................................................................................ 39 PID 控制器設(shè)計(jì)仿真 ..........................