【作者】 鲁照权；

【导师】 韩江洪；

【作者基本信息】 合肥工业大学 ， 计算机应用技术， 2002， 博士

【摘要】 大时滞不确定过程，由于存在的广泛性及很难控制的特点，几十年来一直是困扰着国内外相关专业专家学者的难题，并受到了普遍的关注。2000年4月本文的研究得到了教育部“高等学校骨干教师资助计划”的资助(教技司[2000]65号)，使得本文的工作得以顺利进行，并取得了一些研究成果。本文由十章组成，主要内容分六个部分。 第一部分由第一、二、三章组成。第一章概述了时滞过程控制的发展历程、各种控制方法及目前国内外研究的焦点问题。第二章首先通过几个工业过程的例子介绍了纯时滞及惯性时滞的概念，然后介绍了时滞不确定过程外部、内部数学描述及系统外部、内部的稳定性问题。第三章介绍了Lyapunov稳定性理论，Popov超稳定性理论、系统正实性及鲁棒控制等基础知识。 第二部分由第四、六章组成。第四章提出了一种对象参考参数自适应时滞补偿器的构成原理及设计方法。该时滞补偿器可应用于满足一定条件的一大类大时滞不确定过程。参数自适应时滞补偿器的基本出发点是用一族模型拟合受控过程的不确定及摄动部分，其目的是使系统稳态时的模型与实际过程相匹配；预测输出与受控过程不确定性及时滞摄动部分的输出一致；以及模型的输出与实际过程的输出一致。这样无论实际受控过程的参数怎样变化，只要不影响系统的稳定性，对象参考参数自适应时滞补偿器的模型总能和实际过程趋于一致，并提前获得大时滞不确定过程实际输出的预测值，以便在构成闭环控制系统时替代实际输出作为反馈信号。从而完美地解决了一大类大时滞不确定过程的时滞补偿与输出预测问题。论述了基于LyapunoV稳定理论和Popov超稳定理论、设计模型参数及增益自适应律的条件及方法。第六章对几个典型的带有大时滞的一阶、二阶过程及高阶过程进行了实例设计与仿真，证明了在受控过程存在严重不确定性的情况下，对象参考参数自适应时滞补偿器具有良好自适应跟踪能力和时滞补偿能力，并且易于设计应用。 第三部分由第五、七章组成。第五章给出了经时滞补偿后的大时滞不确定过程闭环控制系统的结构。针对大时滞不确定过程存在参数及时滞的不确定或摄动问题，提出了纯加性及纯乘性不确定性描述。讨论了时滞补偿后系统的鲁棒稳定化、标准H_∞控制、最小灵敏度和混合灵敏度控制等问题。第七章分别对基于自适应时滞补偿的典型一阶、二阶大时滞不确定过程和高阶不确定过程进行了H_∞鲁棒控制器设计及系统仿真。仿真结果证明了基于对象参考参数自适应时滞补偿的H_∞鲁棒控制系统具有良好的鲁棒稳定性及动态性能。 摘 要 第四部分，即第八章，提出了一种专家式串级控制系统的结构及设计方法。专家式串级控制系统在知识模型的基础上对过程进行控制。它不但可以利用控制理论，还可以充分利用专家的知识和操作者的经验。其最大特点是对受控过程数学模型的依赖性小，适用子数学模型难以建立、并且有一定不确定性的场合。对巴氏灭活过程的成功应用证明了专家式串级控制系统结构的合理性及设计方法的有效性。 第五部分，即第九章，讨论了一类奇异摄动时滞不确定系统鲁棒稳定性问题。有些工业生产过程是比较复杂的高阶过程，这类过程通常情况下表现为低阶稳定的特性。在某些特定的情况下可能会变成高阶的甚至不稳定的系统。这种潜在的危险往往会造成比较严重的后果。因此，近年来奇异摄动时滞不确定系统稳定性问题己开始引起人们的高度重视。本章通过对一类奇异摄动时滞不确定系统的研究，给出了该类系统在四种情况下出现参数范数有界摄动时保证系统稳定的时滞T和奇异摄动参数。的上界。应用例子表明了奇异摄动时滞不确定系统稳定性判据使用的方便性。 最后（第十章）对本文的研究进行了总结，叙述了本文尚未解决的相关问题。更多还原

【Abstract】 This dissertation,which consists of ten chapters,contains six parts. The first part contains the first,the second,and the third chapter. In the first chapter,the developing history of dead-time process control,all control methods and problems being widely researched are introduced briefly. The second chapter discusses the concepts of dead-time and inertial lag by several typical processes,the internal and outer mathematical descriptions and stability problems of the dead-time processes.The part two consists of chapter four and chapter six. In chapter four,a kind of object reference parameter adaptive dead-time compensator (ORPADTC) is proposed,and its construction and design methods are described. This compensator can be used for all uncertain processes with large dead-time (UPLDT) which satisfy some stability conditions. In the compensating system,in order to make the model match the being controlled process,the predictive output follow that of the uncertain and perturbed part of the being controlled process and the model output trace that of the being controlled process,a group of models are used to imitate the uncertain and perturbed part of the being controlled process. The ORPADTC model can always match the real process and the UPLDT output,which can be used as the feed back signal of the control system,can be predicted. The ORPADTC completely solves the problems,sensitive to the error of the model parameters and the low power against disturbance,which exist in the traditional Smith compensator. The design methods of the ORPADTC,which are based on Lyapunov stability and Popov hyperstability,are discussed. In the chapter six,simulations are done for a few typical first order UPLDT and second order UPLDT. The simulation results prove that the ORPADTC has good power in dead-time compensating and adaptive tracing when the process being controlled has terrible uncertainty and parameter perturbation,and it is easy to design.The third part contains chapter five and seven. In chapter five,a construction of closed loop control system is given for dead-time compensated UPLDT. To the point of parameter uncertainty and perturbation,double plus and double multiply expressions are presented. Problems,which are the robust stabilization,the normal H control,the minimum sensitivity and mix sensitivity control,are discussed for the dead-time compensated UPLDT.ABSTRACTIn the seventh chapter,H robust control simulations are done for typical first order and second order UPLDT. The simulation results prove that the H robust controlled systems,which are compensated by the ORPADTC,have idea robust stability and dynamic performance.In the fourth part,the chapter eight,a kind of expert cascade controller (EEC) construction and its design method are proposed. The EEC can be built on not only real model control theories but also expert knowledge and operator experience. It is good at controlling the processes with parameter uncertainty and perturbation. The EEC system has been successfully adopted in a disinfecting process of biological pharmacy.The fifth part,chapter nine,discusses the stability problems of a class of singularly perturbed systems (SPS). Some processes are complex high order ones. They usually behave like stable low order ones. In some typical conditions,they probably become unstable high order systems. These potential dangers often cause terrible accidents. Recent years,people have pay high attention to the SPS. In this chapter,the stability judgements are proposed for the SPS in four conditions respectively. They can offer the upper bound of the dead-time and the perturbed parameter. An application example shows that the judgements are easy to use.The final part,the tenth chapter,summarizes the works of the dissertation and introduces the remanent problems to be solved.更多还原