【作者】 张喜民；

【导师】 周利华；

【作者基本信息】 西安电子科技大学 ， 计算机应用， 2006， 博士

【摘要】 随着微电子技术、计算机技术以及网络技术的发展,以太网络在工业控制领域越来越受到人们的关注,以太网络控制系统(Ethernet Control Systems, ECS)将逐渐成为工业自动控制系统的重要发展方向。ECS是计算机技术、以太网络通讯技术与控制技术发展和融合的产物,是指地域上分散的现场传感器、控制器以及执行器等控制系统组成,通过以太通讯网络进行相互间的信息交换,完成对被控对象实时控制的自动控制系统。ECS具有安装维护简便、结构灵活、通用性强、系统易于扩展和维护、软件资源丰富、通讯速率高、易于同企业信息系统集成等优点。但是,以太网络是一个对等网络,也是一个不可靠的数据传输通道,ECS中的数据通过它传输时,不仅数据包通讯时延具有随机性的特点,而且,数据包在传输过程中可能会丢失,这使得ECS的分析与设计变得复杂。传统的自动控制理论已不适用于ECS,需要探究能满足ECS稳定和动态性能的新控制策略。另外,ECS是一种新诞生的自动控制系统,要将它应用于实际,还需解决ECS节点的以太网络接口设计、ECS与企业信息系统集成等关键技术。本文首先对ECS的主要研究问题、研究状况、发展情况进行了综述；然后,在对以太网络通讯时延特性研究的基础上,对ECS的建模、稳定性、保性能控制进行了探究；最后,针对实际工业控制应用,对ECS节点的以太网络接口设计与实现、ECS与企业信息系统集成中的关键技术问题进行了探讨。本文主要的研究成果有以下几个方面：1.时滞控制系统是指作用于系统上的输入信号、控制信号与其作用下所产生的输出信号之间存在时间延迟的一类控制系统。针对ECS单数据包传输,数据传输中没有数据包丢失的情况,将ECS建模为时滞控制系统；通过构建新的Lyapunov泛函,应用时滞控制系统理论和矩阵范数不等式,推导出了ECS网络通讯时延独立的渐进稳定条件和网络通讯时延依赖的最大时延渐进稳定条件；提出了确定ECS渐进稳定的最大网络通讯时延的简便数值线搜索算法；给出了具体验证实例。2.异步动态系统是一个同时含有离散动态和连续动态的系统,是一种特殊的混杂系统。ECS中的数据丢包情况可以简化为切换问题来进行研究。针对ECS单数据包传输,数据传输中有数据包丢失的情况,将ECS建模为具有事件约束的异步动态系统；运用Lyapunov稳定性原理、异步动态系统理论,提出了ECS稳定的网络通讯时延条件和数据包丢失率条件；给出了具体验证实例。3.针对ECS单数据包传输,数据传输中没有数据包丢失的情况,将有界时变网络通讯时延对ECS的影响转化为闭环系统参数的摄动,在此基础上,将ECS建模为离散不确定时滞控制系统；运用Lyapunov稳定性原理、时滞控制系统理论、鲁棒稳定性理论,提出了ECS鲁棒保性能控制律存在的条件；给出了运用线性矩阵不等式设计ECS鲁棒保性能状态反馈控制器的方法；仿真示例验证了方法的有效性。4.ECS的现场测控器是ECS的重要组成部分,它也是具有以太网络接口的嵌入式控制系统。在微嵌入式ECS的现场测控器中软件实现TCP/IP协议是难点。针对ECS的实际工业应用,提出了ECS现场测控器的硬件结构、网络接口方案及其软件架构,给出了基于MSP430F149单片机和RTL8019AS以太网控制器芯片的微嵌入式现场测控器实验系统的具体实现,探讨了精简TCP/IP协议在微嵌入式系统中的软件实现方法,针对现场测控器的WEB应用,详细阐述了WEB服务器在现场测控器中的软件设计。5.结合某市集中供热热网监控系统改造项目,提出了一种分布式热网监控ECS解决方案。给出了系统各组成部分硬件、软件的详细设计与具体实现,详细地讨论了系统软件设计中关键技术问题的解决方法。系统由现场测控器、监控中心和监控终端3个子系统组成。系统各部分间的通讯通过TCP/IP协议来实现,系统易于同企业内部信息网集成；系统采用两级数据库实现了数据的缓存,系统不会因通讯网络发生短暂故障而丢失数据；系统采用Java Script Page (JSP)语言和网页动态刷新技术开发了WEB网站,热网监控可在本地或远地通过WWW浏览器来完成,操作简便。方案已应用于某市热网监测系统中,它还在制造业、电力、水利、环境等监控领域有广泛的应用前景。更多还原

【Abstract】 With the rapid development of the integrated circuit, the computer, the Internet and Ethernet, more and more attention has recently been focused on the application of the Ethernet in the domain of automatic control. The Ehernet control systems (ECS), a new class of the networked control systems (NCS), have been becoming the mainstream and the hottest topic of the industrial automatic control system.The ECS is a product with combination of computer, Ethernet network and automation technology, wherein the control loops is closed through the Ethernet network. The defining feature of an ECS is that information (reference input, plant output, control input, etc.) is exchanged using the Ethernet network among the control system components (sensors, controller:actuator, etc.). The prinlary advantages of ECS are reduced system wiring and the costs of Medias, ease of system diagnosis and maintenance, high of reliability and increased system agility. Regardless of ECS have been adopted in many industrial control areas for its attractive benefits, the performance of the ECS is always affected by the Ethernet network communication time-delay, which degrades the ECS control performance and destabilize the system and make the analysis and design of NCSs complex. Conventional control theories with many ideal assumptions, such as equal-distance sensing, synchronized control, and nondelayed sensing and actuation, must be reevaluated before they can be applied to ECS. Therefore, it is necessary that the advanced methodologies are developed to handle the communication time-delay in a closed-loop control system over the Ethernet network, what is more, many problems, such as the technique of the Ethernet interface for ECS node, the ECS system integratation etc, have to be solved in order to apply the ECS practically.In this dissertation, the exploratory research work has been done around the ECS, which include the analysis of the Ethernet communication time-delay performance, the modeling, stability analysis and the robust guaranted cost full state feedback controller design of the ECS, the technique of the Ethernet interface for ECS node and the ECS system integratation etc. The main contributions of this dissertation are summarized as follows:1. The time-delay comtrol system is the system that has time delay among the input signals, control signals and output singnals. The ECS is modeled as a time-delay control system. An asymptotic stability time-delay criterions of the ECS, the time-delay independent criterion and time-delay dependent criterion, are derived from the matrix norm inequality, the theory of time-delay control system and a new constructed Lyapunov function, and a laconic line search algorithm to determine the max bound of the asymptotic stability time-delay is also presented. The experimet and the comparison analysis with the corresponding criterions show that the proposed criterions have the less conservatism.2. Asynchronous dynamical systems are systems that incorporate both discrete and continu-ous dynamics, with the discrete dynamics governed by finite automata, and the continuous dynamics repre-sented by ordinary dierential equations at each discrete state. The ECS is modeled as an asynchronous dynamical system with rate constraints on events. By applying the Lyapunov stability theory and the asynchronous dynamical system heory, the sufficient time-delay criterion and data packet dropout criterion for the exponential stability of the ECS are proposed and proved. A laconic linear matrix inequality (LMI) algorithm is also provided to d validate the stability of the ECS. The simulation shows that our method is effective.3. By regarding the effect of random time-delay to the ECS as the unknown uncertain parameter disturbance, the ECS is modeled as a discrete uncertain time-delay control system. A sufficient condition, the existing of robust guaranteed cost control law for the ECS was proved by Lyapunov theory and the robust control theory. The design method of the robust guaranteed cost control full state feedback controller for the ECS is also presented in terms of LMI. The simulation results show that the method is effective.4. The technique of the Ethernet interface for ECS node is studied. The structure of the hardware and the software of the Micro-Embedded control System are presented. The solution in which the Micro-Embedded control System accesses to the Ethernet is proposed. The methods of simplifying the TCP/IP Protocol and constructing the WEB sever by software in the Micro-Embedded control System are also discussed in dietal. The experiment system of Micro-Embedded control System is built with the MSP430F139 processor and the RTL8019AS Ethernet controller chip.5. A distributed heat-supply supervising and control system based on the TCP/IP network is introduced. The integrated principles of the system are given and the hardware and software of the system are designed and implemented. The difficult problems in the system development process are also discussed in detail. The system consists of three components:local controller, supervising and control center and supervisory terminal. The communication of the system, combined TCP/IP network is convenient to integrate with the enterprise information system. The structure of two level databases is used to provide a date buffer for the data communication and avoid data drop. A WEB server is constructed by Java Script Page (JSP) technology in the system, through which Engineers can remotely supervise and control the heat-supply system via a WWW browser.The system has been used in the field of the city heater supply supervisory control, it also has a great application foreground in the supervisory control field of industry manufacture, water conservancy, electric power and environment.更多还原