【摘要】 针对非线性系统往往具有不确定性、结构复杂、建模困难、难于在网络条件下进行仿真研究的问题,建立了一个基于TrueTime的非线性网络控制系统.在对弹簧连接的双倒立摆耦合非线性系统模型进行Matlab/Simulink模块化建模的基础上,结合TrueTime的网络通信模块,利用设计的鲁棒控制器将对象模型的不确定性和网络时延的不确定性进行了综合处理.仿真结果表明,该系统不仅降低了非线性系统建模的复杂性,而且为研究网络控制系统结构下非线性系统的动态特性提供了条件.更多还原

【Abstract】 A nonlinear networked control system based on TrueTime was proposed in view of that the nonlinear systems are often involved in uncertainties,complex architecture and difficulty in modeling and simulating under network conditions.Based on the Matlab/Simulink modularized TPCS(two inverted pendulums coupled by a spring) modeling in combination with the TrueTime communication network,the uncertainties due to the object to be modeled and the network-induced time delays were both processed synthetically by a robust controller we designed.The simulation results showed that the proposed system not only reduces the complexity of nonlinear system modeling but also provides the reference for the research on dynamic behavior of a nonlinear system with networked control system architecture.更多还原