递阶分布控制系统设计软件的开发

【作者】 郭秀萍；

【导师】 张云生；

【作者基本信息】 昆明理工大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 本文针对复杂实时控制系统的设计与实现，以智能机械手控制系统为实例，给出一种基于实时控制系统RCS(Realtime Control System，简称RCS)模块的递阶分布控制系统结构；提出基于任务分解的复杂控制系统的分析与设计方法；提出用状态转换图描述控制任务的实现流程，并由状态表将状态转换图转化为计算机能够处理的程序设计语言(如C++)，以此实现整个控制任务。 为了帮助工程人员设计与实现复杂控制系统并提高开发效率，本文设计开发一种递阶分布实时控制系统设计软件，并对其总体设计思想和具体实现方法作了研究。整个设计软件充分利用Java语言编写图形用户界面(GUI)的功能来开发图形化的设计平台与诊断工具，使用户能够借助图形直观而且灵活地构建整个控制系统的结构，并易于操作。 另外，本文研究了用C++程序设计语言进行递阶分布控制系统设计软件库的开发，包括RCS模块和系统通讯工具。基于类的概念与特征以及应用程序编程接口(API)的优点，提出用抽象类实现设计软件库元件，如控制模块(RCS模块)类和通讯类(中性消息语言NML(Neutral Message Language，简称NML)和通讯管理系统CMS(Communication Management System，简称CMS))，封装了控制系统应用程序底层的工作细节并提供了高层接口，从而使控制模块之间接口简单，便于用户掌握和使用，使开发出的控制系统具有很好的扩展性和重用性。 除了上述几个问题，本文还讲述了自动生成控制系统应用程序框架的代码生成器的实现思路，最后设想用递阶分布控制方法设计自动化公路系统，并利用递阶分布控制系统设计软件开发这样的复杂系统。更多还原

【Abstract】 Aiming at the design and implementation of the complex realtime control system,the thesis takes example for the intelligent manipulator, giving a structure of the hierarchical and distributed control system (HDCS) based on the realtime control system (RCS) module, advancing the analysis and design method based on the task decomposition for the complex control system, and raising to use the state transition diagrams to describe the work flow of every control task.Besides,the thesis illustrates how to realize the state transition diagrams by the state tables.The state tables convert the state transition diagrams into computer language,like C++ ,so as to complete the control task.To help the designer to design and implement the complex control system and enhance the development efficiency,the thesis designs to develop a design software for the HDCS and researches the design idea and implementation way of it.The design software takes an advantage of the GUI feature of Java programming language to develop the graphical design platform and diagnosis tool,making user build the structure of control system directly and flexibly, and use the software tool easily.On the other hand,the thesis studies to develop the design software library for the HDCS with C++ programming language,including RCS module and communication tool of control system.Moreover,based on the concept and properties of class and the merits of application programming interface (API) ,the thesis puts forwards to use the abstract class to realize the elements of the design software library,such as the control module(RCS module) class and the communication classes(Neutral Message Language and Communication Management System),encapsulating the bottom details of the application and providing the top interface for user,as leads to the interface between modules be simple and makes user master and use them conveniently.what’s more,the control system developed by the design software has good expansibility and reusability.Futhermore,the thesis narrates the implementation way of the code generator.Finally,the thesis assumes to design the automated highway system by the hierarchical and distributed control method,and develop such complex system with the design software for the HDCS.更多还原