【作者】 严法高；

【导师】 陈虹；

【作者基本信息】 扬州大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 随着计算机和网络技术的发展,远程控制的距离也在增加。基于因特网的远程控制系统的研究越来越受到人们的重视。但因特网并不注重实时性,网络传输信息不可避免地会产生延时。通过测试表明,该延时具有不确定性,且会引起数据丢失。网络延时及其不确定性会降低系统的控制品质,严重影响网络控制系统的实际应用。为此应研究分析上述因素对远程控制的效果影响以及研究新的控制算法和补偿措施。本文以上海广茂达公司生产的AS-R机器人为控制对象,系统分析了网络延时及其对系统控制效果的影响,并提出了相应解决方案。全文共分为5部分。第一章主要介绍了国内外网络控制系统的研究现状、网络控制中常见问题、课题背景以及本课题的选题意义。第二章针对采用PC机作为核心控制器的机器人,对比常用参数辨识方法,提出基于机器人驱动电动机角度模型的参数辨识方法辨识。该方法避免了对两轮编码器反馈角度数据的差分运算,有效提高了参数辨识精度以及抗干扰能力。第三章在综合前人研究成果的基础上,提出了一种预测步数可变的广义预测算法。通过对网络延时的预估,动态改变预测步数,保证了系统的控制效果。第四章讨论了网络控制系统的设计与实现。由于在网络环境下控制算法应用受到种种因素制约,本章重点研究和建立了基于网络的远程控制系统的仿真平台。第五章总结了本文的研究工作,并对今后的研究方向作了展望。更多还原

【Abstract】 Along with the development of computer and Internet technology, the distance of remote control keeps on increasing. The research of Internet-based remote control has been paid more and more attention. Because the Internet is nonreal-time, the information transmitted through it will inevitably be delayed. Tests show that the delay is uncertain and the delay will also cause data loss. The transmission delay and its uncertainty will reduce the control quality; this will affect the application of the networked control system (NCS). So, we should study the effect of the above factors on the remote control, and find new control algorithm and the compensation measures. In this thesis, by making the AS-R robot, made by Shanghai Grandar Company, as the control object, we analyse the network delay and it’s effect on control results, and propose a solution.This thesis is divided into five parts. Chapter 1 briefly introduces the research results of NCS, and the backgrounds, and the significance of the topic. In chapter 2, aimed to the robot which uses PC as core controller, compared with normal identification method, a new method of parameter identification which based on the angle model of the robot’s driving motor is presented. This method avoids the difference operation of the angle data fed back by two wheels’encoder, and effectively improves the accuracy and anti-jamming capability of parameter identification. In chapter 3, according to previous research results, a new generalized predictive control (GPC) algorithm, whose prediction steps are variable, is presented. By forecasting the fluctuation of the transmission delay, the algorithm can change the prediction steps, which ensures the control effect of the system. Chapter 4 introduces the design and implementation of the NCS. Because the implementation of control algorithm is limited by many factors, this chapter briefly studies the simulation of real networks. Chapter 5 summarizes the whole work, and gives some suggestions for future study.更多还原