【作者】 刘明；

【导师】 尤富强；

【作者基本信息】 东北大学 ， 控制工程（专业学位）， 2014， 硕士

【摘要】 网络控制系统是由控制器、执行器、被控对象和传感器等部分组成的闭环控制系统,控制器和执行器之间以及传感器和控制器之间通过网络通道进行连接和通信,对被控对象进行远程控制,在工业控制等领域有广泛的应用前景。网络的引入,使得网络控制系统的设计比传统的控制系统更加复杂,如何将被控对象连接到网络以及网络带来的时延等问题都是本课题需要解决的难题。正是基于此,本文设计了预测控制算法,用以修正网络时延带来的影响,提升控制性能。本文首先设计了一个基于网络的直流电机调速控制系统,系统由服务器、客户端和被控对象组成。服务器负责完成客户端连接到网络、管理用户等功能；用户作为客户端,可通过服务器连接到网络控制系统中,并将自己开发的控制算法加载到系统中,实现对被控对象的控制；被控对象子系统基于嵌入式系统开发,采用ARM9作为控制器,电机作为被控对象,ARM9负责完成网络通信、AD转换等功能,以实现对电机的控制。本文针对网络控制系统中存在的时延和数据丢包问题进行了深入分析和研究,并采用预测控制算法对网络时延进行了补偿。本文分别设计了基于动态矩阵控制和广义预测控制的网络控制算法,并用Matlab软件进行仿真证明其可实施性和有效性。最后,利用Matlab编写算法程序并生成DLL文件加载到网络控制系统中,对电机进行控制。实验结果表明,本文设计的预测控制算法可以有效消除网络时延带来的影响,控制效果良好。更多还原

【Abstract】 Networked control system is a closed loop control system composed of a controller, sensors, actuators, etc, in which the object can be controlled from a long distance and the data communicates via a network channel among controller, sensor and actuator. The networked control system has a wide range of application prospects in other fields such as industrial control. Due to the use of network, the design of the network control system is more complex than traditional control systems. How to connect the controlled object to the network and the delay, packet loss which network brings and other issues are the subject to be solved. Based on this, a predictive control algorithm is designed in this thesis to fix the delay impact caused by the network on the system and to improve control performance.Firstly, a DC motor speed control system based on the internet is designed in this thesis, and the system consists of the server, controller and controlled object subsystem. The server is responsible for connecting the controller to a network, managing users and other functions. The controller as a user can be connected to the networked control system via server and develops their own control algorithms loaded into the system. The development of the controlled object subsystem is based on embedded system, using ARM9 as the controller and the motor as the controlled object. ARM9 is responsible for completing the network communication, AD conversion and other functions to control the motor.In-depth analysis and research on the delay existing in the network control system is done in this thesis, and a predictive control algorithm is used to compensate for the network delay. In this thesis, dynamic matrix control and generalized predictive control are designed based on the network and simulations are made by using Matlab software to prove their implementation and effectiveness. Finally, algorithm procedures can be written and DLL files are generated and loaded into the network control system, so the motor can be controlled. Experimental results show that predictive control algorithm designed in this thesis can effectively eliminate the impact of network delay and brings good control effect.更多还原