网络化鱼雷控制系统存在不确定因素的稳定性分析

Stability Analysis of Networked Torpedo Control System with Uncertainties

基于控制器局域网(CAN)总线的网络化控制系统结构和特点,以鱼雷航向控制系统为例,运用TrueTime仿真工具搭建了该网络控制系统的仿真框架,研究了网络传输延时、数据包丢失等不确定因素对该比例积分微分(PID)控制系统稳定性能的影响;并利用Lyapunov稳定性原理和线性矩阵不等式(LMI)方法,针对存在不确定因素的影响来设计网络化控制系统的控制器。仿真结果表明,所设计的控制器减小了不确定因素对系统稳定性的影响,保证了系统稳定正常工作,实现了对网络化控制系统的优化处理。

Stability is the most important factor for networked control system.According to the structure and character of the networked control system,a simulation framework based on TrueTime is established to describe the yaw control of torpedo.In the simulation,the influences of such uncertain factors as network time delay and data packet missing on the stability of proportional integral differential（PID）control system are analyzed.The Lyapunov stability theory and the linear matrix inequality（LMI）are used in the design of the controller to ensure the stability of the networked control system.Simulation results show that the designed controller can weaken the influences of the uncertain factors on the networked control system,and make the control system stable.