摘要
研究网络化控制系统中网络延时补偿对系统性能的改善效果.为一级柔性连接倒立摆进行了建模并分析系统的可控性和稳定性,设计LQR控制器.实验验证了延时对系统性能和稳定性的影响;使用统计方法研究了以太网中网络延时的分布特性,实验验证了网络延时的对称性;并设计了基于改进的卡尔曼滤波器的状态预测器对网络延时进行补偿;最后实现了完整的柔性倒立摆的网络化控制系统.实验验证了改进的卡尔曼滤波器的状态预测器的有效性,系统性能得到明显改善.
To diminish the effect of network-induced delay on the performance of networked control system（NCS）,the model of linear flexible joint inverted-pendulum was built,the LQR （linear quadratic regulator）optimized controller was designed and the controllability and stability of the system was analyzed.By examinating lots of experiment data,the distribution feature of network-induced delay in Ethernet network was analyzed using statistical method.A state predictor was designed based on improved discrete Kalman filter,with which the system states can be estimated at any time in the future.At last the integrated system was implemented completely,it demonstrats the feasibility of the state predictor,and the result of the experiments exhibites the good performance of the NCS for flexible joint inverted-pendulum.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第4期430-435,共6页
Transactions of Beijing Institute of Technology
关键词
柔性倒立摆
网络化控制系统
卡尔曼滤波器
flexible joint inverted-pendulum
networked control system
Kalman filter
