摘要
针对基于Internet的网络控制系统中由于控制器位置变化可能导致控制性能下降甚至不稳定的问题,提出了主动变采样周期的网络化控制器设计方法.为变采样周期的网络化控制系统建立了离散数学模型,采用Lyapunov方法给出了短延时情况下主动变采样周期网络控制系统闭环稳定的充分条件,并在倒立摆网络化控制系统中进行了实验验证.实验结果证明了采用固定采样周期的控制器在网络位置变化后可能使系统不稳定,采用主动变采样周期的状态反馈控制方法设计的控制器在网络位置变化后仍然可以使系统稳定.
The variable location of controller in Internet-based networked control systems would worsen system performance or arouse system unstable. To deal with such a problem, this paper proposes a design method of networked controller with active varying sampling period. The discrete mathematical model of networked control systems with variable sampling period was set up. Then the sufficient condition of stability for networked control systems with short time-delay was given using Lyapunov functional approach. The effectiveness of the presented approach has been verified by experiments on a networked control system of inverted-pendulum.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第9期970-975,共6页
Transactions of Beijing Institute of Technology
关键词
网络化控制
网络延时
主动变采样周期
networked control
network delay
active varying sampling period
