基于异步采样的多回路网络控制系统的建模与控制

Modeling and Controller Design of Networked Control Systems with Multiple Loops Based on Asynchronous Sampling

针对异步采样机制下的多回路网络控制系统,研究了系统的建模与控制器设计问题;首先,分析了同步采样机制引起的数据冲突等问题,提出了多传感器异步采样的传输机制;考虑固定的网络传输时延,将多回路网络控制系统建模为一类具有时延的离散线性系统;考虑同步控制要求,设计了基于一致性的控制策略,并利用Lyapunov函数法,给出了闭环系统渐近稳定的充分条件;应用锥补线性化方法(CCL),给出了状态反馈控制器设计方法;最后的数值算例验证了上述方法的有效性。

The modeling and controller design of multi--loop network control systems under asynchronous sampling mechanism is studied. Firstly, the data collision problem caused by synchronous sampling mechanism is analyzed. Then, the asynchronous sampling and transmission mechanism about the sensors is proposed. A discrete model with delay is built according to the multi--loop NCS with fixed time delay. Considering the requirements of synchronization performance, the control strategy based on consistency is designed. Based on the Lyapunov stability theory and linear matrix inequality method, the sufficient condition for asymptotic stability is presented. Then by applying the Cone Complementarity Linearization （CCL） method, the status feedback controller is designed. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.