网络化系统控制理论精品课程建设探究——以哈尔滨理工大学为例

以哈尔滨理工大学为例,对网络化系统控制理论课程建设进行探究。结合学校的办学定位和人才培养目标,从“双素养、双能力”人才培养入手,分别阐述在课程教学内容、教学方法与手段、教学队伍等方面的建设效果,在课程思政教学改革方面的探索和实践,对精品示范课程建设进行初步探讨。最后,总结课程建设的重点、难点及解决办法,以期为相关课程建设提供参考。

理工科专业课程思政教学模式探析——以“网络化系统控制理论”课程为例

为了充分发挥课程思政的育人功效,任课教师通常将德育内容与专业课程教学进行结合。然而较为普遍的现象是,理工科专业课程教学与立德树人的结合依然不自然,难于达到预期的课程效果。究其原因主要有两个方面:首先是难于确定与课程内容密切相关且有效的德育资源,其次是难于将有限的德育资源有机地融入到专业课程教学过程中。为了进一步提升课程思政教学效果,打通专业教学和立德树人深度融合的“最后一公里”,高校教师有必要进行系统研究和深入思考,探索更科学、有效的课程思政育人机制。《网络化系统控制理论》是一门新兴的理工科专业课程,其蕴含的思政元素丰富而生动,通过对相关德育资源深入挖掘和分类,同时融入问题导向法、研究性教学法、实践教学法等方法,实现思政教育与典型教学案例的有机融合,从而构建理工科专业课程与立德树人有效结合的课程思政教学模式。

基于ControlLogix与FlexI/O的油管加厚生产线控制系统

介绍了ControlLogix系统控制网网络与FlexI/O系列在油管加厚生产线中的应用,通过ControlNet网络总线通讯,利用FlexI/O系列实现较为复杂的程序控制和通讯控制,以低成本实现了在油管加厚生产线中的高效应用。

一种新型总线式余热锅炉振打控制系统

本文首先介绍了CAN总线和Modbus协议,然后叙述了基于CAN+Modbus的总线式余热锅炉振打控制系统的特点并详细讨论了如何构建新型总线式振打控制系统控制网络。最后着重给出了总线式振打控制系统的现场控制箱实现方法。

新型计算机控制技术在煤焦运输系统中的应用

以兖矿国际焦化有限公司的备煤系统皮带运输控制系统为例,针对原系统运行在Window2000系统平台上存在的问题,通过将原Controller网络到上位机的通讯协议改为以太网通讯协议,在原PLC机架上增加以太网卡件等办法,实现系统的升级换代。

Home control system based on ZigBee wireless sensor networks

A new scheme of the home control system based on ZigBee wireless sensor networks is presented. The design and development of the software and hardware of the proposed system are given. In addition to the basic data acquisition and processing functions, the gateway supports the Bluetooth-based local interface and the general packet radio service （GPRS）-based remote interface. Users on the client service side can use a pocket PC or notebook PC to achieve real-time data acquisition and control instruction implementation, or remotely control the home control system through a mobile phone by sending a short message. The Labview graphical development environment is adopted to create PDA applications running on pocket PCs and monitoring platform established on notebook PCs. Except for the gateway, other nodes in the system work in sleep mode most of the time on the system, and thus it improves the lifetime of the whole system efficiently.

Design of hydraulic motor speed control system based on co-simulation of AMESim and Matlab_Simulink

In order to design an effective hydraulic motor speed control system, Matlab_Simiulink and AMESim co-simulation technology is adopted to establish more accurate model and reflect the actual system. The neural network proportion-integration-differentiation （PID） control parameters on-line adjustment is utilized to improve system accuracy, celerity and stability. Simulation results indicate that with the control system proposed in this paper, the system deviation is reduced, therefore accuracy is improved; response speed for step signal and sinusoidal signal gets faster, thus acceleration is rapidly improved; and the system can be restored to the control value in case of interfering, so stability is improved.

ADAPTIVE PREDICTIVE CONTROL OF NEAR-SPACE VEHICLE USING FUNCTIONAL LINK NETWORK

A novel nonlinear adaptive control method is presented for a near-space hypersonic vehicle （NHV） in the presence of strong uncertainties and disturbances. The control law consists of the optimal generalized predictive controller （OGPC） and the functional link network （FLN） direct adaptive law. OGPC is a continuous-time nonlinear predictive control law. The FLN adaptive law is used to offset the unknown uncertainties and disturbances in a flight through the online learning. The learning process does not need any offline training phase. The stability analyses of the NHV close-loop system are provided and it is proved that the system error and the weight learning error are uniformly ultimately hounded. Simulation results show the satisfactory performance of the con- troller for the attitude tracking.

Identification and Control of Dynamical Systems Using Modified Neural Networks

Aim To study the identification and control of nonlinear systems using neural networks. Methods A new type of neural network in which the dynamical error feedback is used to modify the inputs of the network was employed to reduce the inherent network approximation error. Results A new identification model constructed by the proposed network and stable filters was derived for continuous time nonlinear systems, and a stable adaptive control scheme based on the proposed networks was developed. Conclusion Theory and simulation results show that the modified neural network is feasible to control a class of nonlinear systems.

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

Time-stamped predictive functional control for networked control systems with random delays

The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is proposed,which generalizes the standard PFC algorithm to networked control systems with random delays.The algorithm uses the time-stamp method to estimate the control delay,predicts the future outputs based on a discrete time delay state space model,and drives the control law that applies to an NCS from the idea of a PFC algorithm.A networked control system was constructed based on TrueTime simulator,with which the time-stamped PFC algorithm was compared with the standard PFC algorithm.The response curves show that the proposed algorithm has better control performance.

The pH control optimization in the crop fertigation system using ANN

pH regulation is a complicated and comprehensive technique in the crop fertigation system. In this paper, a method is put forward to improve the quality of pH regulation, using artificial neural network to map a nonlinear relationship between pH interfering factor and the switching frequency of pH control valve, which achieves the dynamic feedforward compensation to the main control system.

Robust model predictive control with randomly occurred networked packet loss in industrial cyber physical systems

For a class of linear discrete-time systems that is subject to randomly occurred networked packet loss in industrial cyber physical systems, a novel robust model predictive control method with active compensation mechanism was proposed. The probability distribution of packet loss is described as the Bernoulli distributed white sequences. By using the Lyapunov stability theory, the existing sufficient conditions of the controller are derived from solving a group of linear matrix inequalities. Moreover, dropout-rate with uncertainty and unknown dropout-rate are also considered, which can greatly reduce the conservativeness of the controller. The designed robust model predictive control method not only efficiently eliminates the negative effects of the networked data loss in industrial cyber physical systems but also ensures the stability of closed-loop system. Two examples were provided to illustrate the superiority and effectiveness of the proposed method.

Fundamental Issues in Networked Control Systems

Abstract--This paper provides a survey on modeling and theories of networked control systems （NCS）. In the first part, modeling of the different types of imperfections that affect NCS is discussed. These imperfections are quantization errors, packet dropouts, variable sampling/transmission intervals, vari- able transmission delays, and communication constraints. Then follows in the second part a presentation of several theories that have been applied for controlling networked systems. These theories include： input delay system approach, Markovian system approach, switched system approach, stochastic system approach, impulsive system approach, and predictive control approach. In the last part, some advanced issues in NCS including decentral- ized and distributed NCS, cloud control system, and co-design of NCS are reviewed. Index Terms--Decentralized networked control systems （NCS）, distributed networked control systems, network constraints, net- worked control system, quantization, time delays.

Adaptive Neural Network-Based Control for a Class of Nonlinear Pure-Feedback Systems With Time-Varying Full State Constraints

Abstract--In this paper, an adaptive neural network （NN） control approach is proposed for nonlinear pure-feedback sys- tems with time-varying full state constraints. The pure-feedback systems of this paper are assumed to possess nonlinear function uncertainties. By using the mean value theorem, pure-feedback systems can be transformed into strict feedback forms. For the newly generated systems, NNs are employed to approximate unknown items. Based on the adaptive control scheme and backstepping algorithm, an intelligent controller is designed. At the same time, time-varying Barrier Lyapunov functions （BLFs） with error variables are adopted to avoid violating full state constraints in every step of the backstepping design. All closed- loop signals are uniformly ultimately bounded and the output tracking error converges to the neighborhood of zero, which can be verified by using the Lyapunov stability theorem. Two simulation examples reveal the performance of the adaptive NN control approach. Index TermsmAdaptive control, neural networks （NNs）, non- linear pure-feedback systems, time-varying constraints.

Improved H_∞ control for networked control systems with network-induced delay and packet dropout

The H_∞ performance analysis and controller design for linear networked control systems(NCSs) are presented.The NCSs are considered a linear continuous system with time-varying interval input delay by assuming that the sensor is time-driven and the logic Zero-order-holder(ZOH) and controller are event-driven.Based on this model,the delay interval is divided into two equal subintervals for H_∞ performance analysis.An improved H_∞ stabilization condition is obtained in linear matrix inequalities(LMIs) framework by adequately considering the information about the bounds of the input delay to construct novel Lyapunov–Krasovskii functionals(LKFs).For the purpose of reducing the conservatism of the proposed results,the bounds of the LKFs differential cross terms are properly estimated without introducing any slack matrix variables.Moreover,the H_∞ controller is reasonably designed to guarantee the robust asymptotic stability for the linear NCSs with an H_∞ performance level γ.Numerical simulation examples are included to validate the reduced conservatism and effectiveness of our proposed method.

Application of PID Controller Based on BP Neural Network in Export Steam’s Temperature Control System

By combining the Back-Propagation （BP） neural network with conventional proportional Integral Derivative （PID） controller, a new temperature control strategy of the export steam in supercritical electric power plant is put forward. This scheme can effectively overcome the large time delay, inertia of the export steam and the influencee of object in varying operational parameters. Thus excellent control quality is obtaitud. The present paper describes the development and application of neural network based controller to control the temperature of the boiler＇s export steam. Through simulation in various situations, it validates that the control quality of this control system is apparently superior to the conventional PID control system.

Consistency and Asymptotic Property of a Weighted Least Squares Method for Networked Control Systems

In this paper, we study the problems related to parameter estimation of a single-input and single-output networked control system, which contains possible network-induced delays and packet dropout in both of sensor-to-controller path and controller-to-actuator path. A weighted least squares(WLS) method is designed to estimate the parameters of plant, which could overcome the data uncertainty problem caused by delays and dropout. This WLS method is proved to be consistent and has a good asymptotic property. Simulation examples are given to validate the results.

Method of spillover identification in urban street networks using loop detector outputs

Quick and reliable identification of the traffic state is of critical importance to traffic control systems, especially when spillovers appear. Firstly, a calculation method for the occupancy per cycle under different traffic conditions were presented, based on the relationship between the three basic traffic flow parameters, speed, traffic flow and density. Secondly, the times at which the stopping and starting waves approach a loop detector were confirmed using the traffic wave models modified by a kinematic equation. Then, the threshold of occupancy, which characterizes the appearance of spillovers, was determined by the premise that the stopping and starting waves had the same speed. At last, the accuracy and usability of the new method were verified by VISSIM simulation, using the ratio of misjudgment as the evaluation index. The results show that the ratio of misjudgment of the new method is about 11.36% compared to 17.65% of the previous method.

A Control Scheme Based on Online Delay Evaluation for a Class of Networked Control Systems

A control scheme that integrates control technology with communication technology to solve the delay problem is introduced for a class of networked control systems: Networked Half-Link Systems (NHLS). Concretely, we use the master-slave clock synchronization technology to evaluate the delays online, and then the LQ optimal control based on delays is adopted to stabilize the controlled plant. During the clock synchronization process, the error of evaluated delays is inevitably induced from the clock synchronization error, which will deteriorate the system performances, and even make system unstable in certain cases. Hence, the discussions about the clock error, and the related control analysis and design are also developed. Specifically, we present the sufficient conditions of controller parameters that guarantee the system stability, and a controller design method based on the error of delays is addressed thereafter. The experiments based on a CANbus platform are fulfilled, and the experimental results verify the previous analytic results finally.