带有时延和量化的网络控制系统的故障检测

讨论了当网络控制系统存在时变时延和量化情况下的有限频故障检测问题。首先将此类网络控制系统建模成带有量化误差的线性时滞系统;其次给出了有限频H∞性能的定义,并且将所要研究的问题转化为带有有限频扰动的滤波问题。随后给出了线性时滞系统能够达到一定的有限频H∞性能的充分条件,并根据所得的条件,设计了故障检测滤波器;最后,仿真算例验证了所提方法的有效性。

Stability of Networked Control Systems Based on Free-Weighting Matrices Method

A new method of modeling discrete networked control systems with both the time-varying delay and packet loss was presented in this paper.The network-induced delay is time-varying and it can be smaller or larger than one sampling period.The feedback controller was designed by free-weighting matrices method and Lyapunov-Krasovskii functional to make the networked control system asymptotically stable.And sufficient conditions were derived.A numerical example is given to illustrate the effectiveness of the proposed approach.

基于自抗扰控制器的CNC雕刻机控制系统轮廓误差控制

针对CNC雕刻机控制系统因时变时延影响轮廓跟踪精度的问题,设计了基于自抗扰控制的单轴轨迹跟踪控制器和基于非线性PID(NLPID)的轮廓误差补偿控制器.首先,针对单轴轨迹跟踪控制,将时变时延引起的不确定性处理成系统总干扰的一部分,设计扩张状态观测器(ESO),对系统内外总干扰和系统状态进行实时估计,并设计误差补偿控制律,实现系统干扰的估计和补偿,得到良好的单轴轨迹跟踪控制性能.然后,根据轮廓误差估计值,设计基于NLPID的轮廓误差补偿控制器,对系统轮廓误差实时补偿,实现了良好的轮廓跟踪控制性能.最后,通过实验验证了所提方法的有效性.