留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

事件触发控制在倒立摆系统中的仿真与实验

于灏 欧阳利 郝飞

于灏, 欧阳利, 郝飞等 . 事件触发控制在倒立摆系统中的仿真与实验[J]. 北京航空航天大学学报, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631
引用本文: 于灏, 欧阳利, 郝飞等 . 事件触发控制在倒立摆系统中的仿真与实验[J]. 北京航空航天大学学报, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631
YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)
Citation: YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)

事件触发控制在倒立摆系统中的仿真与实验

doi: 10.13700/j.bh.1001-5965.2015.0631
基金项目: 国家自然科学基金(61573036,61174057);北京市自然科学基金(4112034);中央高校基本科研业务费专项资金
详细信息
    作者简介:

    于灏,男,博士研究生。主要研究方向:事件触发控制,混杂系统。E-mail:yuhao1010@126.com;郝飞,男,博士,教授,博士生导师。主要研究方向:网络化控制,事件触发控制,鲁棒控制。Tel.:010-82314517,E-mail:fhao@buaa.edu.cn

    通讯作者:

    郝飞,Tel.:010-82314517,E-mail:fhao@buaa.edu.cn

  • 中图分类号: TP273

Simulation and experiment of event-triggered control for inverted pendulum system

Funds: National Natural Science Foundation of China (61573036,61174057); Beijing Municipal Natural Science Foundation (4112034); the Fundamental Research Funds for the Central Universities
  • 摘要: 从理论、仿真、实验3个角度考虑了事件触发控制对于一级直线倒立摆系统的控制效果,进而说明事件触发控制的可行性与实用性。首先,借助线性矩阵不等式给出了事件条件参数的设计方法,并对触发时间间隔下界进行了估计。其次,通过Simulink仿真说明了在无量化效应时理论结果的有效性。最后,通过实验研究了量化效应的影响,发现其对于基于模型控制器的负面作用。实验结果表明,对于实际倒立摆系统,混合型事件条件及零阶保持控制器更加适用,它们可以在保证系统稳定性的前提下有效降低信息的通信频率。上述结果体现了事件触发控制的潜在实用价值。

     

  • [1] LIAN F L,MOYNE J R,TILBURY D M.Performance evaluation of control networks: Ethernet,controlnet,and devicenet[J].Control Systems,1999,21(1):66-83.
    [2] ASTROM K J,BERNHARDSSON B M.Comparison of periodic and event based sampling for first order stochastic systems[C]//Proceedings of the 14th IFAC World Congress.Amsterdam:Elsevier Press,1999:301-306.
    [3] SETO D,LEHOCZKY J P,SHA L,et al.On task schedulability in real-time control systems[C]//Proceedings of the 17th Real-time Technology and Applications Symposium.Piscataway,NJ:IEEE Press,1996:13-21.
    [4] TABUADA P,WANG X F.Preliminary results on state-triggered scheduling of stabilizing control tasks[C]//Proceedings of the 45th IEEE Conference on Decision and Control.Piscataway,NJ:IEEE Press,2006:282-287.
    [5] TABUADA P.Event-triggered real-time scheduling of stabilizing control tasks[J].IEEE Transactions on Automatic Control,2007,52(9):1680-1685.
    [6] CHEN X,HAO F.Observer-based event-triggered control for certain and uncertain linear systems[J].IMA Journal of Mathematical Control and Information,2013,30(4):527-542.
    [7] LIU T F,JIANG Z P.Event-based control of nonlinear systems with partial state and output feedback[J].Automatica,2015,53(7):10-22.
    [8] HEEMELS W P M H,DONKERS M C F,TEEL A R.Periodic event-triggered control for linear systems[J].IEEE Transactions on Automatic Control,2013,58(4):847-861.
    [9] EQTAMI A,DIMAROGONAS D V,KYRIAKOPOULOS K J.Event-triggered control for discrete-time systems[C]//Proceedings of American Control Conference.Piscataway,NJ:IEEE Press,2010:4719-4724.
    [10] GARCIA E,ANTSAKLIS P J.Model-based event-triggered control for systems with quantization and time-varying network delays[J].IEEE Transactions on Automatic Control,2013,58(2):422-434.
    [11] MONTESTRUQUE L A,ANTSAKLIS P J.On the model-based control of networked systems[J].Automatica,2003,39(10):1837-1843.
    [12] MONTESTRUQUE L A,ANTSAKLIS P J.Model-based networked control system:Necessary and sufficient conditions for stability[J].IEEE Transactions on Automatic Control,2004,49(9):1562-1572.
    [13] CHEN T,FRANCIS B.Optimal sampled-data control systems[M].London:Springer,1995:45-48.
    [14] BORGERS D P,HEEMELS W P M H.Event-separation properties of event-triggered control systems[J].IEEE Transactions on Automatic Control,2014,59(10):2644-2656.
    [15] GOEBEL R,SANFELICE S,TEEL A R.Hybrid dynamical systems[J].IEEE Control Systems,2009,29(2):28-93.
    [16] 姚俊,马松辉.Simulink建模与仿真[M].西安:西安电子科技大学出版社,2002:142-143.YAO J,MA S H.Modeling and simulation by Simulink[M].Xi'an:Xidian University Press,2002:142-143(in Chinese).
  • 加载中
计量
  • 文章访问数:  1062
  • HTML全文浏览量:  128
  • PDF下载量:  734
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-09-24
  • 网络出版日期:  2016-10-20

目录

    /

    返回文章
    返回
    常见问答