“过程控制技术”是自动化专业的一门重要的专业课,具有较强的理论性和实践性.文章首先分析了“过程控制技术”教学的现状及存在的问题,然后精心选择了教学内容,将案例教学引入“过程控制技术”课程的教学过程中,选择3个与工程实际密切结合的案例,在教师指导下以讨论的形式对问题的分析和解决进行了模拟,以形成教师和学生共同参与,共同对过程控制工程中的相关问题进行学习和讨论的教学模式,提高学生解决复杂工程问题的能力,最后对案例教学的效果进行了分析,对其存在的问题进行了反思.

随着互联网技术的发展,网络课程已经成为高校课堂教学的有益补充和扩展.根据控制系统与仿真网络课程的建设需求,构建网络课程建设的课程体系,从教学内容、教学方法、教学手段等方面对控制系统与仿真的网络课程建设进行研究与实践,满足学生自主学习与协作学习、师生互动学习等意识,达到提升教学效果和提高教学质量的目的.

针对一类具有不确定时变时延和数据包丢失的网络控制系统,提出了一种控制器设计方法.在控制器节点利用状态预测器,当传感器数据丢失时,用预测状态代替当前对象状态;当传感器数据传输成功时对预测状态进行修正,并应用预测状态来构造控制律.在执行器节点采用缓冲技术将控制器-执行器时延转化为固定实验.与状态预测器相结合,将有数据包丢失的长时延网络控制系统建模为有事件率约束的异步动态系统.根据此模型,以矩阵不等式的形式给出了系统指数稳定的充分条件,通过求解矩阵不等式的可行解获取控制律.仿真算例说明了该方法的有效性.

An adaptive proportional controller is designed for gradient control of balance lever of flexometer,in which the parameter of balance lever is time variant and varying law is unknown.PID controller with fixed parameters cannot adapt for this condition.Based on the detail analyses of the balance lever,fuzzy inference is used to change controller gain according to the response speed.The practical running result shows that the controller can adapt the varying dynamic characteristic of balance lever,and the decision of gradient control can be insured.

The controller design techniques for Networked Control Systems (NCSs) with uncertain, time-varying network induced delay and data packet dropout is studied. A state predictor is used to predict current plant states, predicted states is used to construct control law. Combined with the state predictor, the NCS with long time delay and data packet dropout is modelled as asynchronous dynamical system with event rate constraints. Based on the model, sufficient conditions of exponential stability for NCS are given in the form of matrix inequalities. Through the feasible solution of the matrix inequalities the control law can be obtained. A numerical example demonstrates the effectiveness of the proposed method.

The method of transparent quantification analysis is investigated for the teleoperation system based wave variables.And,to the teleoperation systems under the different latency,control scheme and environment,Yokokohji transparency index is used to investigate their transparencies.The system transparencies are outputed by the exact coefficients,and these cofficients are comparatively analysed by the form of figures.The result has a certain reference value to help people determine the control schemes and parameters for the teleoperation system under different status.

An off-line output feedback model predictive control scheme for a class of networked control systems (NCS) with input constraints and uncertain time-delay was studied. Considering time-driven sensors, event-driven actuators and the controller, and the uncertain time-delay no more than one sampling period, an augmented mathematic model for the NCS based on state observer was developed. According to robust model predictive control theory, matrix inequalities method was used to derive the sufficient condition of asymptotic stability of closed loop system for NCS and at the same time satisfy the input constraints. Based on this idea, the off-line output feedback model predictive control law was synthesized. The simulation example shows the effectiveness of the proposed technique.

Adaptive predictive control problems of networked control systems with network induced delay and data packet dropouts.Considering time-delay and data packet loss exist in sensor-controller channel and controller-actuator channel,a scheme is proposed in controller node to obtain the input-output data by using the capacity of the transmitted data packet sufficiently,and furthermore on-line identify the object model parameters,the identified model is used to design predictive controller.The derivation of the algorithm and the compensation method of time-delay and data packet drop are presented.Experiment study over campus-wide network shows the validity of the proposed control scheme.

Tele-manipulation robot system may become unstable and hard to control in practical application due to the existence of communication time delay.Based on system dynamics model and system ideal performance analysis with network time delay,a new fuzzy sliding-mode control scheme is designed,in which the impedance control is used for the master manipulator,while the fuzzy sliding-mode control is used for the slave manipulator.The simulation results show the control strategy can effectively inhibit the jitter of variable structure control and attain better scale tracking of location and force.

We study the stability and the design of a class of networked-control systems with long time-delay and datapacket-dropout.A state predictor is introduced in association with the controller;the predicted states are updated by the sensor data,and then are used to determine the control action.The convergence of the prediction-error is analyzed,and the separation principle is proved.By the separation principle,the parameters of the state predictor and the parameters of the controller are designed separately.Simulation results validate the effectiveness of the proposed methods.

The optimal H-infinity control problem for a class of networked control systems (NCS) with multiple packet transmission is studied. For networked control systems with clock-driven sensors and event-driven controllers and actuators, when the time-delay is uncertain and less than one sampling period and the external disturbance is limited, the modelbased control scheme is proposed, and the sufficient condition of the existence of H-infinity control law is derived by using Lyapunov theory. The optimal H-infinity controller law is obtained through solving a convex optimization problem constrained by matrix inequalities. A numerical simulation example shows the validity of the proposed method.

高温高压染色机温度系统是一种复杂的控制对象,很难获得精确的数学模型.因此本文在分析染色机系统结构和染色机温度对象特性的基础上,根据染色过程的温度偏差和实际温度,设计了一种参数可变的PID控制器.本文基于Simulink对这种染色过程中的温度智能控制进行了系统仿真研究.

The problem of guaranteed cost control for a class of multi-packet transmission networked control systems with uncertain short time-delay was studied.Under the condition of static schedule of sensor data transmission,a model was introduced in the controller node to predict the plant state,its state was updated using the received sensor data,then the multi-packet transmission networked control system was modeled as a linear discrete periodic system with uncertainties.The existence condition of guaranteed cost control law was derived according to periodic system theory and matrix inequality method,and the design method of guaranteed cost controller was also presented.The suboptimal guaranteed cost control law and suboptimal cost index was obtained through solving optimize problem constrained by bilinear matrix inequalities using PENBMI software.The simulated results by an example show the validity of the proposed method.

MIMO (mult-input multi-output) networked control systems (NCSs) with multiple packet transmission is considered. The network-induced delay is assumed to be time-varying and less than one sampling period. Suppose the data of sensor node is part of system outputs and is transferred with static scheduling strategy, then the NCS is modeled as uncertain periodic system. The uncertain periodic system theory is used for the stability sufficient condition. Then a control design approach is presented via bilinear matrix inequalities (BMIs) method. The simulation result shows the effectiveness of the proposed approach.

Considering the uncertain network induced delay,using state augmentation method,a discrete linear system model with uncertainties of networked control system is established under the assumption of time-driven sensor,event-driven actuator and controller,single data-packet transmission and transmission delay that is less than sample interval.The nominal model is proved controllable.Using Lyapunov approach,the sufficient condition of asymptotic stability is proposed,and parametric design method of state feedback control law is given based on the feasible solution of matrix inequality.Simulation results verifies the validity of the proposed method.

A robust model predictive control method is proposed for networked control systems with uncertain time delay and input constraints, where the uncertain time delay is modeled as norm-bounded uncertainties in the input matrix.The upper bound of robust cost index and the sufficient condition of asymptotic stability are given,and the state feedback control law is obtained by convex optimization involving linear matrix inequalities(LMIs).Validity of the proposed method is verified with simulations.

The problem of output feedback guaranteed cost control for a class of networked control systems with uncertain time-delay is studied.The uncertain time-delay is modeled as coefficient matrix uncertainties of system state equation,and a state observer is used to reconfigurate system states under output feedback condition.Moreover,the output feedback guaranteed cost control problem for NCSs(Networked Control Systems) is translated to a robust guaranteed cost control problem for an output feedback uncertain discrete system.Lyapunov theory and matrix inequalities approach are used to obtain the design method of output feedback guaranteed cost control for NCS.Simulation example shows the validity of the proposed method.

Considering the uncertain delay of the networked control system,the sensor node is time-driven,the executor and the controller are event-driven,the networked control system is modeled as an uncertain discrete linear system under the condition that the transfer delay is less than one sampling period.Around the nominal model stable,the control algorithm is proposed based on the Lyapunov function approach and the feasible solution of the linear matrix inequalities.The validity of the method is verified in the simulation.

The Predictive Functional Control (PFC)technology is introduced,a multivariable predictive functional control algorithm based on feed- forward compensation decoupling technique is applied to three- tank water- level control system. The simulation results of PFC in three- tank water- level control system show that the PFC control law have the following properties:simple calculation, strong robustness,strong disturbance attenuation and high control precision.

The location simulation is an essential constituent in the Warship Synthesis Electronic Simulation System,it plays an impor-tant role in the target detection,the location and the recognition in the Warship electronic countermeasure combat.Do some research on both the realization of the location simulation system and the communication with the WIESS based on the Passive Location by a Single Observer.And realizes the comparison and the analysis of the different localization algorithm.A mix programming method is used to simple the programming in a large way,which can also get the ideal result.