摘要将网络引入控制系统开辟了控制领域的新天地，使不同设备之间的 信息传输可以避开复杂的安装和接线过程，突破了传统控制方式对地域 的限制。设备之间通过网络进行资源共享节约了布线的成本也增加了系 统的灵活性。虽然网络控制系统在生产生活中已经有了广泛的应用，但 是由于网络的不确定性，网络控制系统面临着网络诱导时延，数据包丢 失，通信带宽限制等会影响系统性能的诸多问题。现阶段对网络控制系 统性能的研究和设计大多数都是基于时间触发机制进行的，尽管分析简 单，却增加了系统的计算量，浪费通信资源，在网络状况不佳的情况下 会加剧网络诱导时延和数据包丢失，甚至使系统不稳定。事件触发机制 的筛选作用就是将会对系统状态或者控制性能产生影响的采样信号发送， 其他信号不发送。这样避免了许多冗余信息的发送，占用比较少的网络 带宽，节约通信资源。79129

本文基于事件驱动方式考虑时变时延的线性网络控制系统建立统一 的时滞系统模型。结合线性矩阵不等式技术将 Lyapunov 稳定性分析问题 转化成不等式求解问题。进而得到控制器增益和事件触发函数，另外在

滤波系统控制器的设计上应用事件触发机制。通过仿真实例对设计的可 行性和控制效果进行验证，最后对全文内容进行归纳和总结，提出对未 来研究的展望。

毕业论文关键词：网络控制系统；事件触发；网络诱导时延

Abstract The introduction of networked control system（s  NCS）has brought about a new field in the control area。 The date between different equipments can be transmitted without the complex process of installation and wiring, which breaks up the regional restrictions compared with traditional control systems。 Resources sharing between related devices through the network can not only save the cost of wiring but also increase the flexibility of the system。 Although the networked control systems have been widely applied in industrial production, in view of the uncertainty of the network, it brings some problems affecting system performance such as network induced delay, data packet dropout, the communication bandwidth limitation and so on。 At present, most researches and designs about the performance of NCS are based on time-triggered。 Despite the analysis is  simple, it increased the amount of calculation and waste communication resources。 In the case of poor network conditions it may exacerbate the network induced delay and data packet dropout, and even make the system unstable。 Sampling signals associated with the state of controller and actuator will be selected and transmitted via event trigger mechanism。 Only in this way can it reduce many redundant data transmission effectively so that reduce the bandwidth occupied and save resources。

In this thesis we establish a unified time delay system model for linear networked control systems with time-varying delay considering event-triggered approach。    Lyapunov

stability theory and linear matrix inequality technique are used to analyze the stability of the system, as well as the controller gain and event trigger function 。And the application  of

event trigger mechanism in filtering system controller design is also considered。In addition, the correctness and effectiveness of the design are verified by simulation examples。 Finally, we summarize the results of the thesis and the prospects for future study are also discussed。

Keywords: networked control systems; event- triggered; network induced delay

目录

第一章 绪论 1

1。1 研究的背景和意义 1

1。2 国内外研究现状