应用科学学报
應用科學學報
응용과학학보
JOURNAL OF APPLIED SCIENCES
2014年
2期
156-162
,共7页
无线网络控制%迭代学习控制%随机时延%转移矩阵%鲁棒收敛性
無線網絡控製%迭代學習控製%隨機時延%轉移矩陣%魯棒收斂性
무선망락공제%질대학습공제%수궤시연%전이구진%로봉수렴성
wireless remote control%iterative learning control (ILC)%random delay%transition matrix%robust convergence
测控信号通过无线网络传输受到的随机时延严重影响迭代学习控制系统的收敛性能。在一步随机时延模型的基础上，得到包含随机时延影响因子的系统转移矩阵，然后分别针对测控信号发生时延的情况，研究转移矩阵内决定系统收敛速度的特征值，以及决定系统鲁棒收敛性的下三角内其他元素取值的变化情况。由分析可知，测控信号随机时延不仅会降低系统的收敛速度，而且会影响系统的鲁棒收敛性。尤其是控制信号随机时延，它对系统鲁棒收敛性的影响明显强于测量信号随机时延的影响。仿真实验表明了分析结论的正确性。
測控信號通過無線網絡傳輸受到的隨機時延嚴重影響迭代學習控製繫統的收斂性能。在一步隨機時延模型的基礎上，得到包含隨機時延影響因子的繫統轉移矩陣，然後分彆針對測控信號髮生時延的情況，研究轉移矩陣內決定繫統收斂速度的特徵值，以及決定繫統魯棒收斂性的下三角內其他元素取值的變化情況。由分析可知，測控信號隨機時延不僅會降低繫統的收斂速度，而且會影響繫統的魯棒收斂性。尤其是控製信號隨機時延，它對繫統魯棒收斂性的影響明顯彊于測量信號隨機時延的影響。倣真實驗錶明瞭分析結論的正確性。
측공신호통과무선망락전수수도적수궤시연엄중영향질대학습공제계통적수렴성능。재일보수궤시연모형적기출상，득도포함수궤시연영향인자적계통전이구진，연후분별침대측공신호발생시연적정황，연구전이구진내결정계통수렴속도적특정치，이급결정계통로봉수렴성적하삼각내기타원소취치적변화정황。유분석가지，측공신호수궤시연불부회강저계통적수렴속도，이차회영향계통적로봉수렴성。우기시공제신호수궤시연，타대계통로봉수렴성적영향명현강우측량신호수궤시연적영향。방진실험표명료분석결론적정학성。
Random delays of control and measurement signals during transmission over wireless network seriously affect the convergence performance of iterative learning control (ILC) systems. Based on a one-step random delay model, the transition matrix of system is derived, which contains the impact factors of random delays. For different situations of random delays, variation of eigenvalues and other elements in the lower triangular of transition matrix is analyzed, which determine the convergence speed and robust convergence respectively. Analysis shows that the convergence rate is reduced, and the robust convergence is also affected. Especially, the impact of control signal delays on robust convergence is greater than that of measurement signal delays. Simulation results are provided to demonstrate correctness of the conclusion.
