控制网络环境下高速铁路重型施工装备的运动综合与协调控制

在中国国家自然科学基金项目《网络环境下多通道电液比例控制系统的运动综合与协调控制》、中国国家高技术发展计划(863计划)项目《DCY850吨运梁车》和中国铁道部项目《高速铁路客运专线施工机械》共同资助下，讨论面向高速铁路和跨海大桥施工的重型构件搬运及施工装备(TCM HC)所涉及的分布式电液比例控制系统的运动综合、协调控制与功率传输问题，报告基于网络控制架构的解决方案所涉及的网络规划、控制策略和多任务分配与调度研究成果。提出面向工程应用的网络控制系统设计框架，强调在综合分析的基础上，进行网络规划和控制策略的分离设计。网络规划中，通过估计网络负载和引入频谱能量分析法粗拟出各控制回路的采样周期范围，基于非抢占RM算法设计带宽分配策略，确定各任务周期和优先级配置，满足网络的可调度性。针对有界长时延和随机短时延等两种情况，研究NCS节点级的滑模控制策略。采用确定性设计方法对有界长时延网络控制系统提出基于增广状态模型的滑模控制策略。对于输出反馈系统设计出带有状态估计器，且满足分离定理的滑模控制律。针对随机小时延网络控制系统提出TEE工作方式下的在线时延观测和估计方法，设计出基于在线回路时延估计的离散滑模控制器，可有效避免常规随机控制中大量存在的在线均值和方差运算。以DCY850运梁车的操纵与控制为对象，探讨大型分布式智能机械的运动综合与协调控制问题，提出网络控制与电液比例控制相结合的整体解决方案。针对多轴

Motion Synthesis and Coordinated Control for High Speed Railway Heavy Construction Machinery under Network Control

Funded by NSFC project “Motion Synthesis and Coordinated Control of Distributed Electro Control Systems under Network Environment (No.50575013)”, National Hi Technology Research & Development Program (863) “DCY 850t Girder Transporter (No.2003AA430180)”, and the project of High Speed Railway Office of China Railway Ministry “High Speed Railway Construction Machinery”，this study discusses the issues related to the motion synthesis, coordinated control and power transmission of heavy structure component transporting and construction equipments for the construction of high speed railway and cross sea bridge, and reports the methodologies and results of the network planning, the control strategy, and the scheduling and assigning of the multi task based on the network control framework.Firstly, the design framework of the network control system for the practical engineering application is proposed. It stresses that the network planning and the separation design of the control strategy should be carried out based on synthesis analysis. In network planning, by estimating the network load and introducing the frequency spectrum energy analysis method roughly determines the range of the sampling period of each control loop, then by designing the allocation strategy of the network bandwidth based on non preemptive rate monotonic algorithm sets the period of each task and the priority allocation to meet the schedule ability of the network.Respectively for two cases, i.e. bounded long time delay and stochastic short time delay, the sliding mode control (SMC) strategy used to the field node of NCS is studied.