摘要为了解决基于图像视觉伺服的智能交通系统中由于采样而引起的离散和时延问题 ， 基于间断连续运行混杂系统 (PCS) 理论 ， 提出了一种特殊轨迹跟踪控制和状态观测方法 。在间断连续运行混杂系统中，输入信号有两组，输出信号有一组。系统的每组输入信号对应一个特定的空间，分别为离散空间 } { , 0,1,2,... k S t k = = 和连续空间t s ∈ℑ− ， 其中 { [0, ]} t ℑ∈ ∈ ∞ 。 基于间断连续运行混杂系统理论 ， 我们设计了轨迹跟踪控制器 （ PCC ） 和间断连续运行观测器 （ PCO ） 。 本文定义了双环反馈的模型 ， 并据此设计了两种轨迹跟踪控制器，第一种控制器仅有离散反馈，在采样周期内工作在开环模式下，所以在采样周期内跟踪时会产生波动；第二种控制器两种反馈均有，在采样周期内工作在闭环模式下，且控制器的参数设置是根据最优控制理论得出的，所以在采样周期内波动比较小。控制器的控制效果取决于控制器本身的特性及其输入。在动态控制领域中，以上控制器显示出了如下优点：第一，使得控制器的设计更加地自由，第二，这种方法只需要在控制过程开始时需要复杂的计算。间断连续运行观测器的设计理论不仅有 PCS 理论 ， 还涉及了降阶离散龙伯格理论 ， 使用 PCS 模块产生控制信号 ，对控制信号进行处理得到状态信号递归方程后再利用 PCS 模块将递归方程计算得到系统状态。本文同时给出基于图像视觉小车伺服系统的应用实例。 在实例中，小车能够按照输入的设定信号进行平滑运行，说明此系统可以将离散信号完美地重构为连续信号并取得很好地控制效果。60433
毕业论文关键词 智能交通 混杂系统 间断连续运行混杂系统 轨迹跟踪控制器 间断连续运行观测器
Title Title Title Title The automatic tracking control strategy researchapplied to the visual intelligent traffic systemsbased on Piecewise Continuous Systems of HybridsystemsAbstract Abstract Abstract AbstractA control method based on piecewise continuous systems ( PCS ) is presentedto solve the discrete problems and the time-delay of intelligent trafficsystems.PCS has two inputs and one output,Each input is correspondingto one specific time space, the first to the discrete time space definedby } { , 0,1, 2,... k S t k = = and the second to the continuous time spacedefined by t s ∈ℑ− with { [0, ]} t ℑ∈ ∈ ∞ .The PCS controller ( PCC ) and thePCS observer ( PCO ) is designed based on the PCS theory.Two feedback loopsis defined and due to the theory,two kinds of PCS controller aredesigned.In the first the PCS controller only has discrete feedback,sothe system is working in open-loop configuration during a sample period,therefore ripple is possible during sampling period.In the second examplethe PCS controller has discrete as well as continuous feedback,so thesystem is working in close-loop configuration during a sample period,andthe PCS controller is generated according to ’ optimal control ’ ,thereforeripple is impossible during sampling period.The control law depends onthe PCS properties and on the method used to generate PCS controllerinputs.This method appears to have several advantages over dynamiccontrollers: it provides control system designers with more freedom, and it requires an important computation only at the beginning of controlprocess.The PCO controller is designed based on the PCS theory as wellas the theory of the Reduced Order Discrete time Luenbergerobserver ( RODL ) .The PCS is used to generate the control signal.RODL isused to generate recursive function,then another PCS is used to generatethe states.The example of the visual servoing of X-Y robot systems isgiven.From the example,the cart can run smoothly according to setpoints,which shows the system designed acts well.Besides the system canrebuilt the discrete signal to get the continuous signal,so the systemcan act well in the visual intelligent traffic systems. 基于间断连续运行混杂系统设计的视觉智能交通系统的自动跟随控制策略研究:http://www.751com.cn/zidonghua/lunwen_65908.html