硕士论文-控制系统性能评估及在汽车制动控制系统上的应用

上海交通大学硕士学位论文控制系统性能评估及在汽车制动控制系统上的应用姓名：张旭昶申请学位级别：硕士专业：控制理论与控制工程指导教师：胡立生;达世亮20041001123AbstractTheperformanceofcontrolsystemwilldirectlyaffecttheoperationperformance,security,lifetimeandpowerconsumingoftheindustrialprocess,soastoaffecttheoverallcompetentoftheindustryenterprise.Sothat,keepingtheprocessoperatingnormallyhasalwaysbeenregardedasoneofthemostimportantissuebybothacademiaandindustry.Becauseoftheuncertaindisturbancesthatexistintheindustrialprocess,allkindsofchangesmayoccurduringthemanufacturingprocess,accordinglyitresultsinthedegenerationoftheperformance.Accordingtothestatisticsdata,globallyonly12-34%oftheindustrialprocessisgood.Nowadays,industryhaswildlyrecognizedthat,asotherindustrialprocessthecontrolsystemalsoneedsroutinemaintenance.Thiskindofmaintenancedependsontheperformancemonitoringandassessment.Itistomonitorand4assesstheperformanceofthecontrolsystemonlineoroffline,basingontheroutinedata.Varioussoftwareappliedtoreal-timeassessmentofcontrolsystemperformancehavebeendevelopedalready,howevermostofthesesoftwarefocusonsingle-loopcontrolsystemorlow-couplingmulti-loopcontrolsystem.Focusedonautomotiveapplication,regardingtheautomotivebrakingcontrolsystem(ABS&EBD)thisthesisgoesdeeplyintotheperformanceassessmentofelectricalcontrolsystemandtheapplicationtothematchingtestofcontrolsystem.Followingitemswerestudiedanddeducedinthisthesis,1.Benchmarkoftheperformanceassessmentofthenon-linearsystem.Automotivedynamicssystemisatypicalnon-linearobjectwhichincludesengine,tires,etc..Accordingtothedynamicmodelofnon-linearsystem,abenchmarkofABScontrolperformancewasestablishedbasingonthemodel.2.Benchmarkforperformanceassessmentbasedondesigning.Basedonaboveacademicbenchmarkandintegratedwiththematchingtestofelectricalcontrolsystem,anewbenchmarkwasintroduced.Whiletheactualperformancedeparturesfromthedesigningbenchmark,thecontrol5performanceisdegraded3.Presentedamethodforreal-timeperformancemonitoringbasedonstatisticstheory.Ameasurableperformanceassessmentmethodwasdeveloped,byspecifyingthestatisticalcharacteristicsoftheactualcontrolandbenchmarkcontrol4.EmulatetheperformanceofatypicalautomotiveABSsystem.Andalsotheapplicationproblemsrelatedtothematchingtestofautomotivecontrolsystemwasstudiedanddeduced.KEYWORDScontrolperformanceassessment,failurediagnosis,non-linear,localapproach,automotivecontrol89101112131415161718ty⋅⋅⋅++++⋅⋅⋅++=+-+-----)1(1)1(1110dtddtddtdtttafafafafafytetate19tdtaQTqNy~1-+=dT~NtaQNdddRqqfqffN-+---++⋅⋅⋅++=1111020)1,,1(-⋅⋅⋅=difitddtaQTqRqFy~1--++=tddaqQTqQTFRF⎥⎦⎤⎢⎣⎡+-+=--~1~dttLaFa-+=QTqQTFRLd~1~-+-=110+--+⋅⋅⋅+=dtdttafafFa)()()(dtttLaVarFaVaryVar-+=)()(ttFaVaryVar≥0=L0~=-QTFRFTRQ~=tFatydtFa21tddddtaqfqfqfqffy)()1(122110⋅⋅⋅+++⋅⋅⋅+++=------11,,,+--⋅⋅⋅dtttaaa[]20)0(attyafayErs==[]211)1(attyafayErs==-[]222)2(attyafayErs==-M[]211)1(addttyafayEdrs-+-==-2212221202)(admvffffss-++++=L222222222))1(())2(())1(())0((aayaayaayaayadrrrrsssss⎥⎦⎤⎢⎣⎡-++++=L[]22222/)1()2()1()0(ayayayayadrrrrs-++++=L22/)(ymvdssh≅1)(0≤≤dh[]222222/)1()2()1()0()(ayyayayayadrrrrdssh-++++=L)1()2()1()0(2222-++++=dyayayayarrrrLTZZ≅tyta[])1(,),1(),0(-≅dZyayayarrrLTyayayayaZZddˆˆ)1(ˆ)2(ˆ)1(ˆ)0(ˆ)(ˆ2222-++++=rrrrhL22∑∑∑===-=MtMtatMtkttyaaMyMayMk11221111)(ˆrtataˆtaˆ23tttaqquy11212.01-----+=ttKyu-=Δ221111)8.0/1(8.08.0-----+---++=ttttaKqqKqKaay24lxFagfecbd25yFzFlfFzFzfFF⋅=jjj26lvwv)(-=v⋅=jGFyy⋅=jxjyj30313233BrakingforceofFrontAxleBrakingforceofrearAxleILineLine34BrakingForceofRearILineLineBrakingForceofFrontAxle351995Santana2000PassatB5AudiA6ABSEBD36),,,()1(wuxkfkx=+),,,()(wuxkgkz=xuzw{}0)(=kwE{}1)(var=kw37)(1kx1iFK)(kpxipF)()()()1(12kwBkuBkxAkxiii++=+)()(kxCkzi=0)0(=xijF)(kjxpj,,2,1L=ri,,2,1L=rnRx∈mRu∈qRw∈pRz∈iiiBBA21,,iCjx2)exp()(ijjjijjijFsxxax--=mj,,2,1L=ijajxijs)(xli38)()()1(kBukAxkx+=+)()(kCxkz=)(tz)(tu)()()(kkzkiiiaa≤≤)()()(kkukjjjbb≤≤)(kia)(kia)(kjb)(kjb)(kzi)(kujpi,,2,1L=mj,,2,1L=⎩⎨⎧=ŽÒ0)()(1)(kukzFjijijx)(1kx1iFK)(kpxipF)()(kxFkui=)()()()1(12kwBkxFBAkxllll++=+)()(kxCkzl=0)0(=x39∑==riiiFA1)(xll))(,),(),(()(21ttttpxxxxL=0)()()(1=∑=riiiihhxxxlri,,2,1L=∏==pjjijiFh1)()(xx)(jijFx)(tjx∑==rii11)(xl{})(varlimkzJk∞→={}∑==rjiTjijisBPBtraceEJ1,11)(ll0)(2122=-+--llllllllllPABPBBPBACCPPAATTTT40{})(min11TFsBPBtraceEJll=0)()(22=+-++llllllllCCPFBAPFBATT)(kz{})(varminlimkzt∞→{}a≤)(varku0aa()()()(){}∑∞=+=1kTTkRukukQzkzEJ0≥Q0R41{}()jTirjijisBPBtraceEJ1*11,∑==ll*PllllQCCPPAATT+-()021222=+--llllllPABPBBRPBATTT()()(){}ll11minPBBtraceEJTFs=()()PFBAPFBAT-++llllll220=++llllRFFQCCTTABSEBDABS42l0=lyjlxjv)(wvMaxww-43dv)](*)var(**min[wvwvMaxdwwgwwba-+-+abgEBDFlRlRFllFlRlFlRl)(RFVarll-RFllMin)(RFVarll-44sJJJJs=h10≤hhsJJhJhkkJkhq0qq=0qΘΘ∉qkkJkskJJJΔ+=kJΔkJ{}{}skJEJE00qq={}00=ΔkJEq0qE0q45),(qfkHqq)(0qd(){}00,0,:Θ∈=qqfifHEHk(){}11,0,:Θ∈≠qqfifHEHk),(qfkH()()∑==NkkNHN1,1qfqx{}000:qgqqq≤-=ΘΣ{}101:qgqqq≥-=ΘΣ00qg01qg10qqgg),(qfkHkfq0H1H1Θ1Θ46kJsJ1ΘkJ()()∑=-=NkskkNJJJN101qx{}{}skkJJEJ-=var(){}{}()()00,var~qqx∑-skkNJJJN∑)(0q{})()(lim)(000qxqxqTNNN∞→=∑0H{}0)(00=qxqNE{}0)(00≠qxqNE0qg1qg2c()()∏∏-Θ∈-Θ∈=NiiNiiff11201sup