基于时延预估的网络控制系统研究  

Research on Networked Control System Based on Time-delay Prediction

作　　者：张俊[1] 刘克[1] 薛燕[1] 

机构地区：[1]北京科技大学信息工程学院,北京100083

出　　处：《控制工程》2007年第1期82-84,110,共4页Control Engineering of China

摘　　要：针对基于Internet环境下的控制系统中,网络时延、丢包、包序颠倒等问题对闭环实时控制系统性能造成的影响,提出了一种基于时延预估补偿控制的闭环实时控制方法。该方法引入一个网络时延存储队列,对网络时延进行在线预估,通过Smith预估器对控制系统进行动态补偿。同时,利用一类非线性PID的非线性特性对传统PID控制器进行改进,以改善时延随机性对控制系统的影响。仿真结果证明,该方法对模型精确已知的一类控制对象有较好的控制效果。Aiming at the influence of time-delay, data packet dropout and data packet out of order on Networked Controlhng System performence under Internet environment a compensating controlling method based on time-delay prediction is proposed to improve controll system performance. By introducing a storage queue, the network induced-delay is on-line evaluated and controll system is dynamically compensated by a smith predictor. Meanwhile, using the non-linear features of non-linear PID, the tronditional PID controller is improved to achieve desired performance in despite of the uncertain delays in the system. Simulation results show that the orooosed approach is valid and effective.

关 键 词：网络控制系统 平均时延 非线性PID SMITH预估器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]