基于TCP/IP协议的远程控制系统中变结构动态补偿器的研究  

Variable structure compensator in telecontrol system based on TCP/IP protocol

作　　者：黄杰[1] 吴平东[1] 王晓峰[1] 任长清[1] 陈之龙[1] 马树元[1] 

机构地区：[1]北京理工大学机电一体化中心,北京100081

出　　处：《控制理论与应用》2003年第6期849-854,共6页Control Theory & Applications

基　　金：国家自然科学基金项目(60274035).

摘　　要：对网络时延及其不确定性造成的单采样、空采样和多采样三种情况进行了分析,阐述了采样信息处理器的原理.为了解决网络时延的滞后补偿问题,提出了一种变结构动态补偿器方案.仿真和实验证明,基于TCP/IP协议的远程控制系统中采用了该补偿器后,利用网络数据传送时的时间戳,可对因特网的时延进行实时补偿,使基于因特网的远程位置伺服控制成为可能,同时也避免了网络时延的预报精度对补偿的影响,改善了系统的控制性能.Analysis was made of the following three cases in datagram trasfer, which were caused by network time delay and its uncertainty property: one sampling, more sampling and empty sampling. The principle of sampled information processor was introduced. Variable structure compensator was adopted in order to solve the problem of network hysteresis. The simulation and experiment proved that the variable structure compensator, by inspecting timestamp in the process of datagram transfer, could compensate network time delay in the real time, achieve the feasibility of positional control servo to control on internet, prevent the influence of prediction error of network time delay, and improve the control performance.

关 键 词：远程控制系统 变结构动态补偿器 TCP/IP协议 因特网 计算机控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TP393.4[自动化与计算机技术—控制科学与工程]