远程控制系统时延补偿策略研究

为了克服互联网时延对系统性能的影响,提出了采用变采样率方法的双层控制系统结构。低层闭环控制结构采用较高的恒定采样频率以保证控制系统的稳定性;而高层的闭环控制结构采用了较低的可变采样频率以减少网络负荷和避免数据丢失。为了更好地处理大时延和数据包丢失的问题,基于双层控制结构利用动态矩阵预测控制器设计了前向时延和反馈时延补偿策略。仿真结果表明在随机互联网时延的环境下采用前向、反馈时延补偿策略能够有效地改善控制系统的动态性能。

Research on time-delay compensation strategy for Internet-based remote control system

Two-level control system with variable sampling rate is proposed to reduce the influence of uncertain Internet time-delay on control system performance.The close-loop control structure at lower level adopts higher constant sampling rate to ensure the control system stability,while the close-loop control structure at higher level adopts lower variable sampling rate to reduce network load and avoid data loss.For long Internet time-delay and data package loss,both feedback and feedforward time-delay compensation strategies are designed using the DMC(Dynamic Matrix Controller).The simulative results prove that,the compensation strategies improve efficiently the dynamic performance of control system in the Internet environment with random time-delay.