具有传输延迟的网络控制系统中状态观测器的设计

随着控制系统规模的日益扩大，很多控制系统采用现场总线等技术构成一个控制网 络，这样系统中的很多信息如传感器信号、控制器信号等都通过网络进行传输．由于网络中 通讯带宽的限制、信息的碰撞等原因，不可避免地使信息的传输存在着延迟．本文针对这种 情况，设计了一种能够处理时变延迟的状态观测器，并根据网络负载的不同变化情况，提出 了两种不同的控制策略．通过对一伺服控制系统的实验研究，证实了所提状态观测器和控制 策略的有效性．

DESIGN OF STATUS OBSERVER FOR NETWORK CONTROL SYSTEM WITH TRANSFER DELAY

With the more and more larger scale of the control systems, many control systems are constructed as networks through fieldbus technology. Then some information such as sensor signal, and controller signal are transfered through the network. Because of the limitations of communication bandwidth and information collision, etc. it is inevitable that there is time delay with information transformation. In this case, a kind of status observer dealing with the time variant delay is designed, and two control strategies are investigated in terms of the network load. In the end, an experiment on a position servo system shows that the design concept is right and effective.