基于互联网的远程控制系统时延补偿的仿真研究

Simulation Study on Time-delay Compensator in Remote Control Systems over the Internet

为了解决不确定性变化的网络时延影响基于互联网的远程控制系统的动态性能,在远程控制系统结构中设计了一种带时延预测器的时延补偿环节。仿真结果表明,只要时延预测器能够比较精确的在线预测网络的传输时延,采用时延补偿环节的远程控制系统能够达到近似于本地控制系统的动态性能。

In order to improve the dynamic performance of remote control system affected by the uncertain transmission time-delays in both forward loop and feedback loop, the time-delay compensator with time-delay predictor is designed based on traditional control system framework. The result of simulation shows that the remote control system with time-delay compensator can have a similar behavior to the local control even in the presence of some Internet traffic delay if the time-delay predictor can predict network latency accurately.