网络控制系统在线时延预估策略与实现

Design and Realization of Online Delay Evaluation Scheme for Networked Control Systems

分析网络时延的产生以及影响其取值规律的原因,提出网络时延在线预估法以预估将来时刻可能产生的控制器与执行器之间的时延。在CAN bus网络控制实验平台上对该预估法的有效性进行验证,实验结果表明,该方法准确地预估出下一时刻网络时延的大小,并且基于预估到的网络时延设计的控制器很好地保证了控制系统的稳定性。

Network-induced delay and the factors affecting its pattern were analyzed. An online od for predicting delay between controller and actuator was proposed. The validation of this delay evaluation methevaluation method was tested by an experimental platform based on CAN bus. The experimental results show that the next delay between controller and actuator can be predicted exactly by the proposed evaluation method, and the controller designed based on the predicted delays well guarantees the stability of the system.