虚拟仿真技术在网络闭环控制中的应用

Application of virtual simulation technology in network closed-loop control

Internet上数据传输的不确定延时妨碍了远程被控对象和操作者之间迅捷而透明的交互,严重限制了网络远程控制系统的性能和应用。为了解决网络延时问题,提出一种基于虚拟仿真的网络三闭环控制结构。该方法依照开环系统实现闭环控制的思想,在客户端构造虚拟被控对象模型,使虚拟仿真系统与实际系统的运行状态相似甚至相同,同时又使操作者能依据虚拟仿真系统一端的运行情况决定下一步的控制指令,从而准确地对实际系统发出所需的控制指令,最终达到远程实时控制的目的。仿真结果证明了所提方法的有效性和可行性。

It is very hard to have a transparent and prompt interaction between user and remote controlled object due to uncertain time delay over the Internet, which severely limits the performance of network control systems. In order to solve the problem of random delay, a kind of three closed-loop network control structure based on virtual simulation was proposed. In accordance with the idea of open-loop system to achieve closed-loop control, this method constructed the virtual controlled object model in the client, made the operation states of virtual simulation system be similar or even identical to those of actual system, while allowing the operator to decide the next control instruction according to the operation of the virtual simulation system, so as to accurately give the required control instructions to the actual system, which ultimately achieved the purpose of remote real-time control. The simulation results show the validity and feasibility of the proposed method.