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针对网络化控制系统中存在的网络延时的不确定性,提出了如何根据系统的控制性能要求处理网络传输过程中网络延时的时变特性。通过对网络环境的分析,把网络延时进行分段序列化,使时变的网络延时转换成一个固定延时序列。在球杆系统本地化控制中加入固定延时,获取不同延时情况下球杆系统的最佳控制参数。在网络控制中,通过捕获的网络延时查找最佳控制参数库,对模糊控制器的量化参数进行动态调整,减少网络时延对系统动态性能的影响。仿真结果表明,采用这种方法一定程度上能改善球杆系统在网络化控制环境下的动态响应性能和稳定性。通过对时钟同步协议的分析,提出的对Internet网络环境下的延时处理方式,在网络化控制系统的设计上具有一定的参考价值。
Aiming at the uncertainty of network delay existing in networked control system, this paper proposes how to deal with the time-varying characteristics of network delay in network transmission according to the control performance requirements of the system. Through the analysis of network environment, the network delay segmenting sequence, so that time-varying network delay into a fixed delay sequence. Adding fixed delay to local control of club system to get the best control parameters of club system under different delay conditions. In network control, the optimal control parameter library is found through the captured network delay, and the quantization parameters of the fuzzy controller are dynamically adjusted to reduce the influence of network delay on the system dynamic performance. Simulation results show that using this method can improve the dynamic response performance and stability of the club system to a certain extent under the networked control environment. Through the analysis of the clock synchronization protocol, the proposed delay processing method in the Internet network environment is of certain reference value in the design of networked control system.