基于观测器的CAN网络在线时延补偿策略

网络时延问题是网络控制系统中的主要问题。为了解决网络时延给控制系统带来影响的问题,首先分析网络时延的产生及其可能的取值特性,在网络时延统计特性信息的基础上,从通信技术和控制技术相结合的角度出发,提出了一种基于观测器的在线时延补偿方法。通过CAN bus网络控制实验平台,分析了该补偿方法的有效性。实验结果表明,在网络延迟大的控制系统中该策略仍具有良好的控制效果。

Observer-based Online Delay Compensation Scheme for CAN Bus

Network-induced delays are the main problem in networked control systems. Scheme should be proposed to compensate for the effects made by these delays on networked control systems. The origin and pattern of network-induced delays were analyzed, An observer-based online delay compensation scheme was proposed on the basis of pattern of delays from the integration of communication and control technology. And at the same time, the validation of this compensation method was tested by an experimental setup based on CAN bus, The experimental results show that the compensation scheme performs well even in the long time delays system.