网络控制系统中在线时延评估方法及其控制

为了解决网络控制系统中数据传输时延给控制品质带来不良影响的问题，从融合通信技术和控制技术的角度出发，提出一种新的控制方案．通过运用在线时延评估方法——平均时延窗口(ADW)法来在线估计出网络控制回路中的时延特性．在此基础上，根据得到的时延来确定LQG控制器中的控制参数．此控制方案克服了对网络时延离线的盲目假设，而且在具体实施中不需要网络同步时钟技术的支持，因此具有一定程度的实用性．通过在CAN总线实验平台的验证，其结果显示了此控制方案的有效性．

Online Delay Evaluation and Control for Networked Control Systems

In order to solve the problems induced from the delays in networked control systems(NCS), a new control scheme that integrates control technology with communication technology was brought forward, which is composed of two parts. Firstly, originated from the idea of online delay evaluation, an ADW approach is used to obtain the delays characteristics online. Then the parameters of LQG controller are adjusted along with the obtained delays. The scheme does not require the offline assumptions about delays and the synchronized clock in the network, so it is a practical way to disposed of the induced delays in NCS. The experiments based on CANbus platform were fulfilled. The results verify the effectiveness of the scheme.