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对球杆系统进行了机理建模,并针对球杆网络化控制系统网络负载小、节点少、带宽冗余等特点,从网络通信原理的角度分析了网络延时的不确定性,结合测试结果提出了具有时变性、分段保持性延时特征的网络环境的假设。在这个前提下,将网络分布时延转换为前向通道上的单一时延。在此基础上提出了球杆网络化控制系统的根据延时分段补偿控制的策略及在线获取当前延时的方法,设计了PID-Smith动态延时补偿控制器对不同时延系统进行了控制,仿真结果表明该控制策略能够有效补偿网络延时,使系统能够在3s内稳定,克服由网络延时对系统控制品质造成的不良影响。
The mechanism of the club system is modeled. According to the characteristics of the networked control system of the club, such as less network load, fewer nodes and more bandwidth redundancy, the uncertainty of the network delay is analyzed from the perspective of network communication theory. Combined with the test results The assumption of network environment with time-varying and segment-preserving delay characteristics is proposed. Under this premise, the network distributed delay is converted to a single delay on the forward channel. On the basis of this, a strategy based on the delay segment compensation control and the method of obtaining the current delay online are proposed. The PID-Smith dynamic delay compensation controller is designed to control different time delay systems The simulation results show that this control strategy can effectively compensate the network delay and make the system stable within 3s, which overcomes the adverse effect caused by network delay on the quality of system control.