针对模型中网络时延的时变特性,提出了一种基于ControlNet的不需要传感器-控制器及控制器-执行器时钟同步的在线时延估算算法,根据估算得到的时延确定LQR控制器中的控制参数,并进行了仿真实验,结果表明有效地利用了系统资源,提高了控制回路的采样速率,从而提高了控制系统性能。 Aiming at the time-varying characteristics of network delay in the model, an online delay estimation algorithm based on ControlNet that does not need sensor-controller and controller-actuator clock synchronization is proposed. According to the estimated delay, the LQR controller The simulation results show that the system resources are effectively used and the sampling rate of the control loop is increased, so that the performance of the control system is improved.