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为了探讨制造系统中控制结构的研究现状及发展趋势，以制造系统的发展历程为背景，介绍了制造系统及其控制结构的基本概念．根据制造系统对控制结构的要求，对制造系统的集中控制、递阶控制和非等级控制等三种基本控制结构的特征及优缺点进行了综述，对非等级控制结构的设计原则和控制单元之间控制职责的分配、协调方法等最新研究动态进行了跟踪整理，对混杂控制的几种常见形式进行了归纳，最后指出了控制结构在应用中存在的主要问题及控制结构研究的热点和发展趋势．
In order to explore the research status and development trend of control structure in manufacturing system, the basic concepts of manufacturing system and its control structure are introduced in the background of manufacturing system. According to the requirements of the control system of the manufacturing system, the characteristics, advantages and disadvantages of the three basic control structures including the centralized control, the hierarchical control and the non-hierarchical control of the manufacturing system are summarized. The design principles and control units of the non-hierarchical control structure The distribution and coordination of inter-control responsibilities, and the latest research trends of coordination methods were tracked and summarized, and several common forms of hybrid control were summarized. Finally, the main problems in the application of control structure and the hot spots and development trend of control structure research were pointed out .