引用本文:黄　杰,吴平东,王晓峰,任长清,陈之龙,马树元.基于TCP/IP协议的远程控制系统中变结构动态补偿器的研究[J].控制理论与应用,2003,20(6):849~854.[点击复制]
HUANG Jie,WU Ping-dong,WANG Xiao-feng,REN Chang-qing,CHEN Zhi-long,MA Shu-yuan.Variable structure compensator in telecontrol system based on TCP/IP protocol[J].Control Theory and Technology,2003,20(6):849~854.[点击复制]
基于TCP/IP协议的远程控制系统中变结构动态补偿器的研究
Variable structure compensator in telecontrol system based on TCP/IP protocol
摘要点击 2335  全文点击 1364  投稿时间：2002-05-23  修订日期：2003-02-17
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DOI编号  10.7641/j.issn.1000-8152.2003.6.007
  2003,20(6):849-854
中文关键词  变结构动态补偿器  TCP/IP协议  远程控制系统
英文关键词  variable structure compensator  TCP/IP protocol  telecontrol system
基金项目  国家自然科学基金项目(60274035).
作者单位E-mail
黄　杰 北京理工大学 机电一体化中心, 北京 100081 bit-huangjie@sohu.com 
吴平东 北京理工大学 机电一体化中心, 北京 100081 wupindon@bit.edu.cn 
王晓峰 北京理工大学 机电一体化中心, 北京 100081 Wang-martin@163.net 
任长清 北京理工大学 机电一体化中心, 北京 100081 changqing.ren@dccbj.icbc.com.cn 
陈之龙 北京理工大学 机电一体化中心, 北京 100081 chenzhilong@bit.edu.cn 
马树元 北京理工大学 机电一体化中心, 北京 100081 bitmc@bit.edu.cn 
中文摘要
      对网络时延及其不确定性造成的单采样、空采样和多采样三种情况进行了分析,阐述了采样信息处理器的原理.为了解决网络时延的滞后补偿问题,提出了一种变结构动态补偿器方案.仿真和实验证明,基于TCP/IP协议的远程控制系统中采用了该补偿器后,利用网络数据传送时的时间戳,可对因特网的时延进行实时补偿,使基于因特网的远程位置伺服控制成为可能,同时也避免了网络时延的预报精度对补偿的影响,改善了系统的控制性能.
英文摘要
       Analysis was made of the following three cases in datagram trasfer, which were caused by network time delay and its uncertainty property: one sampling, more sampling and empty sampling. The principle of sampled information processor was introduced. Variable structure compensator was adopted in order to solve the problem of network hysteresis. The simulation and experiment proved that the variable structure compensator, by inspecting timestamp in the process of datagram transfer, could compensate network time delay in the real time, achieve the feasibility of positional control servo to control on internet, prevent the influence of prediction error of network time delay, and improve the control performance.