网络控制系统时延分析、控制器设计和仿真研究
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摘要
本文对通过 TCP/IP 协议通信的网络控制系统进行了分析和研究。首先，对网络
时延进行了测试和分析，给出了对时延进行在线计算和预测的方法；其次，对网络时
延不超过一个采样周期的网络控制系统进行了研究，考虑时延建立了网络控制系统模
型，基于该模型设计了 PI-LQ 最优控制器，并给出了时延为不确定时的控制策略；接
着，对网络时延超过一个采样周期的网络控制系统进行了研究，设计了动态 PI-Fuzzy
控制器，用遗传算法得到不同网络时延下的最佳参数库，在网络时延发生变化时利用
最佳参数库动态调整控制器参数，使系统稳定并达到一定的性能指标要求；最后设计
开发了运行在 MATLAB/Simulink 环境下，基于 TCP/IP协议 通信的网络控制系统仿
真环境。
The networked control systems (NCS) communicating with TCP/IP protocol is sys-
tematically analyzed and studied in this paper. Firstly, network time-delay is measured
and analyzed. A method of on-line computing and predicting time-delay is proposed.
Secondly, the networked control systems whose network time-delay are less than one sam-
ple period is analyzed. Considering network time-delay, the NCS model is obtained. The
PI-LQ optimal controller is given based on the NCS model and the control strategy is pro-
posed when time-delay is uncertain. Then, the networked control systems whose network
time-delay is larger than one sample period are analyzed.The dynamic fuzzy controller is
designed and the optimal parameter library corresponding to di?erent network time-delay
is obtained by genetic algorithm. While network time-delay is changing, the controller
parameters can be tuned dynamically with the aid of the optimal parameter library. It
can ensure the stability and the performance of the systems. Finally, the simulation pro-
gram of networked control systems communicating with TCP/IP protocol is developed
which can run in MATLAB/Simulink.
时延进行了测试和分析，给出了对时延进行在线计算和预测的方法；其次，对网络时
延不超过一个采样周期的网络控制系统进行了研究，考虑时延建立了网络控制系统模
型，基于该模型设计了 PI-LQ 最优控制器，并给出了时延为不确定时的控制策略；接
着，对网络时延超过一个采样周期的网络控制系统进行了研究，设计了动态 PI-Fuzzy
控制器，用遗传算法得到不同网络时延下的最佳参数库，在网络时延发生变化时利用
最佳参数库动态调整控制器参数，使系统稳定并达到一定的性能指标要求；最后设计
开发了运行在 MATLAB/Simulink 环境下，基于 TCP/IP协议 通信的网络控制系统仿
真环境。
The networked control systems (NCS) communicating with TCP/IP protocol is sys-
tematically analyzed and studied in this paper. Firstly, network time-delay is measured
and analyzed. A method of on-line computing and predicting time-delay is proposed.
Secondly, the networked control systems whose network time-delay are less than one sam-
ple period is analyzed. Considering network time-delay, the NCS model is obtained. The
PI-LQ optimal controller is given based on the NCS model and the control strategy is pro-
posed when time-delay is uncertain. Then, the networked control systems whose network
time-delay is larger than one sample period are analyzed.The dynamic fuzzy controller is
designed and the optimal parameter library corresponding to di?erent network time-delay
is obtained by genetic algorithm. While network time-delay is changing, the controller
parameters can be tuned dynamically with the aid of the optimal parameter library. It
can ensure the stability and the performance of the systems. Finally, the simulation pro-
gram of networked control systems communicating with TCP/IP protocol is developed
which can run in MATLAB/Simulink.
引文
[1] 顾洪军, 张佐, 吴秋峰. 控制系统的网络化发展. 工业仪表与自动化装置. 2000,
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刊):802－804，807
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表. 1999, 14(4):1–4
[4] 顾洪军. 网络控制系统建模及性能分析方法的研究. 北京: 清华大学博士论文, 2001
[5] 任长清. 基于因特网的机械运动远程控制系统的基础研究. 北京: 北京理工大学博
士学位论文, 2002
[6] G. C. Walsh. Scheduling of networked control systems. IEEE Control Systems Mag-
azine. 2001, 21:57–65
[7] 张孝林, 吴介一等. 高速计算机网络中的拥塞控制系统设计方法综述. 信息与控制.
2001, 30(1):46–54
[8] 汪小帆, 孙金生, 王执铨等. 控制理论在 Internet 拥塞控制中的应用. 控制与决策.
2002, 17(2):129－134
[9] R. Raji. Smart Network for Control. IEEE Spectrum. June 1994:49–55
[10] 于之训, 陈辉堂, 王月娟. 闭环网络控制系统研究综述. 信息与控制. 2001, 30(7):689–
695
[11] 周洪, 王均. 工业过程网络控制理论的研究状况. 自动化博览. 2002, 19(5):28–29,32
[12] Feng-Li Lian. Network design consideration for distributed control systems. Control
Systems Technology, IEEE Transactions on. March 2002, 10(2):297–307
[13] Feng-Li Lian, J. Moyne, D. Tilbury. Optimal Controller Design and Evaluation for a
Class of Networked Control Systems with Distributed Constant Delays. Proceedings
of the American Control Conference. Anchorage, Alaska USA, 2002, vol. 4, 3009–
3014
[14] Richard H. Caro. Ethernet Wins Over Industrial Automation. IEEE Spectrum.
January 2001:114
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华北电力大学（北京）硕士学位论文
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ceedings of the 4th World Congress on Intelligent Control and Automation. Shang-
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Systems. Proceedings of the American Control Conference. San Diego. California,
1999, 2876–2880
[19] Gregory C. Walsh, O. Beldiman, Linda Bushnell. Asymptotic Behavior of Networked
Control Systems. Proceedings of the 1999 IEEE: International Conference on Control
Applications. Kobala Coast-Island of Hawai’i , Hawai’i USA, 1999, vol. 2, 1448–1453
[20] Gregry C. Walsh, O. Beldiman, Linda G. Bushnell. Asymptotic Behavior of Nonlinear
Networked Control Systems. IEEE Translations of Automatic Control. July 2001,
46(7):1093–1097
[21] M. S. Branicky, Stephen M. Phillips, Wei Zhang. Stability of networked control
systems: explicit analysis of delay. Proceedings of the American Control Conference.
Chicago, Illinois, 2000, 2352–2357
[22] Bo Lincoln. Dynamic Programming and Time-Varying Delay Systems. Ph.D. thesis,
Lund Institute of Technology, Lund, Sweden, 2003
[23] Feng-Li Lian. Analysis, Design, Modeling, and Control of Networked Control Sys-
tems. Ph.D. thesis, The University of Michigan, 2001
[24] Feng-Li Lian, James R. Moyne, Dawn M. Tilbury. Performance evaluation of control
networks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine.
2001, 21:66–83
[25] G. C. Walsh, Hong Ye, Linda G. Bushnell. Stability Analysis of Networked Control
Systems. IEEE Transactions on Control Systems Technology. May 2002, 10(3):438–
446
[26] J. Nilsson. Real-Time Control Systems with Delays. Ph.D. thesis, Lund Institute of
Technology, Lund, Sweden, 1998
-67-
华北电力大学（北京）硕士学位论文
[27] Wei Zhang, Michael S. Branicky, Stephen M. Phillips. Stability of Networked Control
Systems. IEEE Control Systems Magazine. February 2001, 21:84–99
[28] Qiang Ling, M. D. Lemmon. Soft Real-Time Scheduling of Networked Control Sys-
tems with Data Dropouts. American Control Conference. Colorado, 2003
[29] S. Tatikonda, A. Sahai, S. Mitter. Control of LQG Systems under Communication
Constraints. Proceedings of the IEEE Conference on Decision and Control. Tampa,
1998, 1165–1170
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控制. 2002, 31(5):441–445
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matica. 1990, 26(5):903–908
[32] Yorke J. A. Asysmptotic Stability for One Dimentional Di?erential. J of Di?erential
Equations. 1970, (7):189–202
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on Automatic Control. 1980, 25(3):552–554
[34] 于之训, 陈辉堂, 王月娟. 基于Markov延迟特性的闭环网络控制系统研究. 控制理论
与应用. 2002, 19(02):263–267
[35] Feng-Li Lian, J. Moyne, D. Tilbury. Analysis and Modeling of Networked Control
Systems: MIMO Case with Multiple Time Delays. Proceedings of the American
Control Conference. Arlington, VA, 2001, vol. 6, 4306–4312
[36] Kyung Chang Lee, Suk Lee. Remote Controller Design of Networked Control System
Using Genetic Algorithm. ISIE 2001, Pusan, KOREA in IEEE. 2001:1845–1850
[37] Suk Lee, Sang Ho Lee, Kyung Chang Lee. Remote Fuzzy Logic Control for Networked
Control System. IECON’01: The 27th Annual Conference of the IEEE Industrial
Electronics Society. 2001, 1822–1827
[38] Naif B. Almutairi, Mo-Yuen Chow. PI Parameterization Using Adaptive Fuzzy Mod-
ulation (AFM) for Networked Control Systems - Part I: Partial Adaptation. IEEE
Proceedings of IECON 2002. Sevilla, Spain, 2002, 3152–3157
[39] 任长清, 吴平东, 王晓峰等. 基于互联网的液压远程控制系统延时预测算法研究. 北
京理工大学学报. 2002, 22(01):85–89
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华北电力大学（北京）硕士学位论文
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制器. 计算机应用. 2002, 22(11):83–85
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断. 信息与控制. 2003, 32(2):155–159
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of the 38th Conference on Decision & Control. Phoenix, Arizona USA, 1999, vol. 5,
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刊):802－804，807
[3] 张结斌, 文代刚. 基于 Internet/Intranet 分布式网络控制系统的实现. 自动化与仪
表. 1999, 14(4):1–4
[4] 顾洪军. 网络控制系统建模及性能分析方法的研究. 北京: 清华大学博士论文, 2001
[5] 任长清. 基于因特网的机械运动远程控制系统的基础研究. 北京: 北京理工大学博
士学位论文, 2002
[6] G. C. Walsh. Scheduling of networked control systems. IEEE Control Systems Mag-
azine. 2001, 21:57–65
[7] 张孝林, 吴介一等. 高速计算机网络中的拥塞控制系统设计方法综述. 信息与控制.
2001, 30(1):46–54
[8] 汪小帆, 孙金生, 王执铨等. 控制理论在 Internet 拥塞控制中的应用. 控制与决策.
2002, 17(2):129－134
[9] R. Raji. Smart Network for Control. IEEE Spectrum. June 1994:49–55
[10] 于之训, 陈辉堂, 王月娟. 闭环网络控制系统研究综述. 信息与控制. 2001, 30(7):689–
695
[11] 周洪, 王均. 工业过程网络控制理论的研究状况. 自动化博览. 2002, 19(5):28–29,32
[12] Feng-Li Lian. Network design consideration for distributed control systems. Control
Systems Technology, IEEE Transactions on. March 2002, 10(2):297–307
[13] Feng-Li Lian, J. Moyne, D. Tilbury. Optimal Controller Design and Evaluation for a
Class of Networked Control Systems with Distributed Constant Delays. Proceedings
of the American Control Conference. Anchorage, Alaska USA, 2002, vol. 4, 3009–
3014
[14] Richard H. Caro. Ethernet Wins Over Industrial Automation. IEEE Spectrum.
January 2001:114
-66-
华北电力大学（北京）硕士学位论文
[15] Di Wang, Yinmin Chen. A Study of Robot Remote Monitoring System. Pro-
ceedings of the 4th World Congress on Intelligent Control and Automation. Shang-
hai，P.R.China, 2002
[16] 赵海. 嵌入式 Internet —21世纪的一场信息技术革命. 北京: 清华大学出版社, 2001
[17] Wei Zhang. Stability Analysis of Networked Control Systems. Ph.D. thesis, Case
Western Reserve University, 2001
[18] Gregory C. Walsh, Hong Ye, Linda Bushnell. Stability Analysis of Networked Control
Systems. Proceedings of the American Control Conference. San Diego. California,
1999, 2876–2880
[19] Gregory C. Walsh, O. Beldiman, Linda Bushnell. Asymptotic Behavior of Networked
Control Systems. Proceedings of the 1999 IEEE: International Conference on Control
Applications. Kobala Coast-Island of Hawai’i , Hawai’i USA, 1999, vol. 2, 1448–1453
[20] Gregry C. Walsh, O. Beldiman, Linda G. Bushnell. Asymptotic Behavior of Nonlinear
Networked Control Systems. IEEE Translations of Automatic Control. July 2001,
46(7):1093–1097
[21] M. S. Branicky, Stephen M. Phillips, Wei Zhang. Stability of networked control
systems: explicit analysis of delay. Proceedings of the American Control Conference.
Chicago, Illinois, 2000, 2352–2357
[22] Bo Lincoln. Dynamic Programming and Time-Varying Delay Systems. Ph.D. thesis,
Lund Institute of Technology, Lund, Sweden, 2003
[23] Feng-Li Lian. Analysis, Design, Modeling, and Control of Networked Control Sys-
tems. Ph.D. thesis, The University of Michigan, 2001
[24] Feng-Li Lian, James R. Moyne, Dawn M. Tilbury. Performance evaluation of control
networks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine.
2001, 21:66–83
[25] G. C. Walsh, Hong Ye, Linda G. Bushnell. Stability Analysis of Networked Control
Systems. IEEE Transactions on Control Systems Technology. May 2002, 10(3):438–
446
[26] J. Nilsson. Real-Time Control Systems with Delays. Ph.D. thesis, Lund Institute of
Technology, Lund, Sweden, 1998
-67-
华北电力大学（北京）硕士学位论文
[27] Wei Zhang, Michael S. Branicky, Stephen M. Phillips. Stability of Networked Control
Systems. IEEE Control Systems Magazine. February 2001, 21:84–99
[28] Qiang Ling, M. D. Lemmon. Soft Real-Time Scheduling of Networked Control Sys-
tems with Data Dropouts. American Control Conference. Colorado, 2003
[29] S. Tatikonda, A. Sahai, S. Mitter. Control of LQG Systems under Communication
Constraints. Proceedings of the IEEE Conference on Decision and Control. Tampa,
1998, 1165–1170
[30] 彭可, 陈际达, 邹润民等. 控制系统网络化及控制系统与信息网络集成技术. 信息与
控制. 2002, 31(5):441–445
[31] Rogelio L, A Ray. An Observe-Based Compensator for Distributed Delays. Auto-
matica. 1990, 26(5):903–908
[32] Yorke J. A. Asysmptotic Stability for One Dimentional Di?erential. J of Di?erential
Equations. 1970, (7):189–202
[33] Hirai K, Satoh Y. Stability of a System with Variable Time-Delay. IEEE Transactions
on Automatic Control. 1980, 25(3):552–554
[34] 于之训, 陈辉堂, 王月娟. 基于Markov延迟特性的闭环网络控制系统研究. 控制理论
与应用. 2002, 19(02):263–267
[35] Feng-Li Lian, J. Moyne, D. Tilbury. Analysis and Modeling of Networked Control
Systems: MIMO Case with Multiple Time Delays. Proceedings of the American
Control Conference. Arlington, VA, 2001, vol. 6, 4306–4312
[36] Kyung Chang Lee, Suk Lee. Remote Controller Design of Networked Control System
Using Genetic Algorithm. ISIE 2001, Pusan, KOREA in IEEE. 2001:1845–1850
[37] Suk Lee, Sang Ho Lee, Kyung Chang Lee. Remote Fuzzy Logic Control for Networked
Control System. IECON’01: The 27th Annual Conference of the IEEE Industrial
Electronics Society. 2001, 1822–1827
[38] Naif B. Almutairi, Mo-Yuen Chow. PI Parameterization Using Adaptive Fuzzy Mod-
ulation (AFM) for Networked Control Systems - Part I: Partial Adaptation. IEEE
Proceedings of IECON 2002. Sevilla, Spain, 2002, 3152–3157
[39] 任长清, 吴平东, 王晓峰等. 基于互联网的液压远程控制系统延时预测算法研究. 北
京理工大学学报. 2002, 22(01):85–89
-68-
华北电力大学（北京）硕士学位论文
[40] 王晓峰, 吴平东, 任长清等. 基于 TCP/IP 网络的远程伺服控制系统中的动态模糊控
制器. 计算机应用. 2002, 22(11):83–85
[41] 于之训, 陈辉堂, 王月娟. 基于H∞和μ综合的闭环网络控制系统的设计. 同济大学学
报(自然科学版). 2001, 29(03):307–311
[42] 王勇. 嵌入式 Internet 的技术实现及其安全问题的研究. 杭州: 浙江大学博士学位论
文, 2002，5
[43] 郑英, 方华京, 谢林柏等. 具有随机时延的网络化控制系统基于等价空间的故障诊
断. 信息与控制. 2003, 32(2):155–159
[44] G. C. Walsh. Error encoding algorithms for networked control systems. Proceedings
of the 38th Conference on Decision & Control. Phoenix, Arizona USA, 1999, vol. 5,
4933–4938
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