鎽� 瑕侊細缍滆堪浜嗙恫(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)鐨勭爺绌剁従(xi脿n)鐙€锛岄棥杩颁簡鍦嬪収(n猫i)澶栧鑰呭緸鎺у埗鍜屼俊鎭(di脿o)搴﹁搴﹀皪缍�(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)閫茶绌�(w臎n)瀹氭€у垎鏋愩€佹帶鍒跺櫒瑷�(sh猫)瑷�銆佺媭鎱�(t脿i)浼拌▓鍣ㄨō(sh猫)瑷堜互鍙婂熀浜庢ā鍨嬬殑鏁呴殰瑷烘柗鍜屽閷帶鍒剁瓑鏂归潰鐨勭爺绌堕€插睍;鍦ㄦ鍩虹(ch菙)涓婂垎鏋愪簡缍�(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)浜熷緟瑙ｆ焙鐨勫晱椤屽苟灞曟湜浜嗕互鍚庣殑鐮旂┒鏂瑰悜銆� 闂�(gu膩n)閸佃锛�缍�(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng);绌�(w臎n)瀹氭€у垎鏋�;鎺у埗鍣ㄨō(sh猫)瑷�;瑾�(di脿o)搴�;鏁呴殰瑷烘柗 [b][align=center]Survey on Status of Networked Control Systems ZHANG Wen-xia YUAN Jian[/align][/b] Abstract: The state-of-arts of NCS 锛圢etworked Control Systems锛� is surveyed firstly, and then some advances on stability, controller design, state estimator, and model-based fault-diagnosis and fault-tolerant control and so on from control and scheduling are introduced in this paper. Last the demanding problems on NCS and future research fields are provided. Keywords: Networked Control Systems; stability analysis; controller design; scheduling; fault diagnosis 1 寮曡█ 銆€銆€缍�(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)NCS锛圢etworked Control Systems锛�,鍙堢ū闆嗘垚閫氳▕鑸囨帶鍒剁郴绲�(t菕ng)ICCS锛圛ntegrated Communication and Control System锛�锛屾渶鏃╁彲瑕嬩簬Ray A.绛変汉鐧�(f膩)琛ㄧ殑璜栨枃涓€備竴鑸獚鐐篒CCS鏄竴绋叏鍒嗗竷寮�銆佺恫(w菐ng)绲�(lu貌)鍖栧鏅傚弽楗嬫帶鍒剁郴绲�(t菕ng)锛屾槸灏囨帶鍒剁郴绲�(t菕ng)鐨勫偝鎰熷櫒銆佹帶鍒跺櫒銆佸煼(zh铆)琛屽櫒绛夊柈鍏冮€氶亷閫氳▕缍�(w菐ng)绲�(lu貌)閫ｆ帴璧蜂締褰㈡垚闁夌挵(hu谩n)鐨勫垎甯冨紡鎺у埗绯荤当(t菕ng)銆傚叾娑佃搵浜嗗叐鏂归潰鐨勫収(n猫i)瀹癸細绯荤当(t菕ng)绡€(ji茅)榛炵殑鍒嗗竷鍖栧拰鎺у埗鍥炶矾鐨勭恫(w菐ng)绲�(lu貌)鍖�銆傞€欑ó缍�(w菐ng)绲�(lu貌)鍖栫殑鎺у埗妯″紡鍏锋湁淇℃伅璩囨簮鑳藉鍏变韩銆侀€ｆ帴绶氭暩(sh霉)澶уぇ娓涘皯銆佹槗浜庢摯灞�銆佹槗浜庣董璀风瓑鍎�(y艒u)榛�锛屼絾鐢变簬缍�(w菐ng)绲�(lu貌)涓殑淇℃伅婧愬緢澶�锛屼俊鎭殑鍌抽€佽棩鍒嗘檪鍗犵敤缍�(w菐ng)绲�(lu貌)閫氳▕璩囨簮锛岃€岀恫(w菐ng)绲�(lu貌)鐨勬壙杓夎兘鍔涘拰閫氳▕甯跺鏈夐檺锛屽繀鐒堕€犳垚淇℃伅鐨勬矕鎾�銆侀噸鍌崇瓑鐝�(xi脿n)璞＄殑鐧�(f膩)鐢�锛屼娇寰楁暩(sh霉)鎿�(j霉)鍦ㄥ偝杓搁亷绋嬩腑涓嶅彲閬垮厤鍦板瓨鍦ㄦ檪寤�銆傛檪寤剁敱浜庡彈鍒扮恫(w菐ng)绲�(lu貌)鎵€閲囩敤鐨勯€氳▕鍗�(xi茅)璀般€佽矤杓夌媭娉�銆佺恫(w菐ng)绲�(lu貌)閫熺巼浠ュ強鏁�(sh霉)鎿�(j霉)鍖呭ぇ灏忕瓑鎯呮硜鍒板奖闊�锛屽憟鐝�(xi脿n)鍑烘垨鍥哄畾鎴栭毃姗燂紝鎴栨湁鐣屾垨鐒＄晫鐨勭壒寰�锛屽緸鑰屽皫(d菐o)鑷存帶鍒剁郴绲�(t菕ng)鎬ц兘涓嬮檷鐢氳嚦涓嶇┅(w臎n)瀹�锛屼篃绲︽帶鍒剁郴绲�(t菕ng)鐨勫垎鏋愬拰瑷�(sh猫)瑷堝付渚嗗洶闆ｃ€傜恫(w菐ng)绲�(lu貌)绲CS甯朵締鐨勪富瑕佸晱椤屽寘鎷細鏅傚欢閲囨ǎ鏅傚埢鍜屽煼(zh铆)琛屽櫒闊挎噳(y墨ng)鏅傚埢闁撳嚭鐝�(xi脿n)浜嗕笉鍙拷鐣ョ殑婊悗;鍦ㄦ煇鏅傞枔闁撻殧鍏�(n猫i)瀛樺湪浜庢檪闁撶浉闂�(gu膩n)鐨勬姈鍕�;鐢变簬鏁�(sh霉)鎿�(j霉)鍖呭湪缍�(w菐ng)绲�(lu貌)涓偝杓哥櫦(f膩)鐢熶笩澶辨垨娌栫獊锛屽皫(d菐o)鑷存檪寤跺澶х敋鑷崇郴绲�(t菕ng)澶辩┅(w臎n)銆侼CS鐨勬€ц兘涓嶅儏渚濊炒浜庢帶鍒剁瓥鐣ュ強鎺у埗寰嬪櫒鐨勮ō(sh猫)瑷�锛岃€屼笖鍙楀埌缍�(w菐ng)绲�(lu貌)閫氳▕鍜岀恫(w菐ng)璺硣婧愮殑闄愬埗銆備俊鎭(di脿o)搴︽噳(y墨ng)鐩″彲鑳介伩鍏嶇恫(w菐ng)绲�(lu貌)涓俊鎭殑娌栫獊鍜屾搧濉炵従(xi脿n)璞＄殑鐧�(f膩)鐢�锛屽緸鑰屽ぇ澶ф彁楂樼恫(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)鐨勬湇鍕�(w霉)鎬ц兘銆傚ぇ閲忕殑鍦嬪収(n猫i)澶栨枃鐛诲緸涓嶅悓瑙掑害灏嶇恫(w菐ng)绲�(lu貌)鎺у埗绯荤当(t菕ng)鐨勫垎鏋愬拰瑷�(sh猫)瑷堜互鍙婁俊鎭(di脿o)搴︾瓑鏂归潰閫茶浜嗙爺绌�銆� 2 鍟忛鎻忚堪 銆€銆€NCS绲�(ji茅)妲�(g貌u)鍦栧彲浠ョ敤鍦�1渚嗚〃绀�锛岃垏鍌崇当(t菕ng)鐨勯粸灏嶉粸鎺у埗绯荤当(t菕ng)姣旇純锛岄€氳▕缍�(w菐ng)绲�(lu貌)绲CS绯荤当(t菕ng)甯朵締鐨勫晱椤岀偤锛� [align=center] 鍦�1缍�(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)鍦� Fig. 1 A schematic diagram for an NCS[/align] 銆€銆€1锛� 鎺у埗鏅傚欢鏄煇鍊嬮噰妯ｆ檪鍒诲拰灏嶆噳(y墨ng)鐨勫煼(zh铆)琛屾湡闊挎噳(y墨ng)鏅傚埢涔嬪樊銆傚緸鎺у埗鐨勮搴︾湅锛屾檪寤跺皣灏�(d菐o)鑷村悜琛�(w猫i)婊悗锛屾儭鍖栫郴绲�(t菕ng)鎬ц兘锛屽緸淇℃伅瑾�(di脿o)搴︾殑瑙掑害鐪�锛屾檪寤跺皣浣夸俊鎭笉鑳芥簴鏅傚埌閬�锛屼笩澶辨埅姝㈡湡锛岀敋鑷冲付渚嗕笉鍙爯(y霉)鏂欑殑閫氳▕澶氱背璜炬晥鎳�(y墨ng)銆� 銆€銆€2锛� 鎶栧嫊鏄湪浠讳綍鐗瑰畾鐨勬檪闁撻枔闅旓紝鑸囨檪闁撶浉闂�(gu膩n)鐨�銆佺獊鐒剁殑銆佷簜鐪熺殑璁婂寲锛屽彲浠ョ湅鎴愪竴绋獊鐧�(f膩)鎬х殑鏁呴殰;琛ㄧ従(xi脿n)鐐烘帶鍒跺懆鏈熺殑鎶栧嫊锛屾檪寤舵姈鍕曪紝閲囨ǎ鎶栧嫊;寰炶(di脿o)搴︾殑瑙掑害鐪�锛屾姈鍕曡〃鐝�(xi脿n)鐐鸿几鍑烘姈鍕曪紝闅婂垪鎶栧嫊锛屾埅姝㈡湡鎶栧嫊绛�銆� 銆€銆€3锛� 鐬厠(t脿i)瑾ゅ樊鏄帶鍒朵俊铏熷湪缍�(w菐ng)绲�(lu貌)涓偝杓告檪鐧�(f膩)鐢熶笩澶辨垨娌栫獊鑰岀敘(ch菐n)鐢熺殑锛屾渻浣挎暩(sh霉)鎿�(j霉)鍜岄€氳▕鏅傚欢鍔犲妵锛屾檪搴忛噰妯ｅ€间笉鑳芥簴鏅傚埌閬�锛岀敘(ch菐n)鐢熺┖閲囨ǎ鍟忛浠ュ強妯ｆ湰鏁�(sh霉)鎿�(j霉)鎷掔禃鍟忛銆� [align=center] 鍦� 2 鍠洖璺帶鍒剁郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)绀烘剰鍦� Fig. 3 structure chart of single-loop control system 鍦� 3 閲囨ǎ鏅傚簭鍦� Fig. 3 sample timing[/align] 3 NCS鐨勫亣瑷�(sh猫)鑸囨ā鍨� 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銆€銆€NCS涓殑鎺у埗鏅傚欢涓昏鍖呮嫭锛氶噰妯ｅ櫒鍜屾帶鍒跺櫒涔嬮枔鐨勯€氳▕鏅傚欢;鎺у埗鍣ㄥ拰鍩�(zh铆)琛屽櫒涔嬮枔鐨勯€氳▕鏅傚欢锛屾帶鍒跺櫒鐨勫煼(zh铆)琛屾檪闁�銆備竴鑸�锛屽彲浠ュ皣鎺у埗鍣ㄧ殑鍩�(zh铆)琛屾檪闁撴鍏ユ帶鍒跺櫒鍜屽煼(zh铆)琛屽櫒涔嬮枔鐨勯€氳▕鏅傚欢锛屽緸鑰屽皣涓婅堪涓夌ó鏅傚欢绨″寲鐐哄彧鏈�鍜�銆傛渶绨″柈鎯呭舰锛屽亣瀹�鍜�鏄亽瀹氱殑锛屽緸鑰屽彲浠ュ皣鍟忛杞�(zhu菐n)璁�?y艒u)姗愯瘽闅冲爲鏆劊銆瀝寤舵帶鍒跺晱椤岄€茶鐮旂┒銆傞€氬父閲囩敤鐨勬帶鍒剁瓥鐣ョ偤锛氭檪闁撻﹨(q奴)鍕曠殑鍌虫劅鍣ㄥ拰鎺у埗鍣�锛屼簨浠堕﹨(q奴)鍕曠殑鍩�(zh铆)琛屽櫒銆俁ay A绛変汉鏈€鏃╄◣璜栧苟鐮旂┒浜咺CCS鐨勫缓妯°€佸垎鏋愬拰瑷�(sh猫)瑷堝晱椤�锛岄嚌灏嶅付鏈夊垎甯冨紡缍�(w菐ng)绲�(lu貌)瑾樺皫(d菐o)鏅傚欢鐨処CCS锛岀爺绌朵簡鍏跺熀浜庤娓櫒鐨勮鍎熷櫒瑷�(sh猫)瑷堝晱椤�;骞堕嚌灏嶉毃姗熺恫(w菐ng)绲�(lu貌)鏅傚欢瑷�(sh猫)瑷堜簡鍏惰几鍑哄弽楗嬫帶鍒跺櫒;Faik G绛変汉鍚屾ǎ涔熺爺绌朵簡鐢变簬缍�(w菐ng)绲�(lu貌)鐨勫紩鍏ュ皪鎺у埗绯荤当(t菕ng)鎬х殑褰遍熆銆侺iou L W 鍜孯ay A绛夐嚌灏嶉毃姗烮CCS鐮旂┒浜嗛毃姗熺郴绲�(t菕ng)鐨勮(di脿o)绡€(ji茅)鍣ㄨō(sh猫)瑷堝晱椤�銆侺ian Feng-li 閲濆皪閫氳▕缍�(w菐ng)绲�(lu貌)灏嶆帶鍒剁郴绲�(t菕ng)鐨勫奖闊匡紝灏峃CS閫茶浜嗘€ц兘鐨勫垎鏋愪互鍙婂缓妯″拰鎺у埗鍣ㄨō(sh猫)瑷堢瓑宸ヤ綔銆俉ittenmark B鍜孨ilsson J閲濆皪闅ㄦ瀵︽檪鎺у埗绯荤当(t菕ng)锛屽皪鐮旂┒浜嗗叾闅ㄦ鏈€鍎�(y艒u)鎺у埗鍟忛銆傛湵鍏舵柊锛岃儭澹芥澗灏囧叾鎺ㄥ唬鍒版檪寤跺ぇ浜庨噰妯ｅ懆鏈熺殑鎯呭舰锛屽苟鐮旂┒浜嗙恫(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)鐨勯毃姗熺媭鎱�(t脿i)浼拌▓鍣ㄥ拰闅ㄦ鏈€鍎�(y艒u)鎺у埗鍣ㄨō(sh猫)瑷堝晱椤屻€傛柟鑿含绛変汉缍滆堪浜嗙恫(w菐ng)绲�(lu貌)鍖栨帶鍒剁郴绲�(t菕ng)鐨勫熀浜庢ā鍨嬬殑鏁呴殰瑷烘柗鍜屽閷帶鍒跺晱椤�銆俍hang 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