实时控制系统的抖动补偿

摘要

在实时控制系统中通常存在着延迟和抖动,导致系统性能较期望值下降甚至不稳定.在分析CO-US和IMF 任务模型的基础上,介绍了ICO-FU 任务模型,利用MATLAB中的TrueTime工具箱对其进行了仿真.从仿真结果可以看出,当系统被控对象为稳定状态时,三种模型下系统均可迅速的达到稳定.而当系统被控对象为不稳定对象时,ICO-FU任务模型补偿抖动作用较为明显.因此得出ICO-FU模型更加适合于控制不稳定系统以及临界稳定系统,补偿作用明显.%The real-time implementation of a controller typically introduces artefacts like delay and jitters. As a consequence, the real performance is degraded with respect to the expected response. These authors propose a hybrid task model,on the basis of analysing the CO-US and IMF model,and simulate it by TrueTime. In conclusion, the three models can rapidly reach a stable status when the plant is stable, but when the system is unstable, ICO-FU is suitable for compensating the jitter. So ICO-FU model is more suitable for controlling both unstable and marginally stable plants.