The concept and challenge of internet-based hydraulic position real-time control system were introduced. Fractional order PID was proposed to relieve the influence from internet induced delay. The control method was tested both by simulation, which was approached by co-simulation of MATLAB/Simulink and AMESim, and by experiment which was realized under MATLAB/XPC. The results reveal that using fractional order PID, the influence of network delay on the internet-based hydraulic position real-time control system can be compensated effectively and its robustness and performance are much better than those of traditional PID.%介绍基于Internet的液压位置实时控制系统的概念及挑战.针对基于Internet控制系统中的时延问题,提出对液压位置实时控制系统采用分数阶PID控制方法,并利用MATLAB/Simulink与AMESim的联合进行仿真研究,又采用MAT-LAB/XPC开展实验验证.仿真与实验结果表明:采用分数阶PID控制方法可以有效地补偿网络时延对液压位置实时控制系统造成的影响,且鲁棒性与控制效果明显优于整数阶PID控制方法.
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