The invention relates to the technical field of
control system monitoring, and discloses a
control system real-time monitoring method based on multi-unit cooperation, which comprises the following steps: receiving an initial adjustment instruction, recording a first moment, and inputting a monitoring
signal sequence of a controlled unit into a
comparator for setting a dynamic dead zone threshold; extracting a second moment when the
signal amplitude exceeds the threshold value, and calculating a
time domain difference value of the two moments to obtain
response delay time; calculating a deviation value between the
response delay time and a standard period to generate a feed-forward
gain compensation parameter; when the polarity of a
signal is reversed, a differential control instruction is issued according to a feed-forward
gain compensation parameter, and a local communication receiving port is blocked. Physical action
delay time is converted into bottom-layer mechanical retardation measurement, irreversible
friction loss of a physical device is offset through feed-forward compensation; and high-frequency redundant pseudo signals are accurately filtered out to ensure the smoothness of a communication
bus and maintain the stability of multi-unit cooperative adjustment under complex working conditions.