针对分布式控制系统由于负载不均衡、网络通信量大等引起的时延问题，文中设计了基于请求划分的任务分配模型，提出了基于实时动态比例积分(PI) 反馈控制的负载均衡算法． 该算法利用增量 PI 控制的思想，根据服务器节点性能的实时反馈值动态调节服务器节点的分配权值，通过虚拟节点转移算法局部调整虚拟节点的分配，以维护哈希空间的稳定． 仿真实验结果表明，该算法实现了分布式控制系统的动态负载均衡，减小了服务器资源消耗及用于存取远程数据的通信开销，提高了控制系统的实时性，具有良好的扩展性和容错性．

In order to solve the problem of slow response caused by the load imbalance and the communication
overhead in distributed control systems，a task allocation model is constructed on the basis of the request division，and a dynamic load-balancing algorithm is proposed on the basis of the real-time dynamic proportional integral (PI)feedback control． This algorithm adopts the PI control method to dynamically adjust the allocation weight of server nodes according to the real-time feedback values of the performance of the nodes，and then employs the virtual node transfer algorithm to partially adjust the distribution of virtual nodes，so as to maintain the stability of Hash space．Simulation results show that the proposed algorithm realizes the dynamic load balancing of distributed control system，reduces the communication overhead and improves the real-time performance of the control system，and that the proposed algorithm is of a high expansion and an excellent fault tolerance．