This invention relates to the field of real-
time control technology for industrial
automation using multi-node networks. Existing technologies employ a centralized
software model, where the control and operation of the lower-level
machine highly depend on the upper-level
machine, making it difficult to simultaneously achieve synchronization, stability, and high efficiency. This invention provides a multi-node distributed collaborative control method and
system based on
timestamp hardware interrupts. For high-speed multi-
system collaborative control and multi-node network collaborative operations, the upper-level
machine pre-issues multi-cycle collaborative task sequences via an
industrial communication network. These sequences are stored in the lower-level machine's local
instruction buffer. During operation, the
bus communication frequency is reduced,
bandwidth utilization is improved, and the risk of lower-level machine operation being affected by a
single point of failure in the upper-level machine is reduced. This invention balances synchronization accuracy, stability, and high efficiency, and is suitable for high-speed
continuous operation scenarios with a large number of nodes and stringent synchronization requirements, such as multi-
robotic arm collaboration, high-speed production lines, precision CNC, and
laser processing. It has strong versatility and
engineering applicability.