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Distributed intelligent synchronous control device and method for multi-electromechanical system

An electromechanical system and synchronous control technology, applied in the field of multi-electromechanical systems, can solve problems such as inapplicability

Inactive Publication Date: 2015-12-02
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The centralized control method adopted by the control system, the control object is the motor, but it is not applicable to the widespread mechanical arm

Method used

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  • Distributed intelligent synchronous control device and method for multi-electromechanical system
  • Distributed intelligent synchronous control device and method for multi-electromechanical system
  • Distributed intelligent synchronous control device and method for multi-electromechanical system

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Embodiment Construction

[0052] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, but not for limiting the protection scope of the present invention.

[0053] figure 1 It is a schematic diagram of the overall structure of the distributed intelligent synchronous control device of the multi-electromechanical system, figure 2 is the topology block diagram of the multi-electromechanical system, image 3 It is a specific structural diagram of the topology structure of a multi-electromechanical system, as shown in the figure: the distributed intelligent synchronous control device for a multi-electromechanical system provided by the present invention includes a plurality of electromechanical systems, a detection module, an intelligent decision-making circuit, an intelligent switching circuit, and a controller group , actu...

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Abstract

The invention discloses a multi-electromechanical-system distributed intelligent synchronous control system. Operation state information is transmitted to a controller and an intelligent decision circuit through a detecting module; whether each part of a whole device is in fault is judged, a decision result is obtained; a certain controller in a controller set is then selected through an intelligent switching circuit to control an actuator to work; multiple electromechanical systems are communicated with each other, data are sent to the actuator; starting, stopping, speed reducing and steering tasks of the electromechanical systems are completed. Adjoining robot information is used for achieving multi-robot-system synchronous control, and synchronous control can be achieved without a robot kinetic model. The problem that in a real system, the robot kinetic model is not easy to obtain accurately, and practical interference affects the multi-robot system is avoided. Theoretical research of multi-intelligence bodies and the real system are combined, and the multi-robot system is used in specific living and production.

Description

technical field [0001] The invention relates to a multi-electromechanical system, in particular to a multi-electromechanical system that does not need dynamic models of each electromechanical system and can still realize synchronous control when there is a fault. Background technique [0002] Current robots are limited in terms of information acquisition, processing and control capabilities for complex tasks and changing working environments. A swarm system composed of multiple robots coordinates and cooperates to complete tasks that a single robot cannot or is difficult to complete. In actual systems, dynamic models of electromechanical systems are not easy to obtain accurately, system failures are difficult to predict, and actual interference exists. At present, the synchronous control of multi-robot systems is mostly in the stage of simulation research, but for practical applications, it is a field that is less involved in current research. [0003] Through the search of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B15/02H02P5/46
Inventor 陈刚林青宋永端岳元龙冯峨宁
Owner CHONGQING UNIV