Space manipulator control system software architecture based on C/S structure and establishing method

Abstract

The invention discloses space manipulator control system software architecture based on a C / S structure and an establishing method. The architecture is designed specific to a central controller at a Server end. (1) Multiple threads and round-robin queues are used as supports for establishing an architecture whole frame; (2) the four threads carry out different functions respectively, a space manipulator control system software overall function is achieved commonly, the threads are in parallel operation, data exchanging between the threads is carried out through global variables or user-defined information, and synchronization of the threads is carried out in a critical zone object mode; and (3) the two round-robin queues are used for establishing a cache mechanism, only one instruction frame is stored in an instruction round-robin queue in a cache mode, and a plurality of information frames can be stored in an information round-robin queue in a cache mode. A multiple-thread-and-round-robin-queue technology is used for achieving the space manipulator control system software architecture and the establishing method, and practice proves that the architecture is suitable for a space manipulator embedded platform, the development difficulty of space manipulator control system software can be effectively lowered, and a development cycle can be shortened.

Description

technical field [0001] The invention belongs to the field of space manipulator control system software architecture, in particular to the software architecture and construction method of space manipulator control system based on C / S structure Background technique [0002] The study of space technology began in the 1950s. Over the past 50 years, the rapid technological progress and wide range of applications, especially the birth and successful application of space stations, space shuttles, and space robots, have made space technology important and widely recognized by countries all over the world. Pay attention to. As a key technology for on-orbit support and service, space manipulators have entered space (such as SRMS in Canada, MSS in the United States, ERA in Russia, and JEMRMS in Japan, etc.), and have attracted more and more attention. Authorities in the United States have long predicted that the country's dependence on aerospace capabilities in the 21st century can be...

AI Technical Summary

Problems solved by technology

The main problem of this method is that the current general robot control system software architecture is highly dependent on the Linux operating system, and the system system is too large and has many functions, making it difficult to implement. It is still in its infancy and there is still a long way to go before it can be realized.

[0006] Generally speaking, the control delay of the software architecture of the space manipulator control system in the prior art, the software architecture system is too large, it is difficult to apply to the space manipulator platform with strict requirements on hardware resources and power consumption

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