Networking method supporting distributed attitude synchronous control of multiple moving objects

A technology for synchronous control and moving bodies, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems that restrict the scientific research and application promotion of multi-moving body synchronous control technology, increase the cost of use, etc., to ensure that it can be implemented performance, improved reliability, and convenient control mode effects

Active Publication Date: 2018-01-30
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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Problems solved by technology

[0004] Expensive equipment costs often restrict the scientific research and application of multi-moving body synchronous control technology
The current multi-moving body network version needs to be customized according to specific application scenarios, which makes its use cost significantly higher than the stand-alone version of the multi-moving body. Therefore, it is necessary to study a scalable and satisfying different synchronization Networking Mode of Control Tasks

Method used

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  • Networking method supporting distributed attitude synchronous control of multiple moving objects
  • Networking method supporting distributed attitude synchronous control of multiple moving objects
  • Networking method supporting distributed attitude synchronous control of multiple moving objects

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experiment example

[0032] The networking method of the present invention is used for the networking of multiple three-degree-of-freedom helicopter simulators, wherein the three-degree-of-freedom helicopter simulator can simulate the flight attitude in the actual flight mission, and it has three degrees of freedom, respectively around the pitch axis The pitch angle of rotation (pitch), the elevation angle (elevation) of rotation around the lifting axis, and the heading angle (travel) of rotation around the yaw axis. When the speed of the front and rear motors increases or decreases at the same time, the lift angle will change. When the front and rear motors rotate at a differential speed, the pitch angle will change, and then drive the balance bar to generate a yaw moment to change the yaw angle. The model of the three-degree-of-freedom helicopter simulator is as follows figure 1 As shown in , the solid line represents the reference signal, which is the expected value of the attitude of the three...

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Abstract

The invention discloses a networking method supporting distributed attitude synchronous control of multiple moving objects. The method comprises steps of: firstly, creating a distributed network by using a UDP communication protocol for a specific multi-moving-object system; then, determining interactive information according to a control demand and determine an interactive type and a data size; finally, in order to guarantee to synchronously start the control laws of the multiple moving objects, setting a distributed system synchronous start strategy based on a TCP communication protocol on the above basis. The network created for the distributed attitude synchronous control of multiple moving objects is high reliability and is easy to configure, and the synchronous start strategy ensuresthe simultaneous operation of respective nodes.

Description

technical field [0001] The invention relates to a networking method for distributed attitude synchronous control of multiple moving bodies. Background technique [0002] Compared with a single moving body, multi-moving bodies can complete tasks more efficiently and accurately, and can even complete some complex tasks that cannot be completed by a single moving body; distributed control can easily change the control mode and realize various complex controls. The danger is completely dispersed, which improves the reliability of the control system. Multi-movement distributed attitude synchronization control has been widely used in industrial manufacturing, military and other fields, such as synchronous work of manipulators in industrial production, joint strikes of missiles in military fields, etc. [0003] Due to the characteristics of the multi-moving body distributed attitude synchronization control, data interaction between each moving body is required. Therefore, building...

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Application Information

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IPC IPC(8): G05B17/02
Inventor 朱波张特林晨彭琛卢鹏
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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