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A networking method supporting distributed attitude synchronization control of multiple moving bodies

A synchronous control and moving body technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as restricting scientific research and application promotion of multi-moving body synchronous control technology, and increasing use costs.

Active Publication Date: 2020-10-23
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Description
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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 networking board of the multi-movement body needs to be customized according to specific application scenarios, which makes its use cost significantly higher than that of the stand-alone version of the multi-movement body. Therefore, it is necessary to study a scalable and meet different synchronization Networking Mode of Control Tasks

Method used

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  • A networking method supporting distributed attitude synchronization control of multiple moving bodies
  • A networking method supporting distributed attitude synchronization control of multiple moving bodies
  • A networking method supporting distributed attitude synchronization control of multiple moving bodies

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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 posture synchronous control of multiple moving bodies. The technical solution of the present invention is as follows: first, for a specific multi-movement system, a distributed network is built using the UDP communication protocol; then, the interaction information is determined according to the control requirements, and the type and amount of data interaction are determined; finally, in order to ensure multi-movement The control law of the body is started synchronously, and the distributed system synchronous start strategy based on the TCP communication protocol is set on the above basis. The network established by the invention for the distributed attitude synchronous control of multiple moving bodies has high reliability, is simple and easy to configure, and the synchronous start strategy effectively ensures that each node runs simultaneously.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
Inventor 彭琛张特林晨朱波卢鹏
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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