DOI: https://doi.org/10.32515/2414-3820.2019.49.213-220

The Pool of Radio-controlled Robotic Systems Servo Synchronous Control

Natalia Smirnova, Volodymyr Smirnov

About the Authors

Natalia Smirnova, Associate Professor, PhD in Technics (Candidate of Technics Sciences), Central Ukraіnian National Technical University, Kropyvnytskyi, Ukraine

Volodymyr Smirnov, Associate Professor, PhD in Technics (Candidate of Technics Sciences), Central Ukraіnian National Technical University, Kropyvnytskyi, Ukraine

Abstract

The purpose of the article is to improve the characteristics a radio-controlled object servo drive pool control system and solve the problems: reduce the transmission time of the driving influence to the object control system, minimize the influence of the driving action receiving cycle the time delay on the servo drive control cycle duration, servo drive pool provide synchronous control. The article describes the control system for a radio-controlled object in several coordinates implementation. The influence of time delays when transmitting data to the receiver is considered. It is shown that in such control systems there is no synchronous the servo pool control mode. The necessity a synchronous object's servos control system is substantiated creating. A data transfer protocol has been developed for the executing system. The format for the transmitted packet is developed. The fundamental difference between the packet transfer protocol in the developed system: not the value of the control action is transmitted to the executing system, but the numerical value of the state of the control elements on the transmitter side. The the control program architecture is developed. Reduced response time from the system to set action change in the value. The cycle of receiving the set action has a duration about 11 ms. The servo control cycle has a value from 8 to 17 ms. Implemented pool of servos synchronous control. Implemented object control in several coordinates without delays in starting control cycles. The created system is used to control the InMoov robot. Implementation of the developed servo pool management system has shown the effectiveness of the selected architecture for creating software and hardware for radio-controlled robotic systems. Solved tasks to reduce the transmission time of the master object exposure control system to minimize the influence of the time delay cycle master receiving the impact on the duration and servo control loop is provided a synchronous servo control pool.

Keywords

control system, servo, synchronous control, object, interrupt, RTOS

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References

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Copyright (c) 2019 Natalia Smirnova, Volodymyr Smirnov