基于多连接的Internet遥操作中变时延控制问题研究  

Research on variable time-delay control in Internet teleoperation based on multi-join

作　　者：贾允毅[1] 胥布工[1] 王世华[1] 

机构地区：[1]华南理工大学自动化科学与工程学院基于网络和现场总线实时控制实验室,广州510640

出　　处：《计算机应用研究》2008年第9期2794-2797,共4页Application Research of Computers

基　　金：国家自然科学基金重点资助项目(60334010;60474047);广东省自然科学基金资助项目(06105413)

摘　　要：针对Internet遥操作中的变时延问题,介绍现有的解决方法,并在分析目前普遍采用的单TCP连接控制方式局限性的基础上,提出基于多连接的时延控制方案。该方法避免了单连接控制方式产生的时延连锁累积问题,能在一定程度上减小平均时延和最大时延,并能保证其在一定范围内平稳波动。最后,通过控制单向变时延的实验,证明了该方法的有效性和可行性。This paper addressed the problem of variable time delay in Iuternet based teleoperation. The currently existing schemes were introduced firstly. Based on the limits analysis of the single-TCP-join scheme which was used widely currently, a time delay control scheme based on multi-join was proposed. It facilitated to avoid the chain-accumulated time delay stemming from the single-join scheme. To some extent, it could also reduce average and maximal time delay and make it fluctuate smoothly. Finally, via the experiment of controlling one-way variable time delay, the feasibility and effectiveness of the scheme were testified.

关 键 词：遥操作 变时延 多连接 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]