【摘要】 针对LAMOST望远镜拆装机械手的自由度多、运动复杂且工作空间狭小,不便于使用传统的线缆通信实现该机械手控制的问题,对基于ZigBee的无线通信的控制系统进行了研究,并设计了相应的通信系统。对通信系统的通信误码率对通信成功率的影响、系统对时延的要求和距离与遮挡对稳定性的影响等问题进行了归纳分析;提出了采用应答和错误重发机制来提高系统通信成功率;采用CSMA-CA介入和时分多址接入结合满足了通信系统不同的通信方向对时延的要求;采用作为协调器的中心节点对消息进行路由以避免通信距离过大而导致的信号衰减,并将其置于空中防遮挡来保证通信的稳定性的方案;利用串口助手对该系统进行了通信成功率、通信稳定性和时延等方面的测试。测试结果表明:该通信系统工作稳定、可靠性高,通讯成功率达到了99.99%,且节点间的通信时延不到100 ms。更多还原

【Abstract】 Aiming that the manipulator has many degrees of freedom,complex motion and small working space and it is difficult to control the manipulator by traditional cable communication,experimental study on the control system of wireless communication based on ZigBee was carried out,and a communication system based on the study was designed. The communication error rate of the communication system influence on the success rate of the communication system,time delay requirements and distance and shielding effect on the stability issues were summarized and analyzed. The response and error retransmission mechanism was used to increase the success rate of communication system.CSMA-CA intervention and TDMA was adopted to meet the delay on different direction of communication. Central node was used as coordinator for message routing to avoid the attenuation of the signal due to long-distance communicationand placed in the air to prevent signal was obstructed. The serial communication assistant was used to test the communication success rate,communication stability and delay of the system.The results show that communication system is stable and reliable,the success rate reached 99. 99% and the delay less than 100 milliseconds.更多还原