【作者】 王长安；

【导师】 李世其； 朱文革；

【作者基本信息】 华中科技大学 ， 机械设计及论， 2013， 硕士

【摘要】 网络遥操作以Internet为数据传输媒介，随着网路技术的发展而逐渐成为各国学者的研究热点。网络遥操作中的数据传输时延一直是影响系统稳定性、操作性能的主要因素，降低数据传输时延、改进系统控制结构、采用合适的时延补偿控制算法等均可以降低时延对遥操作系统的影响、提高系统性能。本文旨在研究适合遥操作的数据传输控制方法，降低传输时延及时延对遥操作任务的影响。本文分析总结了的网络遥操作系统的框架结构，结合系统框架设计了网络遥操作系统的通讯平台功能结构。通过数据传输时延测试实验，分析得出影响遥操作时延的主要因素。然后根据时延测试实验的分析结果和网络遥操作数据传输特点，基于UDP设计了通讯平台的应用层传输控制协议。新协议定义了包含丰富数据信息的协议报文，针对不同类型的传输数据设计了不同的传输控制策略。设计了接收端主动申请重传的丢包处理策略、基于速率的拥塞控制机制和基于数据产生速率的流量控制算法以保证数据传输的速率和质量。提出了基于时延预测的协议超时预估算法。在VC++开发环境下，采用Winsock方式实现了遥操作系统的通讯平台。通过时延测试实验和具体的遥操作任务实验，验证了设计的通讯平台在降低遥操作时延、提高遥操作任务质量方面的有效性。更多还原

【Abstract】 Internet-based teleoperation has become a hot topic for researchers all over theworld with the development of information technology. Transmission delay inInternet-based teleoperation is always the main factor influencing robustness andtransparency of the system. Negative effects on the teleoperation system brought in bydelay could be reduced by taking measures such as reducing transmission delay,improving control structure of the system and adopting compensation algorithm.In order to reduce time delay, methods of transmission control are researched in thisthesis. The overall structure of the system and functional structure of the communicationplatform are designed and put forward first. Then main factors that influence thetransmission delay are analysed through delay-testing experiment. According to the resultof the delay-testing experiment and characteristic of data transmission, a newtransmission protocol based on UDP is designed for communication platform. Protocolpacket containing a wealth of data information and different transmission controlstrategies for different types of data are designed in the new protocol. Strategy ofreceiving end applying for the retransmission of the packet with initiative for packet loss,rate-based congestion control and rate control algorithm based on the generation rate ofdata are designed to ensure the quality of data transmission. And a timeout predictionalgorithm was designed on the basis of delay prediction.The communication platform of teleoperation system is developed with Winsockmethod in the environment of VC++. The effectiveness of the communication platform inreducing the teleoperation delay and improving the quality of teleoperation taskexecuting is verified in the delay-testing experiment and specific teleoperation taskexperiment.更多还原