基于C/S结构的空间机械臂控制系统软件架构设计

为了获得性能优越、实用性强的空间机械臂控制软件，提出了一种C/S结构下基于多线程和循环队列的空间机械臂控制系统软件架构，并详细介绍了各线程及队列的实现过程。在分析空间机械臂控制软件的特点和功能需求的基础上，按照横向分块、纵向分层的原则，将机械臂控制软件的各项功能合理分配到四个并行线程中，借助两个循环队列构建缓存机制，以提高控制系统的数据处理能力并减少不必要的等待时间。四个线程及两个循环队列之间相互通信，协同工作。实验结果表明，该架构能够以较小的控制延迟实现机械臂的运动控制，架构性能满足实际控制需求，证明了方案的有效性和可行性。

Software architecture design for space manipulator control system based on C/S structure

To achieve high-performance and practical space manipulator control software, a software architecture for space manipulator control system based on multithreading and round-robin queue was proposed under the C/S structure, as well the details of implementation. After analyzing the features and functional requirements of space manipulator control software, the various functions of manipulator control software were distributed to four different parallel threads, according to the principle of transverse block and vertical stratification, and two round-robin queues were created for caching, to improve the control systems data processing ability and reduce unnecessary waiting time. Those four threads and two round-robin queues communicated with each other to work together. The experimental results show that it is easy enough to control space manipulators with a short delay through this software architecture, and the performance meets the actual needs, which proves the effectiveness and feasibility of this scheme.