| 基于有限状态机的空间对接仿真平台控制系统设计 |
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| 引用本文： | 武楠,房立金,姜春英,张飞.基于有限状态机的空间对接仿真平台控制系统设计[J].机器人,2007,29(4):378-383. |
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| 作者姓名： | 武楠 房立金 姜春英 张飞 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049;曲阜师范大学计算机科学学院,山东,曲阜,273165;中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016;中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049 |
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| 摘 要： | 给出了一种基于分层式有限状态机的五自由度空间对接仿真平台控制系统设计方法，对状态机进行了扩展定义．增加了一个定义于状态上的变量属性集合，使其有利于系统的代码实现．结合控制系统采用的10 ms定时中断机制，将状态机层次划分到了可以分析每个10 ms硬件中断程序所需实现的控制功能状态及其转移、继承关系的程度，可以更清晰地设计出中断程序所需要的构成结构．系统的实际应用结果证明了上述方法的有效性．
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| 关 键 词： | 有限状态机 实时控制系统 |
| 文章编号： | 1002-0446（2007）04-0378-06 |
| 修稿时间： | 2006-09-14 |
Control System Design of a Space Docking Simulation Platform Based on Finite State Machine |
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| WU Nan,FANG Li-jin,JIANG Chun-ying,ZHANG Fei.Control System Design of a Space Docking Simulation Platform Based on Finite State Machine[J].Robot,2007,29(4):378-383. |
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| Authors: | WU Nan FANG Li-jin JIANG Chun-ying ZHANG Fei |
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| Affiliation: | 1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences , Shenyang 110016, China;2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China; 3. College of Computer Science, Qufu Normal University, Qufu 273165, China |
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| Abstract: | This paper presents a control system design method for a 5-DOF space docking simulation platform based on hierarchical finite state machine,and gives an extended definition for state machine.We add an aggregation of variables defined in the states,enabling the system code to be easily implemented.According to the fixed time interrupt which is gene-rated every 10 ms by the control system,we keep dividing the hierarchy of the state machine until we can analyze the states,transition,and inheritance between states in every 10 ms hardware interrupt service routine.The structure of the interrupt service routine will be more legible.Practical application of the system proves the validity of the presented method. |
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| Keywords: | finite state machine real-time control system |
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