机器人群通信机制的定时同步技术研究

Research on the Timing Synchronization Technology for Communication Mechanism of Robots

通过研究远程机器人无线通信系统中定时同步的抖动问题,采用一种开环结构的定时误差提取算法对接收端接收到的数据进行前置数据处理。通过分析接收到的数据,提出一种减小机器人同步系统中定时抖动的方法,并给出了仿真曲线和分析结果。试验结果表明,该方法对同步系统中的定时抖动有很好的抑制作用,机器人的数据接收端能准确地恢复发送端的数据信息。

The jitter problem in timing synchronization of remote robot wireless communication system is studied. By using the timing error extraction algorithm with open loop structure, the data received at the receiving end are pre-processed. Through analyzing and researching the data received, the method of decreasing the timing jitter in robot synchronous system is proposed, and the simulation curve and analysis results are given. The experimental results show that this method provides good inhibitory effect for timing jitter in synchronous system, and the data information sent from transmitting end can be accurately recovered at the data receiving end of robot.