基于偏差补偿量的多场景交互协同控制方法

Multi scene interactively cooperative control method based on deviation compensation

针对多场景交互时状态变量不一致导致的偏差补偿效果不佳、协同控制一致性和并发性达不到预期效果等问题,提出基于偏差补偿量的多场景交互协同控制方法.首先构建多场景协同控制模型,利用服务器节点优化并发控制效果;其次采用一致性算法调节模型交互需求,获取模型输出结果的偏差补偿量;最后基于偏差补偿量实现对多场景交互操作的仿真协同控制.基于MATLAB2016a仿真平台进行测试,将文中方法与基于AR技术的工业控制交互智能化协同方法与基于对象场景数据库的场景交互控制方法进行了对比,完成了控制补偿效果测试、一致性测试和并发性测试的试验.结果表明:文中方法的一致性保持在1附近,一致性较强;当延迟剧烈变化时,其响应时间也能控制在50~150 ms范围内,响应时间较短,并发性控制效果较好,具有明显的优势,充分验证了该方法的有效性,可以满足预期效果.

To solve the problems of deviation with poor effect due to the inconsistent state variables during multi scene interaction and the consistency and concurrency of collaborative control without desired effect, a multi scene interactively cooperative control method was proposed based on deviation compensation. The multi scenario cooperative control model was built, and the concurrency control effect was optimized by the server nodes. The consistency algorithm was used to adjust the interaction requirements of the model for obtaining the deviation compensation of the output results of the model. Based on the deviation compensation, the simulation collaborative control of multi scene interaction was realized. At the MATLAB2016 a simulation platform, the proposed method was compared with the virtual scene collaborative control method in virtual reality and the distributed multi interactive virtual scene rendering collaborative control method, and the experiments of control compensation effect test, consistency test and concurrency test were completed. The results show that the consistency of the proposed method remains around 1 with strong consistency. When the delay changes dramatically, the response time can also be controlled within the range of 50-150 ms. The response time is short, and the concurrency control effect is good. The proposed method can be fully verified with obvious advantages, and it can realize the expected effect.