The Research Of Trajectory Planning And Control On The Open Architecture Control System Based On Light Service-oriented Architecture

Conventional proprietary control systems have great limit on function, flexibility,expansibility and compatibility due to the proprietary HW/SW architectures. However, amongthe current take on the open control system, the problem of lacking runtime reconfigurationmechanism, integrating components at a high cost and binding with specific programminglanguages or running platform are very common.This paper introduces an open control system based on the Light Service-OrientedArchitecture. Though SOA, not only it can improve reliability, reusability and integration ofsystem, but also provides good supports for runtime reconfiguration and multi-language.Based on the existing system architecture, this paper discusses and researches deeply thetrajectory planning and control of the system.This paper designed a single trajectory planning services structure and a plurality oftrajectory planning service structure firstly. According to the characteristic of systemarchitecture, interpolation algorithm was selected and designed. It made use of the doublethread concurrent processing scheme at last. For the research of trajectory control, it made useof the double closed loop control scheme and introduced their design and achieve project.In the end, an experiment based on a prototype system was conducted. It managed toprove the feasibility and advancement of the architecture, Trajectory planning scheme andTrajectory control scheme. Some optimization strategies are put forward against the presentissues, which establish a solid foundation for further research.