Research On The Key Technology Of Distributed Communication In Open Robot Control System Based On SOA

Traditional control system often use closed architecture, which has great limitation on reuseability, scalability and portability. Open control system architecture has become a significant project in control system research. However, most of existing open control systems have the following problems. Components can not configure in run-time; The coupling between components is tight; The configuration of process is very complex.This paper is based on the open robot control system based on SOA, which has raised by our laboratory. However, there’re some problems about the software bus in the system. For example, non-scalability, poor performance, complex service interface, lack of real-time scheduling mechanism. And therefore, we improve the architecture of software bus and design a kind of distributed bus architecture.; Propose MMWCH algorithm, which can solve the problem about the heterogeneity of physical nodes and hot spot on visit, and using in the load balancing module in the distributed bus; Propose a fuzzy feedback scheduling strategy based on improved EDF and developing the real-time scheduling module, which improve the real-time of the system; Design a new service interface, which improve the user’s efficiency and reduce the couple between user’s code and message protocol.At last, this paper use system simulation to verify the balance of MMWCH algorithm and use the task running time on the prototype to show the improvement of the system after adding the load balancing module and real-time scheduling module.