CN105679115B - A kind of heterogeneous multi-agent system output-consistence tutoring system and method - Google Patents
A kind of heterogeneous multi-agent system output-consistence tutoring system and method Download PDFInfo
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- CN105679115B CN105679115B CN201610251080.7A CN201610251080A CN105679115B CN 105679115 B CN105679115 B CN 105679115B CN 201610251080 A CN201610251080 A CN 201610251080A CN 105679115 B CN105679115 B CN 105679115B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
Abstract
The present invention relates to a kind of heterogeneous multi-agent system output-consistence tutoring system and methods, including hardware components and software section；Hardware components include four intelligent bodies, a LCD display, a router, two power supplys, two control sticks；Software section includes motor speed measurement part, intelligent body communication part, joystick manipulation part and motor speed control section；The present invention can be on the basis of controlling stable for motor speed, the situation of change for demonstrating lower four motor speeds of arbitrary topology link structure of four nodes can also demonstrate the situation of change of four motor speeds under switching topological link, in conjunction with simple, it is convenient and clear, clear, understandable to realize.
Description
Technical field
The present invention relates to a kind of heterogeneous multi-agent system output-consistence tutoring system and methods, belong to control technology neck
Domain.
Background technique
Complexity science (complexity science) is one of the Disciplinary Frontiers of contemporary science development, with complication system
It is research object with complexity, discloses and explain the moving law of complication system.Important research problem as complexity science
One of, multi-agent system (multi-agent system, MAS) has become one in relation to system and control field in recent years
A hot research problem.Since its important research significance and wide application to engineering practice are worth, led by lot of domestic and foreign
The concern of the scholar and engineer in domain.
Multi-agent system is relatively new and forward position the concept proposed based on engineering practice, cover a variety of subjects with
Research field.And be then the new force of automation field based on coordinated control derived from multi-agent system, it can be with most
Excellent scheme solves the problems, such as distributed AC servo system.But it is verified there is presently no a set of equipment and demonstrates heterogeneous multiple agent consistency reason
By.
The present invention uses the means of embedded development, and multi-agent system consistency protocol and Collaborative Control algorithm are incorporated
To using Arduino as in the electronic controller of carrier, and select micro-machine as control object, with router and network protocol
It realizes communication topology, devises a kind of heterogeneous multi-agent system output-consistence tutoring system and method.
Arduino is open source electronics prototyping platform, design of hardware and software data all-round opening.The inside is existing integrated
Block can be made it have with custom writing and modification using simple, easy to get started etc. similar to Java, the exploitation environment of C language
Feature；Arduino uses low price microprocessor (ATmega8 or ATmega128), can directly be powered using USB interface,
Or external low-voltage dc power supply.
Summary of the invention
The technology of the present invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of heterogeneous multi-agent system output one
Cause property tutoring system and method have achieved the purpose that verify and demonstrate heterogeneous multiple agent consistency algorithm, this tutoring system
It is convenient to realize, the heterogeneous multiple agent consistency algorithm of demonstration that can be clear, clear, understandable.
A kind of the technology of the present invention solution: heterogeneous multi-agent system output-consistence tutoring system, it is characterised in that
Including hardware components and software section；Hardware components include four intelligent bodies, a LCD display, a router, two electricity
Source, two control sticks；Software section includes communicating between motor speed control module, motor speed measurement module and intelligent body
Module；
In hardware components, four intelligent bodies of four Arduino UNO controllers and four motor forms, as demonstration pair
As demonstrating the rotation speed change feelings that the switch instances between the arbitrary topology link structure and topology of four nodes include four motors
Condition with final whether according to output-consistence agreement to reach output consistent；LCD display is used to show the revolving speed of four intelligent bodies
Information and some other need information to be shown, the code name including present topology link；Router is as four intelligent body phases
The communication platform of interchangeable information makes to be exchanged with each other information between four intelligent bodies；Two power supplys give router and four respectively
Intelligent body power supply；Two control sticks provide the instruction of switching topological link mode；
In software section, motor speed measurement part uses photoelectric sensor.Photoelectric sensor output pulse signal, pulse
Frequency and revolving speed are directly proportional, are calculated to obtain the revolving speed of motor according to pulse frequency；In intelligent body communication part, each intelligent body is logical
It crosses router and broadcasts respective rotary speed information to full address, and each intelligent body receives the information of neighbours' intelligent body transmission, root
It selects to use or ignore certain specific informations according to needs；Control stick provides switching command, chooses different topological link modes, and
And corresponding consistency protocol is reached according to different topological link modes, different topological link is determined or switching is opened up to realize
Flutter link；Motor speed control section uses PID controller, and the speed feedback signal of forward path is assisted with consistency back
Expectation revolving speed in view compares, this error signal is inputed to PID controller as error signal by the difference to compare,
Reach desired output revolving speed in short time.Final multiple agent reaches output unanimously according to consistency protocol.
Four motors include certain DC micro-motor similar in three properties and a hollow-cup motor, the control of motor
Signal processed is digital signal, carries out speed control with PWM wave；The on-off of PWM control switch device, adjusts it by Voltage Feedback
Duty ratio, the equal pulse of output amplitude.
The control stick is made of resistor body and moveable brush, when moveable brush is moved along resistor body,
Output end is the resistance value or voltage of acquisition and displacement at certain relationship.
The LCD display is connected using I2C communication modes, only four connecting lines, two signal wires, two power supply lines
It connects very convenient.
A kind of heterogeneous multi-agent system output-consistence teaching method realizes that steps are as follows:
Step 1: start the tutoring system, according to photoelectric sensor output pulse signal, pulse frequency and revolving speed at
The revolving speed of motor is calculated in direct ratio；
Step 2: after each intelligent body obtains the revolving speed of oneself, giving rotary speed information to other intelligence by router broadcast
Body；
Step 3: each intelligent body is after the rotary speed information for obtaining neighbours' intelligent body, according to different control commands, switching
To different topological link modes, corresponding consistency protocol is obtained, further obtains the desired output revolving speed of oneself；Four intelligence
Energy body, can demonstrate the switch instances between the arbitrary topology link structure and topology of four nodes, turn including four motors
Fast situation of change with final whether according to output-consistence agreement to reach output consistent；
Step 4: each intelligent body obtains the error of desired output revolving speed and current rotating speed, inputs to motor speed control mould
Block, using PID controller, by the speed feedback signal of forward path back compared with desired value, using the difference that compares as mistake
This error signal is inputed to PID controller, reaches desired output revolving speed in a short time, to realize difference by difference signal
Determine topological link or switching topological link and to be finally reached output consistent, verify and demonstrate heterogeneous multiple agent consistency reason
By.
The advantages of the present invention over the prior art are that: motor speed can controlled stable basis by the present invention
On, the situation of change of lower four motor speeds of arbitrary topology link structure of four nodes is demonstrated, switching topology can also be demonstrated
The situation of change of four lower motor speeds of link is realized and is facilitated, and is clear, clear, understandable in conjunction with simple.
Detailed description of the invention
Fig. 1 is a kind of heterogeneous multi-agent system output-consistence tutoring system structure chart of the present invention；
Fig. 2 is a kind of heterogeneous multi-agent system output-consistence tutoring system method implementation flow chart of the present invention；
Fig. 3 is full topological link schematic diagram；
Fig. 4 is experimental result picture of the present invention；
Fig. 5 is software and hardware fixed topology experimental comparison figure of the present invention；
Fig. 6 is that present system switches topological schematic diagram 1；
Fig. 7 is present system switching topology 1 figure of experiment；
Fig. 8 is that present system switches topological schematic diagram 2；
Fig. 9 is present system switching topology 2 figures of experiment.
Specific embodiment
As shown in Figure 1, a kind of heterogeneous multi-agent system output-consistence tutoring system structure includes four intelligent bodies, one
A LCD display, a router, two power supplys, two control sticks.Four Arduino UNO controllers and four motor groups
The switch instances between the arbitrary topology link structure and topology of four nodes are demonstrated as presentation objects at four intelligent bodies,
Rotation speed change situation including four motors with final whether according to output-consistence agreement to reach output consistent；LCD display
For show four intelligent bodies rotary speed information and it is some other need to information to be shown, the generation including present topology link
Number；Router is exchanged with each other the communication platform of information as four intelligent bodies；Two power supplys give router and four intelligence respectively
Body power supply；Two control sticks provide the instruction of switching topology；
As shown in Fig. 2, motor speed measurement part uses photoelectric sensor.Photoelectric sensor output pulse signal, pulse
Frequency and revolving speed are directly proportional, are calculated to obtain the revolving speed of motor according to pulse frequency；Between intelligent body in communication module, each intelligence
Body broadcasts respective rotary speed information to full address by router, and each intelligent body receives the letter of neighbours' intelligent body transmission
Breath, selection uses or ignores certain specific informations as needed；Control stick provides switching command, chooses different topological link moulds
Formula, and corresponding consistency protocol is reached according to different topological link modes, thus realize it is different determine topological link or
Switch topological link；Motor speed control section uses PID controller, and the speed feedback signal of forward path is returned and one
Expectation revolving speed in cause property agreement compares, this error signal is inputed to PID control as error signal by the difference to compare
Device reaches desired output revolving speed in a short time.Final multiple agent reaches output unanimously according to consistency protocol.
(1) software and hardware prepares
A kind of heterogeneous multi-agent system output-consistence tutoring system, specific implementation are divided into two sides of software and hardware
Face.
(11) software aspects:
A kind of heterogeneous multi-agent system output-consistence tutoring system software section includes motor speed measurement part, intelligence
It can body communication part, joystick manipulation part and motor speed control section.Motor speed measurement part uses photoelectric sensing
Device carries out tachometric survey；Communication between intelligent body is real in such a way that router broadcasts rotary speed information to full address as platform
It is existing；Control stick provides switching command；Motor speed control section uses PID controller.Final multiple agent is according to consistency
It is consistent that agreement reaches output.
The tachometric survey of motor: DC micro-motor has a photoelectric sensor, can measure motor speed.Photoelectric transfer
Sensor output pulse signal, pulse frequency and revolving speed are directly proportional, obtain the revolving speed of motor according to pulse frequency；
The communication of intelligent body: each intelligent body broadcasts respective information, each intelligent body to full address by router
Receive the information of neighbours' intelligent body, selection uses or ignores certain information as needed, realizes and different determine topological link or cut
Change topological link；
Provide switching command: manipulation control stick chooses different topological link modes, and according to different topological links
Mode reaches corresponding consistency protocol, different determines topological link or switching topological link to realize；
The revolving speed of motor controls: using PID control method.By the speed feedback signal of forward path back and desired value
Compare, using them between difference as error signal, this error signal is inputed into PID controller.Design obtains increment
Formula PID controller.
(12) hardware aspect:
A kind of hardware components of heterogeneous multi-agent system output-consistence tutoring system mainly include four intelligent bodies, one
A LCD display, a router, two power supplys and two control sticks.Wherein, four intelligent bodies are as tutoring system
Main presentation objects；LCD display is for showing information；Router is communication platform；Power supply is powered to whole system；Experimenter
Manipulation control stick can provide switching command.
Four intelligent bodies are made of four motors and four Arduino controllers respectively, and four motors include three properties
Certain similar DC micro-motor and a hollow-cup motor, the control signal of motor is digital signal, can use PWM (Pulse
Width Modulation-pulsewidth modulation) wave progress speed control.The on-off of PWM control switch device, passes through Voltage Feedback
Adjust its duty ratio, the equal pulse of output amplitude.Sine wave or required waveform, the original of substitution are substituted with these pulses
When reason is that the equal and variform burst pulse of momentum is added in the link with inertia, effect is essentially identical.Drag cup electricity
Machine diameter 8.5mm, length 20mm export axial length 5mm, weight 5g or so, can be in 3v-5v operating at voltages.Be also with PWM wave into
Row speed control；
The model 2004 of LCD display, using I2C (Inter-Integrated Circuit-IC bus)
Communication modes connect very convenient, only four connecting lines, two signal wires, two power supply lines.For showing four intelligent bodies
Rotary speed information and it is some other need to information to be shown；
Router is consumer level products, and effect is that four intelligent bodies is allow to be exchanged with each other information.
There are two power supply has altogether, one is powered to router, and one is powered to four intelligent bodies and LCD display；
Control stick is made of resistor body and moveable brush.When brush is moved along resistor body, obtained in output end
With displacement at the resistance value or voltage of certain relationship.The main function of two control sticks is the instruction for providing switching topology.Reason
1024 instructions can be provided by a upper control stick.It is to enrich operating function, and simplified behaviour using two control sticks
Make.
(2) operating process
It powers to router, the work light of router lights at this time, and router is started to work；
It powers to heterogeneous multi-agent system, four motors start to rotate at this time, the pulse exported according to photoelectric sensor
The revolving speed of motor is calculated in signal；Four intelligent bodies start to exchange information by router.But four independent works of intelligent body
Make, is mutually independent of each other；Specified revolving speed is preset；Show the revolving speed and current topological link of four motors of screen display
Code name, the rotary speed information of intelligent body 0, intelligent body 1, intelligent body 2, intelligent body 3 is shown in the first and second row of display screen,
The code name of topological link is shown in three rows；
Manipulation bar, provides switching command；The topological link mode that code name is 1 is switched into when control stick provides, is opened up
Linking scheme is flutterred as shown in figure 3, four intelligent bodies are in full topological link, each intelligent body is all referring to other three neighbours
The revolving speed of intelligent body.As shown in figure 4, tutoring system enters full topological link mode in 10s, four intelligent bodies start experimental result
It is convergent that revolving speed is carried out according to the output-consistence agreement under full topological link.Each intelligent body obtains desired output revolving speed and current
The error of revolving speed, inputs to PID controller, reaches desired output revolving speed in a short time.The revolving speed of final four intelligent bodies is all
Stablize in 68r/s or so, it is consistent to have reached output；The full topological link experimental result of the mathematical model of tutoring system and tutoring system
Comparison is as shown in figure 5, the red full topological link experimental data for representing tutoring system, black line represent the mathematical modulo of tutoring system in figure
The full topological link experimental data of type.Tutoring system as shown in the figure is under full topological link, stable revolving speed end value and mathematics
Model is identical, it was demonstrated that tutoring system is correct；
In switching topology experiment 1, manipulation control stick is given at the order switched between different topology linking scheme,
The process of switching is as shown in fig. 6, topological link 1 is no link structure, and topological link 2 is full link structure, and topological link 3 is nothing
Link structure.Tutoring system enters topological link 2 from topological link 1, then between topological link 2 and topological link 3 back and forth
Switching.Experimental result is as shown in fig. 7, tutoring system is in topological link 1 before 11s, and four intelligent bodies work independently, phase
It does not influence mutually；After 11s, four intelligent bodies enter topological link 2, start mutual reference rotation velocity；Enter topological link after 13s
3, and start to work independently, and so on.The output revolving speed of final four intelligent bodies reaches consistent；
In switching topology experiment 2, manipulation control stick is given at the order switched between different topology linking scheme,
The process of switching is as shown in figure 8, topological link 1 is no link structure, and topological link 2 is full link structure, and topological link 3 is portion
Divide link structure.Tutoring system enters topological link 2 from topological link 1, then comes between topological link 2 and topological link 3
Switchback is changed.Experimental result as shown in figure 9, tutoring system before 10s in the topological link 1 shown in Fig. 8, four intelligent bodies
It works independently, does not influence mutually；After 10s, four intelligent bodies enter topological link 2, start mutual reference rotation velocity；After 13s
Into topological link 3, intelligent body 0 and the mutual reference rotation velocity of intelligent body 3, intelligent body 1 and the mutual reference rotation velocity of intelligent body 2.So
Back and forth, it is consistent to have reached output for final four intelligent bodies；
Obtain experimental data.One of intelligent body and host computer (PC) can be connected, be led to by serial ports
News, record experimental data in real time；
Customized topological link structure.Four intelligent bodies are connected with host computer (PC) respectively, it will be self-designed
Code uploads in Arduino UNO control panel, and customized topological link structure can be realized.
Above embodiments are provided just for the sake of the description purpose of the present invention, and are not intended to limit the scope of the invention.This
The range of invention is defined by the following claims.It does not depart from spirit and principles of the present invention and the various equivalent replacements made and repairs
Change, should all cover within the scope of the present invention.
Claims (5)
1. a kind of heterogeneous multi-agent system output-consistence tutoring system, it is characterised in that: including hardware components and software portion
Point, hardware components include four intelligent bodies, a LCD display, a router, two power supplys, two control sticks；Software portion
Divide includes motor speed measurement part, intelligent body communication part, joystick manipulation part and motor speed control section；
In hardware components, four intelligent bodies of four Arduino UNO controllers and four motor forms are drilled as presentation objects
Show the switch instances between the arbitrary topology link structure and topology of four nodes, the rotation speed change situation including four motors and
Finally whether reached according to output-consistence agreement and is exported unanimously；LCD display is used to show the rotary speed information of four intelligent bodies
And the code name of present topology link；Router is exchanged with each other the communication platform of information as four intelligent bodies, makes four intelligence
Information is exchanged with each other between body；Two power supplys give router and four intelligent body power supplies respectively；Two control sticks provide switching and open up
The instruction flutterred；
In software section, motor speed measurement part uses photoelectric sensor, photoelectric sensor output pulse signal, pulse frequency
It is directly proportional with revolving speed, it is calculated to obtain the revolving speed of motor according to pulse frequency；In intelligent body communication part, each intelligent body passes through road
Respective rotary speed information is broadcasted from device to full address, and each intelligent body receives the information of neighbours' intelligent body transmission, according to need
It selects to use or ignore certain specific informations；Control stick provides switching command, chooses different topological link modes, and root
Reach corresponding consistency protocol according to different topological link modes, different determine topological link to realize or switch topological chain
It connects；Motor speed control section uses PID controller, by the speed feedback signal of forward path back and in consistency protocol
Expectation revolving speed compare, this error signal is inputed to PID controller, in short-term as error signal by the difference to compare
Interior to reach desired output revolving speed, final multiple agent reaches output unanimously according to consistency protocol.
2. heterogeneous multi-agent system output-consistence tutoring system according to claim 1, it is characterised in that: described four
A motor includes three DC micro-motors and a hollow-cup motor, and the control signal of four motors is digital signal,
Speed control is carried out with PWM wave；The on-off of PWM control switch device adjusts its duty ratio, output amplitude phase by Voltage Feedback
Deng pulse.
3. heterogeneous multi-agent system output-consistence tutoring system according to claim 1, it is characterised in that: control stick
It is made of resistor body and moveable brush, when moveable brush is moved along resistor body, obtains and be displaced in output end
Measure into the resistance value or voltage of certain relationship.
4. heterogeneous multi-agent system output-consistence tutoring system according to claim 1, it is characterised in that: described
LCD display uses I2C communication modes, has four connecting lines, two signal wires, two power supply lines.
5. a kind of heterogeneous multi-agent system output-consistence teaching method, it is characterised in that realize that steps are as follows:
Step 1: starting tutoring system described in claim 1, according to photoelectric sensor output pulse signal, pulse frequency and turn
The revolving speed of motor is calculated in rapid-result direct ratio；
Step 2: after each intelligent body obtains the revolving speed of oneself, giving rotary speed information to other intelligent bodies by router broadcast；
Step 3: each intelligent body is after the rotary speed information for obtaining neighbours' intelligent body, according to output-consistence agreement, using difference
Topological link structure, obtain the desired output revolving speed of oneself；Four intelligent bodies demonstrate the arbitrary topology chain binding of four nodes
Whether the switch instances between structure and topology include the rotation speed change situation of four motors and final according to output-consistence agreement
It is consistent to reach output；
Step 4: each intelligent body obtains the error of desired output revolving speed and current rotating speed, inputs to motor speed control module,
Using PID controller, by the speed feedback signal of forward path back compared with desired value, believed using the difference compared as error
Number, this error signal is inputed into PID device, reaches desired output revolving speed in a short time, different determines to open up to realize
Flutter link or switching topological link.
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| WO2001065525A2 (en) * | 2000-03-02 | 2001-09-07 | Knowlagent, Inc. | Method and system for delivery of individualized training to call center agents |
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