CN105679115A - Heterogeneous multi-agent system output consistency teaching system and method - Google Patents
Heterogeneous multi-agent system output consistency teaching system and method Download PDFInfo
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- CN105679115A CN105679115A CN201610251080.7A CN201610251080A CN105679115A CN 105679115 A CN105679115 A CN 105679115A CN 201610251080 A CN201610251080 A CN 201610251080A CN 105679115 A CN105679115 A CN 105679115A
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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 invention relates to a heterogeneous multi-agent system output consistency teaching system and method. The system comprises a hardware part and a software part. The hardware part comprises four agents, an LCD display screen, a router, two power supplies and two control rods. The software part comprises a motor rotating speed measurement part, an agent communication part, a control rod control part and a motor rotating speed control part. The change situations of rotating speed of four motors under random topological link structures of four nodes can be demonstrated on the basis of stable control of rotating speed of the motors, and the change situations of rotating speed of the four motors under topological link switching can also be demonstrated so as to be simple in combination, convenient to realize, and clear and understandable.
Description
Technical field
The present invention relates to a kind of heterogeneous multi-agent system output-consistence teaching system and method, belong to control technical field.
Background technology
Complexity science (complexityscience) is one of Disciplinary Frontiers of contemporary science development, with complication system and complexity for object of study, discloses and explain the moving law of complication system. One of important research problem as complexity science, multi-agent system (multi-agentsystem, MAS) has become as a hot research problem about system and control field in recent years. Owing to its important Research Significance and broad application to engineering practice are worth, receive the scholar in lot of domestic and foreign field and the concern of engineer.
Multi-agent system is the concept in a relatively new and forward position proposed based on engineering practice, covers multiple subject and research field. Based on the new force that the coordination control that multi-agent system is derivative is then automation field, it can solve distributed AC servo system problem with optimal case. But there is presently no a set of equipment verify and demonstrate heterogeneous multiple agent consistency theory.
The present invention adopts the means of embedded development, multi-agent system consistency protocol and Collaborative Control algorithm are dissolved into Arduino for the electronic controller of carrier, and select micro-machine as control object, realize communication topology with router and procotol, devise a kind of heterogeneous multi-agent system output-consistence teaching system and method.
Arduino is electronics prototyping platform of increasing income, its design of hardware and software data all-round opening. The existing integrated package in the inside, is similar to the development environment of Java, C language, it is possible to self-defined write and revise so that it is have the features such as simple, the easy left-hand seat of use; Arduino uses microprocessor (ATmega8 or ATmega128) at a low price, it is possible to adopt USB interface directly to power, or external low-voltage dc power supply.
Summary of the invention
The technology of the present invention solves problem: overcome the deficiencies in the prior art, a kind of heterogeneous multi-agent system output-consistence teaching system and method are provided, reach checking and demonstrated the purpose of heterogeneous multiple agent consistency algorithm, this teaching system realizes convenient, it is possible to clear, clear, the understandable heterogeneous multiple agent consistency algorithm of demonstration.
The technology of the present invention solution: a kind of heterogeneous multi-agent system output-consistence teaching system, it is characterised in that include hardware components and software section;Hardware components includes four intelligent bodies, LCD display, router, two power supplys, two sticks; Software section includes motor speed control module, communication module between motor speed measurement module and intelligent body;
In hardware components, four ArduinoUNO controllers and four motor four intelligent bodies of composition, as presentation objects, whether the switch instances between arbitrary topology link structure and the topology of four nodes of demonstration includes the rotation speed change situation of four motors and finally reaches to export according to output-consistence agreement consistent; LCD display is used for showing the information that the rotary speed information of four intelligent bodies and some other needs show, including the code name of present topology link; Router, as the communication platform of four intelligent body phase interchangeable information, makes phase interchangeable information between four intelligent bodies; Two power supplys power to respectively router and four intelligent bodies; Two sticks provide the instruction of switching topological link pattern;
In software section, motor speed measurement part adopts photoelectric sensor. Photoelectric sensor output pulse signal, pulse frequency and rotating speed are directly proportional, and calculate the rotating speed obtaining motor according to pulse frequency; In intelligent body communication part, each intelligent body passes through router and broadcasts respective rotary speed information to full address, and each intelligent body accepts the information that neighbours' intelligent body sends, and selects as required adopt or ignore some customizing messages; Stick provides switching command, chooses different topological link patterns, and reaches corresponding consistency protocol according to different topological link patterns, thus realizing different determining topological link or switch topological link; Motor speed control part have employed PID controller, the speed feedback signal of forward path is returned with the expectation rotating ratio in consistency protocol relatively, using the difference that compares as error signal, this error signal is inputed to PID controller, reaches desired output rotating speed at short notice. It is consistent that final multiple agent reaches output according to consistency protocol.
Described four motors include three certain close DC micro-motors of character and a hollow-cup motor, and the control signal of motor is digital signal, carries out speed controlling with PWM ripple; PWM controls the break-make of switching device, adjusts its dutycycle by Voltage Feedback, the pulse that output amplitude is equal.
Described stick is made up of resistive element and moveable brush, when moveable brush moves along resistive element, namely obtains the resistance value or voltage that become certain relation with displacement at outfan.
Described LCD display adopts I2C communication modes, only four connecting lines, two holding wires, two power lines, connects very convenient.
A kind of heterogeneous multi-agent system output-consistence teaching method, it is achieved step is as follows:
Step 1: start the teaching system described in claim 1, be directly proportional according to photoelectric sensor output pulse signal, pulse frequency and rotating speed, calculates the rotating speed obtaining motor;
Step 2: after each intelligent body obtains the rotating speed of oneself, gives other intelligent bodies by rotary speed information by router broadcast;
Step 3: each intelligent body, after the rotary speed information obtaining neighbours' intelligent body, according to different control commands, is switched to different topological link patterns, obtains corresponding consistency protocol, obtain the desired output rotating speed of oneself further; Whether four intelligent bodies, it is possible to the switch instances between arbitrary topology link structure and the topology of four nodes of demonstration, including the rotation speed change situation of four motors with finally reach to export consistent according to output-consistence agreement;
Step 4: each intelligent body obtains the error of desired output rotating speed and current rotating speed, input to motor speed and control module, adopt PID controller, return to compare with expected value by the speed feedback signal of forward path, using the difference that compares as error signal, this error signal is inputed to PID controller, reach desired output rotating speed at short notice, thus realizing different determining topological link or switching topological link and be finally reached output unanimously, verifying and demonstrating heterogeneous multiple agent consistency theory.
Present invention advantage compared with prior art is in that: motor speed can controlled on stable basis by the present invention, the situation of change of lower four motor speeds of arbitrary topology link structure of four nodes of demonstration, the situation of change of four motor speeds switched under topological link can also be demonstrated, in conjunction with simple, it is convenient to realize, and clearly, understand, understandable.
Accompanying drawing explanation
Fig. 1 is a kind of heterogeneous multi-agent system output-consistence teaching system structure chart of the present invention;
Fig. 2 is a kind of heterogeneous multi-agent system output-consistence teaching system method flowchart 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 of the present invention figure;
Fig. 6 is present system switching topology schematic diagram 1;
Fig. 7 is present system switching topology experiment 1 figure;
Fig. 8 is present system switching topology schematic diagram 2;
Fig. 9 is present system switching topology experiment 2 figure.
Detailed description of the invention
As it is shown in figure 1, a kind of heterogeneous multi-agent system output-consistence teaching system structure includes four intelligent bodies, LCD display, router, two power supplys, two sticks. Four ArduinoUNO controllers and four motor four intelligent bodies of composition, as presentation objects, whether the switch instances between arbitrary topology link structure and the topology of four nodes of demonstration, including the rotation speed change situation of four motors with finally reach to export consistent according to output-consistence agreement; LCD display is used for showing the information that the rotary speed information of four intelligent bodies and some other needs show, including the code name of present topology link; Router is as the communication platform of four intelligent body phase interchangeable information; Two power supplys power to respectively router and four intelligent bodies; Two sticks provide the instruction of switching topology;
As in figure 2 it is shown, motor speed measurement part adopts photoelectric sensor. Photoelectric sensor output pulse signal, pulse frequency and rotating speed are directly proportional, and calculate the rotating speed obtaining motor according to pulse frequency; Between intelligent body in communication module, each intelligent body passes through router and broadcasts respective rotary speed information to full address, and each intelligent body accepts the information that neighbours' intelligent body sends, and selects as required adopt or ignore some customizing messages; Stick provides switching command, chooses different topological link patterns, and reaches corresponding consistency protocol according to different topological link patterns, thus realizing different determining topological link or switch topological link; Motor speed control part have employed PID controller, the speed feedback signal of forward path is returned with the expectation rotating ratio in consistency protocol relatively, using the difference that compares as error signal, this error signal is inputed to PID controller, reaches desired output rotating speed at short notice. It is consistent that final multiple agent reaches output according to consistency protocol.
(1) software and hardware prepares
A kind of heterogeneous multi-agent system output-consistence teaching system, implements and is divided into two aspects of software and hardware.
(11) software aspects:
A kind of heterogeneous multi-agent system output-consistence teaching system software section includes motor speed measurement part, intelligent body communication part, joystick manipulation part and motor speed control part. Motor speed measurement part adopts photoelectric sensor to carry out tachometric survey; Communication between intelligent body is that the mode broadcasting rotary speed information with router for platform to full address realizes; Stick provides switching command; Motor speed control part have employed PID controller.It is consistent that final multiple agent reaches output according to consistency protocol.
The tachometric survey of motor: DC micro-motor is with a photoelectric sensor, it is possible to measure motor speed. Photoelectric sensor output pulse signal, pulse frequency and rotating speed are directly proportional, and obtain the rotating speed of motor according to pulse frequency;
The communication of intelligent body: each intelligent body broadcasts respective information by router to full address, and each intelligent body accepts the information of neighbours' intelligent body, selects adopt or ignore some information as required, it is achieved different determines topological link or switching topological link;
Provide switching command: handle stick, choose different topological link patterns, and reach corresponding consistency protocol according to different topological link patterns, thus realizing different determining topological link or switch topological link;
The rotating speed of motor controls: have employed PID control method. Returning to compare with expected value by the speed feedback signal of forward path, this error signal, as error signal, is inputed to PID controller by the difference between them. Design obtains incremental timestamp device.
(12) hardware aspect:
The hardware components of a kind of heterogeneous multi-agent system output-consistence teaching system mainly includes four intelligent bodies, a LCD display, a router, two power supplys and two sticks. Wherein, four intelligent bodies are as the main presentation objects of teaching system; LCD display is used for showing information; Router is communication platform; Power supply is powered to whole system; Experimenter handles stick can provide switching command.
Four intelligent bodies are made up of four motors and four Arduino controllers respectively, four motors include three certain close DC micro-motors of character and a hollow-cup motor, the control signal of motor is digital signal, it is possible to carry out speed controlling with PWM (PulseWidthModulation pulsewidth modulation) ripple. PWM controls the break-make of switching device, adjusts its dutycycle by Voltage Feedback, the pulse that output amplitude is equal. Substitute sine wave or required waveform with these pulses, the principle of replacement is that the equal and variform burst pulse of momentum is added in when having in the link of inertia, and its effect is essentially identical. Hollow-cup motor diameter 8.5mm, length 20mm, export axial length 5mm, about weight 5g, can at 3v-5v operating at voltages. Also it is carry out speed controlling with PWM ripple;
The model of LCD display is 2004, adopts I2C (Inter-IntegratedCircuit IC bus) communication modes, connects very convenient, only four connecting lines, two holding wires, two power lines. It is used for showing the information that the rotary speed information of four intelligent bodies and some other needs show;
Router is consumer level products, and effect is to make four intelligent bodies can phase interchangeable information.
Power supply one has two, powers to router for one, powers to four intelligent bodies and LCD display for one;
Stick is made up of resistive element and moveable brush. When brush moves along resistive element, namely obtain the resistance value or voltage that become certain relation with displacement at outfan. The Main Function of two sticks is the instruction providing switching topology. A stick can provide 1024 instructions in theory. Using two sticks is to enrich operating function, and simplifies operation.
(2) operating process
Powering to router, now the relay indicating light of router lights, and router is started working;
Powering to heterogeneous multi-agent system, now four motors start to rotate, and the pulse signal according to photoelectric sensor output calculates the rotating speed obtaining motor; Four intelligent bodies start to exchange information by router. But four intelligent bodies work independently, and are independent of each other mutually; It is set in advance for specifying rotating speed; The rotating speed of display four motors of screen display and the code name of current topological link, first and second row of display screen is shown that the rotary speed information of intelligent body 0, intelligent body 1, intelligent body 2, intelligent body 3, and the third line is shown that the code name of topological link;
Manipulation bar, provides switching command; Switching into, when stick provides, the topological link pattern that code name is 1, topological link pattern is as it is shown on figure 3, four intelligent bodies are in full topological link situation, and each intelligent body is all referring to the rotating speed of other three neighbours' intelligent bodies. As shown in Figure 4, teaching system enters full topological link pattern at 10s to experimental result, and it is convergent that four intelligent bodies start to carry out rotating speed according to the output-consistence agreement under full topological link. Each intelligent body obtains the error of desired output rotating speed and current rotating speed, inputs to PID controller, reaches desired output rotating speed at short notice. The rotating speed of final four intelligent bodies is stable in about 68r/s, has reached output consistent; The mathematical model full topological link experimental result contrast of teaching system and teaching system is as it is shown in figure 5, the red full topological link experimental data representing teaching system, the full topological link experimental data of the mathematical model of dark line shows teaching system in figure. Teaching system is under full topological link as shown in the figure, and stable rotating speed end value is identical with mathematical model, it was demonstrated that teaching system is correct;
In switching topology experiment 1, handling the order that stick is given between different topology linking scheme switching over, as shown in Figure 6, topological link 1 is without link structure to the process of switching, and topological link 2 is full link structure, and topological link 3 is without link structure. Teaching system enters topological link 2 from topological link 1, then toggles between topological link 2 and topological link 3. Experimental result is as it is shown in fig. 7, teaching system is previously in topological link 1 at 11s, and four intelligent bodies work independently, and mutually do not affect; After 11s, four intelligent bodies enter topological link 2, start mutual reference rotation velocity; Enter topological link 3 after 13s, start again to work independently, and so forth. The output speed of final four intelligent bodies reaches unanimously;
In switching topology experiment 2, handling the order that stick is given between different topology linking scheme switching over, as shown in Figure 8, topological link 1 is without link structure to the process of switching, and topological link 2 is full link structure, and topological link 3 is partial link structure. Teaching system enters topological link 2 from topological link 1, then toggles between topological link 2 and topological link 3. Experimental result is as it is shown in figure 9, teaching system is previously in the topological link 1 shown in Fig. 8 at 10s, and four intelligent bodies work independently, and mutually do not affect; After 10s, four intelligent bodies enter topological link 2, start mutual reference rotation velocity; 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 is entered after 13s. And so forth, final four intelligent bodies have reached output unanimously;
Obtain experimental data. One of them intelligent body and host computer (PC) can be coupled together, carry out communication, real time record experimental data by serial ports;
Self-defined topological link structure. Four intelligent bodies are coupled together with host computer (PC) respectively, self-designed code is uploaded in ArduinoUNO panel, self-defined topological link structure can be realized.
There is provided above example to be only used to describe the purpose of the present invention, and be not intended to limit the scope of the present invention. The scope of the invention limits. The various equivalent alterations and modifications made without departing from spirit and the principle of the present invention, all should contain within the scope of the present invention.
Claims (5)
1. a heterogeneous multi-agent system output-consistence teaching system, it is characterised in that: including hardware components and software section, hardware components includes four intelligent bodies, LCD display, router, two power supplys, two sticks; Software section includes motor speed measurement part, intelligent body communication part, joystick manipulation part and motor speed control part;
In hardware components, four ArduinoUNO controllers and four motor four intelligent bodies of composition, as presentation objects, whether the switch instances between arbitrary topology link structure and the topology of four nodes of demonstration, including the rotation speed change situation of four motors with finally reach to export consistent according to output-consistence agreement; LCD display is used for showing the information that the rotary speed information of four intelligent bodies and some other needs show, including the code name of present topology link; Router, as the communication platform of four intelligent body phase interchangeable information, makes phase interchangeable information between four intelligent bodies; Two power supplys power to respectively router and four intelligent bodies; Two sticks provide the instruction of switching topology;
In software section, motor speed measurement part adopts photoelectric sensor, photoelectric sensor output pulse signal, and pulse frequency and rotating speed are directly proportional, and calculates the rotating speed obtaining motor according to pulse frequency; In intelligent body communication part, each intelligent body passes through router and broadcasts respective rotary speed information to full address, and each intelligent body accepts the information that neighbours' intelligent body sends, and selects as required adopt or ignore some customizing messages; Stick provides switching command, chooses different topological link patterns, and reaches corresponding consistency protocol according to different topological link patterns, thus realizing different determining topological link or switch topological link; Motor speed control part have employed PID controller, the speed feedback signal of forward path is returned with the expectation rotating ratio in consistency protocol relatively, using the difference that compares as error signal, this error signal is inputed to PID controller, reaches desired output rotating speed at short notice. It is consistent that final multiple agent reaches output according to consistency protocol.
2. heterogeneous multi-agent system output-consistence teaching system according to claim 1, it is characterized in that: described four motors include three certain close DC micro-motors of character and a hollow-cup motor, the control signal of motor is digital signal, carries out speed controlling with PWM ripple; PWM controls the break-make of switching device, adjusts its dutycycle by Voltage Feedback, the pulse that output amplitude is equal.
3. heterogeneous multi-agent system output-consistence teaching system according to claim 1, it is characterized in that: stick is made up of resistive element and moveable brush, when moveable brush moves along resistive element, namely obtain the resistance value or voltage that become certain relation with displacement at outfan.
4. heterogeneous multi-agent system output-consistence teaching system according to claim 1, it is characterised in that: described LCD display adopts I2C communication modes, only four connecting lines, two holding wires, two power lines, connects very convenient.
5. a heterogeneous multi-agent system output-consistence teaching method, it is characterised in that realize step as follows:
Step 1: start the teaching system described in claim 1, be directly proportional according to photoelectric sensor output pulse signal, pulse frequency and rotating speed, calculates the rotating speed obtaining motor;
Step 2: after each intelligent body obtains the rotating speed of oneself, gives other intelligent bodies by rotary speed information by router broadcast;
Step 3: each intelligent body is after the rotary speed information obtaining neighbours' intelligent body, according to output-consistence agreement, it is possible to be different topological link structures, obtains the desired output rotating speed of oneself; Four intelligent bodies, it is possible to whether the switch instances between arbitrary topology link structure and the topology of four nodes of demonstration includes the rotation speed change situation of four motors and finally reach to export according to output-consistence agreement consistent;
Step 4: each intelligent body obtains the error of desired output rotating speed and current rotating speed, input to motor speed and control module, adopt PID controller, return to compare with expected value by the speed feedback signal of forward path, using the difference that compares as error signal, this error signal is inputed to PID controller, reaches desired output rotating speed at short notice, thus realizing different determining topological link or switch topological link.
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Cited By (1)
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