CN111986539A - Linkage platform for flight simulation and control method thereof - Google Patents
Linkage platform for flight simulation and control method thereof Download PDFInfo
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- CN111986539A CN111986539A CN202010866702.3A CN202010866702A CN111986539A CN 111986539 A CN111986539 A CN 111986539A CN 202010866702 A CN202010866702 A CN 202010866702A CN 111986539 A CN111986539 A CN 111986539A
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- 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
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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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
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
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Abstract
The invention relates to a linkage platform for flight simulation and a control method thereof, wherein the linkage platform comprises: the system comprises a plurality of Stewart six-freedom-degree motion platform systems, a control system and a plurality of airplane cabin bodies, wherein the Stewart six-freedom-degree motion platform systems are used for bearing the airplane cabin bodies and driving the airplane cabin bodies to realize various spatial motions; the control system is used for judging whether the Stewart six-freedom-degree motion platform systems are normal or not according to the real-time state information of the Stewart six-freedom-degree motion platform systems and the airplane cabins and ensuring the Stewart six-freedom-degree motion platform systems to synchronously move; the plurality of aircraft cabins form a flight simulator. The invention decomposes the originally very large and long cabin into a plurality of sections by the linkage and the coordination of a plurality of Stewart six-freedom-degree motion platform systems, saves the cost of manufacturing, installation, transportation and maintenance, and realizes the attitude motion of a plurality of aircraft cabins with six degrees of freedom of pitching, rolling, course, transverse moving, longitudinal moving and lifting synchronously.
Description
Technical Field
The invention relates to the technical field of flight simulation development, in particular to a linkage platform for flight simulation and a control method thereof.
Background
With the development of science and technology, the travel of modern mankind is extremely convenient, and the flight is undoubtedly one of the important transportation modes for the travel of mankind at present. In the field of aviation flight in China, a large number of pilots need to be trained and simulated to fly every year, and the conventional flight simulator in China has the common defects of high cost, inconvenience in transportation, difficulty in recycling, single task mode, poor maintainability and difficulty in function expansion. The high cost of the flight simulator limits the training, growth mode and speed of pilots to a certain extent, and also seriously influences the overall level development of pilot culture in China.
Disclosure of Invention
The invention provides a multi-cabin linkage platform for flight simulation aiming at the technical problems in the prior art, and solves the problems that the conventional flight simulator is high in cost, inconvenient to transport, difficult to recycle, single in task mode, poor in maintainability, difficult to expand functions and the like.
The technical scheme for solving the technical problems is as follows:
the invention provides a linkage platform for flight simulation, which comprises a plurality of Stewart six-freedom-degree motion platform systems, a control system and a plurality of airplane cabin bodies, wherein the Stewart six-freedom-degree motion platform systems are used for bearing the airplane cabin bodies and driving the airplane cabin bodies to realize various spatial motions; the control system is used for judging whether the Stewart six-freedom-degree motion platform systems are normal or not according to the real-time state information of the Stewart six-freedom-degree motion platform systems and the airplane cabins and ensuring the Stewart six-freedom-degree motion platform systems to synchronously move; the plurality of aircraft cabins form a flight simulator.
In a first embodiment of the invention, each Stewart six-degree-of-freedom motion platform system comprises a foundation, an upper platform, a power source and a transmission mechanism, wherein the foundation is used for providing support for the power source and the transmission mechanism; the power source is used for providing power for the upper platform and is respectively connected with the upper platform and the foundation through the transmission mechanism; two ends of the transmission mechanism are respectively connected with the upper platform and the foundation; the upper platform is used for bearing the airplane cabin body and driving the cabin body to realize various spatial motions.
Further, the power source comprises a servo electric cylinder and a cylinder, and the servo electric cylinder is used for providing the power source for the upper platform and supporting the upper platform to move; the cylinder is used for balancing the dead weight of the upper platform in the movement process and providing safe buffering for the upper platform.
Furthermore, the servo electric cylinder is provided with a Hall sensor, and the Hall sensor is used for limiting the maximum and minimum strokes of the servo electric cylinder.
Furthermore, in order to guarantee the safety of equipment and personnel, the motor of the servo electric cylinder is provided with a band-type brake, when the system breaks down or is powered off, a motor brake is quickly started, and the electric cylinder is immediately locked, so that the platform can immediately stop moving and is kept at the current position without continuously moving due to the inertia of the platform and the cabin body.
In some embodiments described above, the ratio of the number of servo electric cylinders to the number of air cylinders is less than 2: 1.
In a second embodiment of the present invention, the control system includes a PLC, a plurality of motion controllers, and an upper computer, wherein the PLC is configured to obtain status information and send the real-time status information to the upper computer; the upper computer determines whether the multiple Stewart six-degree-of-freedom motion platform systems meet the operation requirements or not according to the received real-time state information, and sends preset motion attitude data to the multiple motion controllers, ensures data synchronization of the multiple motion controllers and sends synchronization signals to the multiple motion controllers;
and the motion controllers are respectively connected with power sources corresponding to the Stewart six-freedom-degree motion platform system and are used for calculating the pose of the corresponding upper platform in real time according to the preset motion attitude data, feeding back motion parameters of the power sources according to the power sources corresponding to the upper platform and uniformly executing the motion parameters according to the synchronous signals.
Further, in order to ensure data synchronization and control synchronization of the plurality of motion controllers, the plurality of motion controllers include a first motion controller and a plurality of second motion controllers, a clock of the first motion controller is configured as a reference clock of the synchronization signal; the clocks of the plurality of second motion controllers are configured to be clock synchronized according to the reference clock.
In the above embodiments, the real-time status information includes the position, torque, temperature, current, and air pressure values of the power source, and the locking status of the airplane door, the fastening status of the safety belt, and the relative distance between the respective Stewart six-degree-of-freedom motion platform systems.
In a second aspect the present invention provides a method of controlling a linked platform for flight simulation according to a second embodiment, comprising the steps of: the upper computer determines that the state of each device meets the operation requirement; and the upper computer sends preset motion attitude data to a plurality of motion controllers, and the motion controllers calculate the pose corresponding to the upper platform in real time according to the preset motion attitude data, feed back motion parameters of the power source according to the power source corresponding to the upper platform and perform unified execution according to the synchronous signals.
Further, the plurality of motion controllers determine the execution delay or the advance time amount of data exchange according to the synchronous period data in the received data and the adjusting time of the upper computer.
Further, the upper computer adopts a UDP protocol to exchange data with the plurality of motion controllers through an industrial local area network switch.
The invention has the beneficial effects that:
1. the cabin body of the flight simulator which is originally very large and long is decomposed into a plurality of sections, so that the manufacturing, installation, transportation and maintenance costs are saved, meanwhile, the originally required huge motion platform is decomposed into a plurality of smaller motion platforms, and the manufacturing, installation, transportation and maintenance costs of the motion platforms are greatly reduced. The postures of the plurality of motion platforms are changed in real time according to a preset program, namely the strokes of the servo electric cylinders and the air cylinders are changed, so that the equipment can realize the synchronous posture motion of six degrees of freedom, namely pitching, rolling, course, transverse moving, longitudinal moving and lifting of the cabin body.
2. The safety mechanism of the airplane simulation cabin is formed by additionally arranging the PLC, the brake of the cylinder servo electric cylinder and the Hall sensor, so that the safety of equipment and personnel is guaranteed.
3. The data timeliness is enhanced by using UDP protocol communication, the data delay and packet loss probability are reduced by adopting an industrial local area network switch, and a clock synchronization mechanism is adopted, so that the data and control can be kept synchronous at the precision of millisecond.
Drawings
FIG. 1 is a schematic diagram of an overall configuration of a linked platform for flight simulation in some embodiments of the present invention;
FIG. 2 is a schematic diagram of a single Stewart six-DOF motion platform system;
FIG. 3 is a schematic view of the linkage platform of the flight simulation of the present invention in operation;
FIG. 4 is a schematic block diagram of a control system in some embodiments of the invention;
FIG. 5 illustrates a method of controlling a linked platform for flight simulation in accordance with certain embodiments of the present invention;
fig. 6 is a flowchart illustrating the operation of the upper computer integrated control monitoring software according to some embodiments of the present invention.
Reference numerals: 1. an aircraft cabin; 2. a Stewart six-degree-of-freedom motion platform system; 3. an upper platform; 4. a transmission mechanism; 41. a hinge mount; 5. a power source; 51. a servo electric cylinder; 52. a cylinder; 7. a foundation; 71 pre-burying a steel-concrete foundation; 8. a control system; 81. a PLC; 82. an upper computer; 83. a motion controller.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, a first aspect of the present invention provides a linkage platform for flight simulation, including a plurality of Stewart six-degree-of-freedom motion platform systems 2, a control system 8, and a plurality of aircraft cabins 1, where the plurality of Stewart six-degree-of-freedom motion platform systems 2 are used to carry aircraft cabins and drive the plurality of aircraft cabins 1 to implement various spatial motions; the control system 8 is used for judging whether the Stewart six-freedom-degree motion platform systems 2 are normal or not according to the real-time state information of the Stewart six-freedom-degree motion platform systems 2 and the airplane cabin bodies 1 and ensuring that the Stewart six-freedom-degree motion platform systems 2 move synchronously; the plurality of aircraft cabins 1 constitute a flight simulator. Specifically, the three-cabin linkage platform for flight simulation comprises three Stewart six-degree-of-freedom motion platform systems 2 for placing the aircraft cabin 1, and synchronous motion of the three cabin bodies is realized through linkage coordination of the three Stewart six-degree-of-freedom motion platform systems 2.
Referring to fig. 2 and 3, in the first embodiment of the present invention, each Stewart six-degree-of-freedom motion platform system 2 comprises a foundation 7, an upper platform 3, a power source 5 and a transmission mechanism 4, wherein the foundation 7 is used for providing support for the power source 5 and the transmission mechanism 4; the power source 5 is used for providing power for the upper platform 3 and is respectively connected with the upper platform 3 and the foundation 7 through the transmission mechanism 4; two ends of the transmission mechanism 4 are respectively connected with the upper platform 3 and the foundation 7; the upper platform 3 is used for bearing the aircraft cabin 1 and driving the cabin to realize various spatial motions.
Further, the power source 5 comprises a servo electric cylinder 51 and an air cylinder 52, wherein the servo electric cylinder 51 is used for providing a power source for the upper platform 3 and supporting the movement thereof; the cylinder 52 is used to balance the self weight of the upper platform 3 during movement and to provide a safe cushion for the upper platform 3. Specifically, each Stewart six-degree-of-freedom motion platform system 2 comprises an upper platform 3, eighteen hinge seats 41, six servo electric cylinders 51, three air cylinders 52 and an embedded steel-concrete foundation 71. The embedded part steel-concrete foundation 71 is used as an installation foundation of the Stewart six-freedom-degree motion platform system 2 and is fixed with the ground through concrete grouting. The upper platform 3 is used for bearing the aircraft cabin 1 and driving the load to realize various spatial motions. The upper and lower parts of the servo electric cylinder 51 and the air cylinder 52 are connected with the upper platform 3 and the embedded steel-concrete foundation 71 through the hinge base 41. The servo electric cylinder 51 provides a power source for the upper stage 3. When the upper platform 3 moves, the acceleration load and a part of unbalanced dead weight of the load are borne by the load, and the cylinder 52 balances the dead weight of the upper platform in the moving process and also plays a role in safety buffer.
Further, the servo electric cylinder 51 is provided with hall sensors for limiting the maximum and minimum strokes of the servo electric cylinder 51.
Furthermore, in order to ensure the safety of equipment and personnel, the motor of the servo electric cylinder 51 is provided with a band-type brake, when the system is in failure or power failure, a motor brake is quickly started, and the electric cylinder is immediately locked, so that the platform can immediately stop moving and is kept at the current position without continuously moving due to the inertia of the platform and the cabin.
In order to improve the safety of the Stewart six-degree-of-freedom motion platform system 2, in the above embodiment, the ratio of the number of the servo electric cylinders 51 to the number of the cylinders 52 is less than 2: 1.
Referring to fig. 4, in a second embodiment of the present invention, each Stewart six-degree-of-freedom motion platform system 2 is the same as embodiment 1 except that: the control system 8 includes a PLC (Programmable logic controller) 81, an upper computer 82, and a plurality of motion controllers 83, and the PLC81 is configured to obtain real-time status information and send the real-time status information to the upper computer 82; the upper computer 82 determines that the multiple Stewart six-degree-of-freedom motion platform 2 systems meet the operation requirements according to the received real-time state information, sends preset motion attitude data to the multiple motion controllers 83, ensures data synchronization and sends synchronization signals to the multiple motion controllers 83; the motion controllers 83 are respectively connected with the power source 5 corresponding to the Stewart six-degree-of-freedom motion platform system 2, and are configured to calculate the pose (position pose) corresponding to the upper platform 3 in real time according to the preset motion pose data, obtain the motion parameters of the power source 5 according to the feedback of the power source 5 corresponding to the upper platform 3, and perform unified execution according to the synchronization signals.
Specifically, PLC81 is mainly responsible for collecting external sensor information, internal key switch signals, checking safety protection measures, including: the airplane cabin door locking system comprises an airplane cabin door closing state, a safety belt fastening state, three cabin relative distance change, auxiliary support cylinder pressure, a console mode locking state, an emergency stop switch state and the like.
Further, in order to ensure data synchronization and control synchronization of the plurality of motion controllers 83, the plurality of motion controllers 83 include a first motion controller whose clock is configured as a reference clock of the synchronization signal and a plurality of second motion controllers; the clocks of the plurality of second motion controllers are configured to be clock synchronized according to the reference clock.
In the above embodiment, the real-time status information includes the position, moment, temperature, current, and air pressure values of the power source, and the locking status of the airplane door, the fastening status of the safety belt, and the relative distance between the respective Stewart six-degree-of-freedom motion platform systems 2.
Referring to fig. 4, in a second aspect the present invention provides a method of controlling a linked platform for flight simulation according to a second embodiment, comprising the steps of: s100, determining that the states of all devices (a Stewart six-degree-of-freedom motion platform system 2 and an airplane cabin body 1) meet the operation requirements by an upper computer 82; s105, the upper computer 82 sends preset motion posture data to a plurality of motion controllers 83; and S110, the motion controllers 83 calculate the pose corresponding to the upper platform 3 in real time according to the preset motion pose data, obtain the motion parameters of the power source 5 according to the feedback of the power source 5 corresponding to the upper platform 3, and perform unified execution according to the synchronous signals.
Further, the plurality of motion controllers 83 determine the execution delay or the amount of advance time of the data exchange based on the synchronization period data in the received data and the adjustment time of the upper computer 82.
Further, the upper computer 82 performs data exchange with the plurality of motion controllers 83 through an industrial-grade lan switch using UDP protocol.
Specifically, in the process of movement, the upper computer 82 receives, through the integrated control monitoring software, the relevant information such as the real-time position, the real-time moment, the temperature, the current and the like of the servo driver fed back by each movement controller, and receives the air pressure value of the auxiliary support cylinder, the locking state of the airplane cabin door, the fastening state of the safety belt and the relative distance between the three cabins fed back by the PLC81, and determines whether the operation state of the system is normal. When abnormity or fault occurs, the upper computer 82 can automatically trigger protective measures through the comprehensive control monitoring software, rapidly stops the operation of the equipment, gives an alarm and displays fault points, thereby ensuring the safety of personnel and equipment.
All data exchange (a motion controller and a control system, a control system and a PLC) is connected to a local area network, and the timeliness of data is enhanced by using a UDP (user Datagram protocol) protocol communication protocol. Meanwhile, the industrial local area network switch is adopted to reduce the data delay and the packet loss probability. Aiming at the requirement of multi-cabin synchronism, taking three-cabin synchronism as an example, the following scheme is used for realizing the synchronization: when all the motion controllers 83 are started, the upper computer 82 will perform a polling handshake through the integrated control monitoring software, and collect clock data of all the motion controllers 83. After the upper computer 82 acquires the clock data of all the motion controllers 83 through the integrated control monitoring software, the clock of the first motion controller is used as a reference, and the second motion controller and the third motion controller are informed to carry out clock calibration so as to carry out clock synchronization for the first time. When the whole system starts to run, the data returned by each motion controller contains the time period spent on executing the previous operation, and after the upper computer 82 completely receives the data of all the motion controllers through the comprehensive control monitoring software, the synchronous data periods in the second motion controller and the third motion controller are adjusted and sent to the controllers by taking the execution time period spent on the previous operation of the first motion controller as the reference. The second and third motion controllers determine the execution delay or the amount of time ahead of the current data according to the synchronization time in the received data and the adjustment time calculated by the upper computer 82 through the comprehensive control monitoring software. Thereby ensuring that the data and control can be maintained at millisecond accuracy. The above-mentioned numbers one, two and three are for illustrative purposes only and are not intended to limit the specific motion controller 83.
Referring to fig. 3, fig. 5 and fig. 6, the specific working process of the upper computer 82 controlling the upper platform 3 through the integrated control monitoring software is as follows: firstly, the operation platform (operation upper platform) is powered on, the upper computer 82 comprehensively controls the monitoring software to be opened, and after the inspection is passed, the platform (upper platform 3) starts to be powered on. Selecting a machine body section position on the upper computer 82 comprehensive control monitoring software or the upper platform 3, and then sequentially executing operations such as starting, lifting, running and the like by the upper computer 82 comprehensive control monitoring software; then, corresponding simulated motion is selected on the upper computer 82 comprehensive control monitoring software: single step motion, custom simulation, composite jitter simulation, state reproduction, and the like; then inputting the corresponding parameters of the above simulated motion, and after the upper platform 3 receives the corresponding parameters, starting to control the cylinder 52 to drive the upper platform 3 to execute the corresponding motion. After the movement is finished, the upper stage 3 is returned to the neutral position, and then landed to be returned to a state of waiting for execution of the simulation (standby state).
It should be noted that the upper computer includes, but is not limited to, a personal computer, a laptop computer, a computer terminal, a personal digital assistant, a palm computing device, and a networked wireless communication device (such as a mobile phone with a micro-browser). These devices typically have a user interface including a display, an input interface (e.g., a keyboard), and a pointing device (e.g., a mouse, trackball, remote joystick, navigation keyboard, or touch-tone keyboard); even gesture recognition devices consisting of a camera and a motion sensor are used to capture and recognize gestures and actions of a user for conversion into corresponding instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme in the embodiment. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A linkage platform for flight simulation is characterized by comprising a plurality of Stewart six-degree-of-freedom motion platform systems, a control system and a plurality of airplane cabin bodies,
the Stewart six-degree-of-freedom motion platform systems are used for bearing the airplane cabin bodies and driving the airplane cabin bodies to realize various spatial motions;
the control system is used for judging whether the Stewart six-freedom-degree motion platform systems are normal or not according to the real-time state information of the Stewart six-freedom-degree motion platform systems and the airplane cabins and ensuring the Stewart six-freedom-degree motion platform systems to synchronously move;
the plurality of aircraft cabins form a flight simulator.
2. The linked platform for flight simulation of claim 1, wherein each Stewart six-DOF motion platform system comprises a foundation, an upper platform, a power source, and a transmission mechanism,
the foundation is used for providing support for the power source and the transmission mechanism;
the upper platform is used for bearing the aircraft cabin body and driving the cabin body to realize various spatial motions;
the power source is used for providing power for the upper platform and is respectively connected with the upper platform and the foundation through the transmission mechanism;
and two ends of the transmission mechanism are respectively connected with the upper platform and the foundation.
3. A linked platform for flight simulation according to claim 2, wherein the power source comprises servo electric cylinders and air cylinders,
the servo electric cylinder is used for providing a power source for the upper platform and supporting the upper platform to move;
the cylinder is used for balancing the dead weight of the upper platform in the movement process and providing safe buffering for the upper platform.
4. A linked platform for flight simulation according to claim 3, wherein the servo electric cylinders are provided with hall sensors for limiting the maximum and minimum stroke of the servo electric cylinders.
5. The linked platform for flight simulation of claim 2, wherein the control system comprises a PLC, a plurality of motion controllers, an upper computer,
the PLC is used for acquiring real-time state information and sending the real-time state information to the upper computer;
the upper computer determines whether the multiple Stewart six-degree-of-freedom motion platform systems meet the operation requirements or not according to the received real-time state information, and sends preset motion attitude data to the multiple motion controllers, ensures data synchronization of the multiple motion controllers and sends synchronization signals to the multiple motion controllers;
and the motion controllers are respectively connected with power sources corresponding to the Stewart six-freedom-degree motion platform system and are used for calculating the pose of the corresponding upper platform in real time according to the preset motion attitude data, feeding back motion parameters of the power sources according to the power sources corresponding to the upper platform and uniformly executing the motion parameters according to the synchronous signals.
6. A linked platform for flight simulation according to claim 5, wherein the plurality of motion controllers comprises a first motion controller and a plurality of second motion controllers,
a clock of the first motion controller is configured as a reference clock of the synchronization signal;
the clocks of the plurality of second motion controllers are configured to be clock synchronized according to the reference clock.
7. A linked platform for flight simulation according to any one of claims 1 to 6, wherein the real-time status information includes power source position, torque, temperature, current, barometric pressure values, and aircraft door lock status, seat belt buckle status, relative distance between each Stewart six degree of freedom motion platform systems.
8. A method of controlling a linked platform for flight simulation according to any one of claims 5 or 6, comprising the steps of:
the upper computer determines that the state of each device meets the operation requirement;
and the upper computer sends preset motion attitude data to a plurality of motion controllers, and the motion controllers calculate the pose corresponding to the upper platform in real time according to the preset motion attitude data, feed back motion parameters of the power source according to the power source corresponding to the upper platform and perform unified execution according to the synchronous signals.
9. The method of claim 8, wherein the plurality of motion controllers determine the amount of time to delay or advance the execution of the data exchange according to the synchronization cycle data in the received data and the adjustment time of the upper computer.
10. The method of claim 8, wherein the host computer exchanges data with the plurality of motion controllers through an industrial-grade local area network switch using a UDP protocol.
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