作者:
Yin， Y.F.， Wang Y. and Wang Y.X.
关键词:
Control systems； Middleware； Application software； Computer architecture； Bibliographies； Software architecture； Protocols； Unmanned aerial vehicles； Force control
摘要:
This paper is a survey about open control platform. Open control platform (OCP) is a sort of software architecture with distributed, asynchronous, real-time, and ubiquitous features and connected by real-time CORBA communication protocol. The origin about OCP is investigated and the state of the art of OCP in the world is shown in details. After a full analysis on the technologies in OCP, five key elements in building OCP is proposed, which are embedded middleware technology, virtual resource network, control application programming interfaces, real-time communication protocols, and general control design. As a comparison with the international research, our own research works and relative achievements are also surveyed: from OCP tasks abstract, functions definition, structures, modelling, methods implementations to simulation and testing. Finally, open control platform, as an open issue, open software, can be downloaded freely and researched freely, and therefore much more attention should be paid by more investigators, as is the motivation of this paper.