智能网联无人系统云控制平台的关键理论与技术

夏元清; 刘丹阳; 杨洪玖; 于东东; 高润泽

doi:10.16383/j.aas.c250423

智能网联无人系统云控制平台的关键理论与技术

doi: 10.16383/j.aas.c250423 cstr: 32138.14.j.aas.c250423

夏元清^{1, 2,},
刘丹阳^2,,
杨洪玖^{3, 1,},
于东东^1,,
高润泽^2,

1.
中原工学院自动化与电气工程学院郑州 451191
2.
北京理工大学自动化学院北京 100081
3.
天津大学电气自动化与信息工程学院天津 300354

基金项目: 国家自然科学基金(U25A20460, 62373269), 北京市自然科学基金-海淀原始创新联合基金(L252035)资助

详细信息

作者简介:
夏元清：中原工学院校长, 北京理工大学讲席教授. 主要研究方向为云控制系统, 网络化控制系统, 鲁棒控制与信号处理, 自抗扰控制, 无人系统控制和飞行控制. E-mail: xia_yuanqing@bit.edu.cn

刘丹阳：北京理工大学自动化学院博士研究生. 主要研究方向为云控制系统, 云计算, 云边协同和分布式系统. E-mail: liu_danyang@bit.edu.cn

杨洪玖：天津大学电气自动化与信息工程学院教授, 中原工学院自动化与电气工程学院教授. 主要研究方向为鲁棒控制, 滤波理论, delta算子系统, 网络化控制系统和自抗扰控制. 本文通信作者. E-mail: yanghongjiu@tju.edu.cn

于东东：中原工学院自动化与电气工程学院助理教授. 主要研究方向为多传感器信息融合, 分布式状态估计, 信号处理和非线性滤波. E-mail: dongdoyu@163.com

高润泽：北京理工大学自动化学院博士后. 主要研究方向为云控制系统, 模型预测控制和数据驱动预测控制. E-mail: runze_gao@bit.edu.cn

计量
- 文章访问数: 18
- HTML全文浏览量: 12
- 被引次数: 0
出版历程
- 收稿日期: 2025-08-29
- 录用日期: 2025-11-06
- 网络出版日期: 2026-01-21

Key Theories and Technologies of Cloud Control Platform for Intelligent Connected Unmanned Systems

XIA Yuan-Qing^{1, 2
,},
LIU Dan-Yang^2
,,
YANG Hong-Jiu^{3, 1
,},
YU Dong-Dong^1
,,
GAO Run-Ze^2
,

1.
School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 451191
2.
School of Automation, Beijing Institute of Technology, Beijing 100081
3.
School of Electrical and Information Engineering, Tianjin University, Tianjin 300354

Funds: Supported by National Natural Science Foundation of China (U25A20460, 62373269) and Beijing Natural Science Foundation Haidian Original Innovation Joint Fund (L252035)

More Information

Author Bio:
XIA Yuan-Qing　 President at the Zhongyuan University of Technology, chair professor at the Beijing Institute of Technology. His research interests include cloud control systems, networked control systems, robust control and signal processing, active disturbance rejection control, unmanned systems control, and flight control

LIU Dan-Yang　 Ph. D. candidate at the School of Automation, Beijing Institute of Technology. His research interests include cloud control systems, cloud computing, cloud-edge collaboration, and distributed systems

YANG Hong-Jiu　 Professor at the School of Electrical and Information Engineering, Tianjin University, professor at the School of Automation and Electrical Engineering, Zhongyuan University of Technology. His research interests include robust control, filter theory, delta operator systems, networked control systems, and active disturbance rejection control. Corresponding author of this paper

YU Dong-Dong　 Assistant professor at the School of Automation and Electrical Engineering, Zhongyuan University of Technology. His research interests include multi-sensor information fusion, distributed state estimation, signal processing, and nonlinear filtering

GAO Run-Ze　 Postdoctoral at the School of Automation, Beijing Institute of Technology. His research interests include cloud control systems, model predicitive control, and data-driven predictive control

摘要

摘要: 针对智慧城市中无人系统因通信架构不统一、任务调度效率低下及数字孪生技术难以支撑实时全局决策所导致的跨域协同难题, 融合云控制系统理论与数字孪生技术, 基于云网边端协同云控制架构, 构建智能网联无人系统云控制平台及关键理论与技术体系. 该体系涵盖云控制系统综合建模、模型-数据联合驱动控制、多运动体跨域协同云控制等关键理论, 研究数字孪生系统、容器化云工作流调度系统、动态云控制系统、远程驾驶系统等关键技术. 在校园场景下部署无人机、无人车、无人船、机器人等异构无人系统, 形成空基、地基、海(水)基动态云并实现跨域协同, 验证了所提理论体系的可行性与有效性, 为未来智慧城市发展与跨域无人系统协同应用提供理论支撑与技术路径.
- 智能网联无人系统 /
- 云控制系统 /
- 数字孪生 /
- 云网边端协同架构 /
- 智慧城市
Abstract: To address the cross domain collaborative challenges of unmanned systems in smart cities, which arise from inconsistent communication architectures, inefficient task scheduling, and the inability of digital twin technologies to support real time global decision making, this paper integrates cloud control system theory with digital twin technologies. Based on a cloud-network-edge-terminal collaborative cloud control architecture, we establish a cloud control platform for intelligent connected unmanned systems together with its key theoretical and technical framework. This framework encompasses key theories, such as comprehensive modeling of cloud control systems, model and data-driven joint control, and cross-domain collaborative cloud control for multi-motion bodies. In addition, several key technologies are developed, including a digital twin system, a containerized cloud workflow scheduling system, a dynamic cloud control system, and a remote driving system. A heterogeneous unmanned system composed of unmanned aerial vehicles, unmanned vehicles, unmanned surface vehicles, and robots is deployed in a campus scenario to form aerial-based, ground-based, and sea (water)-based dynamic cloud and to achieve cross domain collaboration. The results verify the feasibility and effectiveness of the proposed theoretical framework and provide theoretical foundations and technical pathway for future smart city development and cross domain unmanned system applications.
- intelligent connected unmanned systems /
- cloud control systems /
- digital twin /
- cloud-network-edge-terminal collaborative architecture /
- smart city

HTML全文

图 1 智能网联无人系统云控制平台架构

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图 2 智能网联无人系统云控制平台可视化界面

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图 3 无人车数字孪生场地

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图 4 无人机与机器人数字孪生场地

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图 5 无人船数字孪生场地

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图 6 容器化工作流调度系统

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图 7 工作流定义格式

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图 8 动态云控制系统

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图 9 远程驾驶舱

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图 10 无人机硬件平台

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图 11 无人车硬件平台

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图 12 无人车内部硬件

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图 13 路侧单元

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图 14 无人船硬件平台

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图 15 无人船船坞

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图 16 水下机器人硬件平台

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图 17 四足机器人硬件平台

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图 18 双足机器人硬件平台

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