A design method for control network nodes based on CPLD and multi-processor architecture is proposed in this paper.

论文提出了一种基于CPLD和多处理器结构的控制网络节点设计方法。

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Nonlinear control for distributing tension among cable network is applied simultaneously with positioning control of the cable drive architecture and effectively avoids runtime cable over-sagging.

在驱动索系定位控制的同时，耦合索系张力分配的非线性控制，有效地避免了钢索虚牵。

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