Designing a Method for Constructing Distributed Open ACS Based on the ESP-NOW Wireless Protocol

A new approach to the implementation of open distributed automatic control systems based on use of cheap computing nodes from the manufacturer Espressif, exchanging data via the ESP-NOW wireless protocol, is proposed. Due to the used data transfer protocol, it became possible to quickly and losslessly transfer data packets between computing nodes, which favorably affected the operation of the entire system as a whole. The solution proposed in the work allows the use of distributed automatic control systems (ACS) to control complex mechatronic objects, such as industrial manipulators, and allows location of computing nodes at remote points in the workspace. This fact is confirmed by the performance indicators obtained during testing of a real system. The paper proposes the basic architecture of such a system and describes the features of the implementation of individual nodes, presents diagrams of the classes of microprograms contained in computing nodes.