支持多个维修人员“人在回路”交互操作的协同式虚拟维修技术，为解决大型装备的维修训练难题提供了有效途径。项目针对其中的多人实时自然交互及协同操作控制开展研究，以提高协同式维修训练的实时性和实效性。基于大型装备协同式维修过程中各类要素的行为描述和知识表达，建立协同式维修操作过程模型；进而分析多个维修人员与维修对象、维修资源之间的交互行为，建立人机交互行为特征模型，研究多人协同式自然交互控制技术。利用异构数据信息映射转换、时间同步和信息补偿技术，确保协同式虚拟维修环境中多人交互操作时的数据一致性，并对提高数据交互效率的数据分发管理进行研究。研究基于所有权对等转移和仿真时间推进机制的并发冲突控制策略，控制和管理多个用户节点对共享数据信息的并发访问和协同操作。在此基础上，研究不同维修协作模式下多个维修人员之间的协同操作过程，建立协同式人机交互控制模型，实现多人实时交互与维修操作的协同配合和智能决策。

Collaborative virtual maintenance technique that can support the interactive operations of multi maintenance operators in man-in-loop mode provides an effective approach to the maintenance training of large complex equipment. Real-time natural interaction and related collaborative operation control of multi persons are studied to improve the real-time performance and effectiveness of the collaborative virtual maintenance training. Collaborative maintenance operation process model is established based on the behavior description and knowledge expression of the various elements in collaborative maintenance operation process of the complex equipment. Then the interactive behaviors among multi maintenance operators and maintenance objects as well as maintenance resources are analyzed to establish the human-computer interaction feature model and perform the research on techniques of collaborative and real-time natural interaction control. The techniques of mapping transformation, time synchronization and information compensation for the heterogeneous data and information are applied to ensure the data consistency of interactive operation multi operators in the collaborative virtual maintenance environment. The data distribution management strategy is also studied to improve the interactive efficiency of the data and information. The concurrent conflict control strategy is studied based on the peer transfer mechanism of ownership and simulation time advance mechanism to manage the concurrent accessing and collaborative operation of the shared data and information for multi user nodes. Based on the above work, collaborative human-computer interaction control model is established with the research on collaborative process of multi maintenance operators in different maintenance cooperation modes. And then the collaborative cooperation and intelligent decision in the real-time interaction and maintenance operations of multi trainees are realized.