大时延力反馈遥操作系统的PID控制  

PID Control of Force-reflecting Teleoperation System with Large Time-delay

作　　者：邓启文[1] 韦庆[1] 李泽湘[2] 

机构地区：[1]国防科大机电工程与自动化学院,长沙410073 [2]香港科技大学电机及电子工程学系

出　　处：《宇航学报》2006年第2期196-200,共5页Journal of Astronautics

基　　金：国家自然科学基金(50029501)

摘　　要：如何保证稳定性和透明性是时延力反馈遥操作系统面临的主要问题。本文把最简单的PID控制应用于这类系统,由绝对稳定的莱威林准则和电路阻尼理论推导出保系统稳定性和透明性的参数约束条件。最后进行实验验证,在时延6秒的情况下完成了硬结触曲面跟踪任务。理论分析和实验都表明这种方法能保证系统的稳定性和透明性。The key problem of the delay force - feedback teleoperation system is how to guarantee its stability and transparency. In this paper, a PID algorithm is put forward. Then, based on the liewellyn＇s critic of absolute stability and damp theory of electrocircuit, the restriction of the PID parameters, which guarantee the stability and transparency of the system, are got. At last, we validate them by experiment. Under the condition of 6s delay, we complete a curved surface tracing experiment successfully. Theory analysis and experiment both proved the validity of this algorithm.

关 键 词：时延 力反馈 PID控制 稳定性 透明性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]