基于广义波变换的透明遥操作  

Transparent Teleoperation Based on Generalized Wave Transformation

作　　者：张永林[1] 宋爱国[2] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003 [2]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《江苏科技大学学报（自然科学版）》2008年第1期57-62,共6页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家863高技术研究发展计划项目(2006AA04Z246;2002AA742048);国家自然科学基金资助项目(60475034)

摘　　要：基于广义波变换的力反馈遥操作系统的透明性,推导了实现系统透明遥操作的最小波反射准则和严格阻抗匹配准则。理论分析和数字仿真均表明:广义波变换遥操作系统的透明性是一个与输入频率相关的特性;同一组参数在不同的输入频率下,系统的透明性不同;当系统输入频率增高时,透明降低。严格阻抗匹配的波变量遥操作系统在相应的输入频率下,透明度高于最小波反射的波变量遥操作系统;最小波反射准则对输入频率的敏感程度则低于严格阻抗匹配准则。An analytical framework for investigating the transparency of a force-feedback teleoperation system with large time delay is developed based on the generalized wave variables. Two criteria for the optimum transparency are derived, namely the minimum wave reflection coefficient criterion and the strict impedance matching criterion. Results from both the theoretical analysis and the numerical simulation show that the transparency is a frequency-dependent performance. At different input frequencies, the wave-based teleoperation system appears different transparency behavior. With the increasing of the input frequency, the transparency of the system decreases. The transparency of the wave-based teleoperation system with strict impedance matching at the specific input frequency is higher than that with minimum wave reflection, but the sensitivity of latter is lower.

关 键 词：遥操作 时延 广义波变换 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] TP18[自动化与计算机技术—控制科学与工程]