波域预测三通道时延双边遥操作  

3CH time-delayed bilateral teleoperation using wave variable with prediction

作　　者：于振中[1,2] 闫继宏[1] 赵杰[1] 高永生[1] 陈志峰[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080 [2]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《吉林大学学报（工学版）》2011年第4期1096-1101,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2006AA04Z245);哈尔滨市科技创新人才研究专项资金项目(2007RFQXG046);中国博士后科学基金项目(200904500988)

摘　　要：针对波变量方法应用于时延遥操作系统透明性差的问题,提出了将波变量方法与预测技术及三通道遥操作系统结构相结合,在保证时延系统稳定性的基础上提高其透明性。针对主端无力传感器的遥操作系统,建立了一种三通道遥操作双边控制结构,并根据理想透明性条件分析了三通道控制结构的参数选择方法。为了将波变量方法应用于三通道结构,通过合理的力/速度信息组合将三通道结构分割成二端口模型并对此二端口模型的输入输出信息进行了波变换。在主端的波域加上预测器,进一步提高系统的透明性,并设计能量综合器来保证预测器的无源性。最后,从理论上分析了本文方法的透明性和稳定性并进行了实验验证,结果表明:在一定条件下,本文方法能够保证时延系统的稳定性,并具有较好的透明性。To overcome the poor transparency of using wave variable algorithm in time-delay teleoperation system,a novel method was proposed for incorporating wave variable algorithm with prediction in a three-channel（3CH） architecture of teleoperation system.This method is capable to guarantee the stability of time-delay teleoperation meanwhile increase the transparency.A 3CH teleoperation control architecture was established for the system in the absence of force sensor in the master side,and a parameter selection method for 3CH architecture under the condition of ideal transparency was presented.To extend wave variable algorithm to a 3CH teleoperation architecture,the communication channel was divided into a two-port model by reasonable combination of force and speed information.Then the I/O signal of the two-port model was transformed into wave variable.A predictor was added in wave domain of the master side to further enhance the transparency of the system,and an energy regulator was designed to ensure the predictor being passive.The transparency and stability of the system were analyzed.Experiment results show that the proposed method can guarantee the transparency and stability of time-delay teleoperation system.

关 键 词：自动控制技术 系统工程 三通道遥操作 波域预测 双边遥操作 透明性 能量综合器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]