多自由度变时延遥操作系统控制的波预测法  

Wave varible with prediction in multi-DOF teleoperation system with varying-time-delay

作　　者：于振中 闫继宏[2] 惠晶 马勇虎 赵杰[2] 

机构地区：[1]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 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《系统工程与电子技术》2011年第11期2474-2479,共6页Systems Engineering and Electronics

基　　金：中央高校基本科研业务费专项资金(JUSRP11127);国家高技术研究发展计划(863计划)(2006AA04Z245)资助课题

摘　　要：针对多自由度变时延遥操作系统,建立了一种一般性的波变换公式并将波变量方法与预测技术相结合来保证系统的稳定性并提高系统的透明性。针对变化时延和预测模型不精确引起的稳态位置误差问题,提出了从端校正控制方法。首先,用波阻抗矩阵代替波阻抗b得到多自由度遥操作系统的波变换公式,从能量的角度推导出波阻抗矩阵的选择原则,基于此原则和矩阵之间的内在关系扩展了波阻抗矩阵的选择条件。分析了变时延条件下波预测控制的稳定性和由于变化时延与预测模型误差引起的主从端稳态位置误差,考虑主从端的位置信息处于同一个时间框架内,采用从端校正控制方法减小稳态位置误差。以三自由度主从遥操作系统为例进行了遥操作实验,实验结果表明所研究的方法能够保证系统的稳定性,且具有较高的透明性和较小的稳态位置误差。A group of general wave transformation equations for multi-degree of freedom （DOF） teleoperation system are created, and a novel method for incorporating wave variable and prediction is proposed for the system to insure the stability and improve the transparency. To overcome the steady-state position error problem caused by varying-time-delay and inaccurate prediction model, a slave side correction method is proposed instead of wave impedance b with wave impedance matrices, the wave transformation equations for multi-DOF system are considered, and the choice principle of the impedance matrices is derived from the energy point of view, then based on the principle and the intrinsic relationship among the matrices the choice method of the matrices is extended. The stability of the wave prediction method and the aforementioned steady-state position error problem are analysed. The positions of the master and slave are in the same ＂time frame＂, so a slave side correction method is used to reduce the steady-state error. A three-DOF teleoperation system is taken as an exam- ple to verify the validity of the method. The experimental results show that the method can guarantee the stability and improve the transparency and decrease the steady-state error for the system.

关 键 词：遥操作 波预测 从端校正 无源性 波变换 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]