大时延遥操作系统的波变量双边自适应控制  

Wave Variable Bilateral Adaptive Control of Teleoperation System with Large Time-delay

作　　者：刘红云[1] 熊伟[1] 居鹤华[1] 崔平远[1,2] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124 [2]北京理工大学宇航学院深空探测技术研究所,北京100081

出　　处：《控制工程》2012年第3期425-430,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(60975065)

摘　　要：针对通信时延对遥操作系统稳定性和透明性的影响,研究了一种基于双边自适应控制和波变量理论的控制方法。通过设计波控制器保证通信传输模块的无源性,在保证系统稳定的基础上,调节波阻抗系数来提高系统的透明性,并在时延10 s的情况下进行主从端速度、位置和力的跟踪仿真实验,结果表明该方法和已有的双边自适应方法相比既能保证系统稳定且透明性好,达到较好的控制效果。Considering the impact of communication time-delay for the stability and transparency of the teleoperation system, a control scheme is presented based on the bilateral adaptive control and wave theory. Through design the wave controller to ensure communication transmission module passivity, in ensuring stability of the system based on the adjusted impedance factor to improve the system＇s transparency, a simulation is carried out study on the speed, position and force tracking of the master-slave. Experimental results show that the proposed scheme can guarantee systems stability and good transparency, and the control performance is improved.

关 键 词：大时延 遥操作 自适应 波变量 透明性 稳定性 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]