多自由度遥操作系统的适应性波预测控制  

Wave varible with adaptive predictor in multi-DOF teleoperation system

作　　者：于振中 惠晶 马勇虎 

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

出　　处：《计算机工程与应用》2013年第11期261-264,共4页Computer Engineering and Applications

基　　金：国家高技术研究发展计划(863)(No.2006AA04Z245);中央高校基本科研专项资金项目(No.JUSRP11A48)

摘　　要：针对波预测方法用于多自由度遥操作系统预测模型适应性差的问题,提出了适应性波预测的控制方法。该方法利用波变量、适应性预测器来保证遥操作系统的稳定并提高系统的透明性和适应复杂多变作业任务的能力。设计三自由度主从遥操作实验,实验结果表明具有适应性的波预测器能够适应从端模型变化的作业环境,系统稳定且具有较高的透明性。To overcome the poor adaptive problem of wave prediction method in Multi-DOF teleoperation system, a novel method with adaptive wave predictor is proposed. The method incorporates wave variable and adaptive predictor to insure the stability and improve the transparency and adaptability of the teleoperation system. A three-DOF teleoperation experiment is established to verify the validity of aforementioned method, and the experimental results show that the adaptive predictor can adapt the vary operating environment, the teleoperation system is stability and with high transparency.

关 键 词：遥操作 波变量 波预测 适应性 

分 类 号：TB486[一般工业技术—包装工程]