基于波变量补偿的阻抗匹配时延双边遥操作  

Impedance Matching Time-delay Bilateral Teleoperation With Wave Variable Compensation

作　　者：余缘敏 张伯虎[1] 陈洋 魏玉宏[1] 任丽芳 

机构地区：[1]武警工程大学信息工程系,西安710086 [2]武警总部通信站,北京100089

出　　处：《计算机测量与控制》2015年第12期4207-4209,4232,共4页Computer Measurement &Control

摘　　要：通信时延是遥操作系统中固有的问题,它会严重影响遥操作的性能,降低系统的稳定性和跟踪性;基于无源理论的波变量法可以保证遥操作系统在任意时延下稳定,是解决时延问题的一个重要方法;然而,波变量法带来的波反射会阻扰有用信号的传输,降低了主从端信号的跟踪性,严重时甚至会导致整个系统振荡;文中提出了一种基于波变量补偿的阻抗匹配双边遥操作系统结构,旨在减少波反射,提高操作者的临场感和系统的跟踪性;仿真实验结果表明,在任意固定时延条件下,调整后的波变量结构减少了系统波反射,降低了主从端位置和力的跟踪误差,在保证系统稳定性的前提下有效地提高了系统的跟踪性。Communication time-delay is an inherent problem in teleoperation system, which will seriously af{ect the performance of the teleoperation system and reduce the stability and tracking performance of the system. The wave variable method based on passivity theory can guarantee the stability of the telcoperation system in any time-delay, and it is an important method to solve the delay problem. However, wave reflections caused by wave variable method will obstruct the useful signal transmission and reduce the master and slave signal tracking, seriously even lead to oscillations of the whole system. In this paper, a new impedance matching system based on wave variable compensation is proposed to reduce the wave reflections and enhance the operator＇s sense of presence and the tracking of the system. The simulation results show that the structure of the wave variable structure can reduce the system＇s wave reflection and reduce the tracking error of the slave posi- tion and force.

关 键 词：遥操作 时延 波变量 阻抗匹配 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]