水下机械手主从遥操作双边控制策略  

The Bilateral Control Strategy in Underwater Robot's Master-Slave Teleoperation System

作　　者：刘卫东[1,2] 张建军[1] 高立娥[1,2] 程瑞锋[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072 [2]西北工业大学水下信息与控制重点实验室,陕西西安710072

出　　处：《西北工业大学学报》2016年第1期53-59,共7页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(61473224)资助

摘　　要：水下机械手在操作过程中存在抓取对象未知、临场性差的问题,深水环境下较低的能见度限制了机械手的作业。针对此问题提出了带力觉感知的主从式遥操作双边控制系统。主手采用模糊自适应阻抗控制方法,从手采用积分滑模变结构控制方法。通过Liewellyn绝对稳定性准则分析了整体系统的稳定性。搭建了单自由度双边遥操作系统平台,在Matlab Simulink下进行了相关仿真。仿真表明:主手控制提高了透明性以及系统鲁棒性;从手控制克服了外界干扰及消除了滑模控制的抖振问题,从手具有很好的力/位移跟踪主手的能力;整体系统具有很好的稳定性和可行性。The robot was an important equipment for the underwater vehicle＇s exploration, the unknown objects and poor feeling property was in the manipulation, and the robot＇s work was limited by low visibility under the deepwater environment. The bilateral teleportation system based on haptic perception was proposed for these problems. The fuzzy adaptive impedance control was applied to the master hand, and the integral sliding mode control strategy was applied to the slave hand. The saturation function was used to remove the chatter during the sliding mode control. The absolute stability criteria was applied for the analysis of the stability condition of bilateral control. The single degree of freedom platform was set up for the bilateral force feedback remote operating system, the relevant simulink was carried out in the Matlab Simulink.It was shown that：the robustness of the master hand and the feeling from the environment was improved, the external interference was overcomed and the chattering in sliding mode control was eliminated ,the position tracking and the interaction with the environment of slave hand obtained guarantee, the whole system had a good feasibility and stability.

关 键 词：遥操作控制 滑模控制 模糊规则 数学模型 MATLAB 位置跟踪 稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]