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Design method of variable-structure controller for double teleoperation with feature of time-varying delay

A design method and controller technology, applied in instrumentation, computing, special data processing applications, etc., can solve the problem that control information is easily affected by time delay and so on

Inactive Publication Date: 2015-12-09
NORTHWESTERN POLYTECHNICAL UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, due to the widespread time delay problem in the satellite-ground loop, the increase of control information is more susceptible to the impact of time delay

Method used

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  • Design method of variable-structure controller for double teleoperation with feature of time-varying delay
  • Design method of variable-structure controller for double teleoperation with feature of time-varying delay
  • Design method of variable-structure controller for double teleoperation with feature of time-varying delay

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Experimental program
Comparison scheme
Effect test

Embodiment

[0120] Step 1: Establish the dynamic model and delay model of the master and slave.

[0121] Establish the model according to formula (1-1), formula (1-2) and formula (1-3). The specific parameter selection is shown in the table below:

[0122]

[0123] Formula (1-4) expects the force relationship between the master end and the slave end: k f =10

[0124] Establish the desired positional relationship between the master and the slave, select α 1 = α 2 = α 3 =0.5

[0125] In case of delay:

[0126] d, d in formula (1-6), formula (1-7) and formula (1-8) 1 、d 2 The uniform noises with mean values ​​of 500ms, 400ms and 200ms are selected respectively, all of which are time-varying functions.

[0127] Step 2: Master controller design

[0128]The main end adopts the impedance controller, because if the slave end adopts the proportional tracking position and force information of the main end, it will cause the master end and the slave end of the whole system to be connect...

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Abstract

The invention discloses a design method of a variable-structure controller for double teleoperation with the feature of time-varying delay. Conventional impedance control is adopted by a master terminal. Variable structure control is adopted by a slave terminal. When a variable-structure controller at the slave terminal is designed, the method of integrating errors is adopted in order to decrease a noise problem caused by differential terms and serves as a sliding mode function. The design method of the variable-structure controller for double teleoperation with the feature of time-varying delay has following beneficial effects: a sliding mode controller is reasonably selected in order to reduce negative impact of time delay to a great extent; meanwhile, the sliding mode controller is not required to determine concrete value of time delay so that the noise problem caused by derivation of the sliding mode function is avoided; furthermore, fine robustness and stability are obtained without influence of changes and time delay; and the requirement for a double teleoperation system featuring time-varying delay can be satisfied.

Description

technical field [0001] The invention belongs to the field of variable structure control, and in particular relates to a design method of a variable structure controller operated by two people with variable time delay and remote operation. Background technique [0002] The most prominent advantage of the sliding mode variable structure system is that the sliding mode is "completely adaptive" to the disturbance and parameter perturbation of the system, which is also an important reason for its attention. Since the 1950s, sliding mode variable structure control, as a comprehensive method of control system, has formed a relatively independent scientific research system. For the variable delay characteristics in the teleoperation system, the variable structure control can effectively reduce the interference of external perturbation on the system stability. [0003] In the field of teleoperation, the traditional operation mode of single master hand and single slave hand is restri...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 黄攀峰戴沛刘正雄孟中杰鹿振宇
Owner NORTHWESTERN POLYTECHNICAL UNIV
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