Stability control method for time-delay-variable bilateral teleoperation system

A stable control method and operating system technology, applied in general control systems, adaptive control, control/regulation systems, etc., to achieve the effect of easy implementation and good robustness

Active Publication Date: 2017-05-31
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
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  • Application Information

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Problems solved by technology

However, most teleoperation systems are under variable delay conditions
However, the patent "CN201510243994.4-A design method for a variable-delay two-person remote operation variable-structure controller" proposes a variable-structure control method for two-person teleoperation under the condition of variable delay, but does not address the variable-delay situation. Bilateral teleoperation proposes a corresponding stable control method. For this reason, this patent proposes a stable control method for bilateral teleoperation in the case of variable delay

Method used

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  • Stability control method for time-delay-variable bilateral teleoperation system
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  • Stability control method for time-delay-variable bilateral teleoperation system

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specific Embodiment approach

[0064] Step 1: Establish two dynamic models of master and slave:

[0065]

[0066]

[0067]

[0068] in:

[0069] In the above formula m s =0.5kg, K=3, B=20. Indicates the expected speed of transmission from the master to the slave, x sc Indicates the expected position of the master transfer to the slave, and Respectively represent the actual speed of the master end and the slave end, the subscript m represents the master end, and the subscript s represents the slave end;

[0070] Step 2: Design the Channel Stabilization Controller

[0071] The wave variation method is used on each channel to ensure the stability of the channel. Specific steps are as follows:

[0072]

[0073]

[0074]

[0075]

[0076] Among them, b=2.5 is the wave variable parameter, u m (t) represents the forward wave variable of the main terminal, Indicates the reverse wave variable at the master end, Indicates the forward wave variable from the end, v s (t) represent...

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Abstract

The invention relates to a stability control method for a time-delay-variable bilateral teleoperation system. Models of two main ends and an auxiliary end of the bilateral teleoperation system are established; according to three coexisting channels, each channel transmits speed and force information to the opposite side, a wave variable method is used to ensure the channel stability in each channel, and channel stability controllers are designed; and a time delay is predicted, an obtained time variable gain is input to the two channel stability controllers, and stability control of the time-delay-variable teleoperation system is realized. The method is easy to realize and apply, and can be mainly applied to stability control of the time-delay-variable bilateral teleoperation system. The method has high robustness for linear and nonlinear teleoperation systems, and the time delay prediction method can be used to obtain an extremum of a time delay change rate easily.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and relates to a stable control method for a bilateral teleoperation system with variable time delay. Background technique [0002] Teleoperation technology has played an increasingly important role in many fields such as space robots, high-precision assembly, surgery, etc., but the introduction of time delay is an inevitable outstanding problem. When the operation loop delay is relatively large compared with the dynamic time constant of the robot, there will be a large delay when the measurement information (position and contact force) interacted between the remote robot and the working environment is transmitted to the operator. The delay affects the operator's thinking and judgment ability, making it impossible to issue effective operation commands in time, causing the performance of the system to decline, and in severe cases, causing system instability. The property of delay is time-vary...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/048
Inventor 黄攀峰戴沛刘正雄鹿振宇孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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