Self-adaptive Smith estimator-based tele-operation bilateral PID (proportion, integral and derivative) control method

Abstract

The invention discloses a self-adaptive Smith estimator-based tele-operation bilateral PID control method. The self-adaptive Smith estimator-based tele-operation bilateral PID control method comprisesestablishing a nominal kinetic model of a bilateral control system under large time delay; disclosing a self-adaptive Smith estimated control method and structure, swapping a traditional model with areference model by referring to the controlled process of self-adaptive control to achieve self-adaptive correction of parameters of a Smith estimator; designing parameter-adjustable self-adaptive regulation laws through a Lyapunov function method; then, mounting a low-pass filter into a sub-terminal controller, and selecting appropriate parameters to eliminate interference of joint high-frequency signals. Compared with other control methods, the self-adaptive Smith estimator-based tele-operation bilateral PID control method can maintain stability of an operating system under the conditions of large time delay and system modeling errors and meanwhile achieve good tracking performance.

Description

【Technical field】 [0001] The invention belongs to the technical field of teleoperation, relates to bilateral control and self-adaptive control technology, in particular to a teleoperation bilateral PID control method based on an adaptive Smith predictor. 【Background technique】 [0002] Teleoperation technology is a means to transmit the operator's control instructions and control behaviors using modern communication means and act on the remote robot system. It is widely used in aviation, aerospace, nuclear environment and other fields. The main feature of teleoperation system is the existence of master-slave communication delay. In order to ensure the stability of teleoperation system under the condition of delay, the control methods usually adopted include passivity theory, wave variable, modern control theory, intelligent control, etc. method. However, with the continuous expansion of human exploration of unknown areas of space, the time delay of the master-slave side of ...

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Problems solved by technology

However, with the continuous expansion of human exploration of unknown areas of space, the time delay of the master-slave side of the remote control system is also increasing, and the above-mentioned traditional control methods are gradually manifested in terms of stability and operability under the condition of large time delay. Researchers began to do further research on the control method of the teleoperation system under the condition of large delay

[0003] In the study of the long-delay problem of the teleoperation system, researchers have proposed various improvements on the traditional method, but most of them are to maintain the stability of the closed-loop system by reducing the operating performance of the system, which is an indirect maintenance method. The method of system stability does not directly study the time delay link in the system

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