摘要
Internet网络的时变时延及网络数据丢包严重影响了遥操作机器人系统的操作性能,甚至造成系统不稳定。为了解决这一问题,提出一种新的基于Internet的遥操作机器人系统控制结构。通过在主端对给定信息加入时间标签获得过去的系统回路时延,采用多元线性回归算法,预测下一时刻系统回路时延,然后在从端设计一个广义预测控制器控制远端机器人,从而改善时变时延对系统性能的影响。应用广义预测控制器产生的冗余控制信息,降低了网络数据丢包对系统的影响。最后根据预测控制稳定性定理,推导出系统的稳定性条件。仿真试验结果表明,该方法能有效解决时变时延以及网络数据丢包引起的性能下降问题。
The variable time delay and the packet loss in the Internet degrade seriously the performance of Internet based teleoperation system, and even make the system unstable. To overcome this problem, a novel control architecture of the Internet -based teleoperation system is proposed. The reference information signed with time stamp at master site is transmitted to the slave site and then feeds back to the operator, so the operator can get the round-trip-timedelay（RTT） and then predict the next RTT making use of the multivariate linear regression algorithm to analyze the preceding RTT which has been got. A generalized predictive control（GPC） strategy using CARIMA model of the lineared slave robot is designed at slave site to control the telerobot. Consequently, the operation performance of the system is improved by using this method. Simultaneously, the GPC controller generates the redundant control information which can diminish the influence of the packet loss and the large time delay in the Internet to the system. Finally, stability condition is deduced according to the predictive stability theorem. Simulation results show that these strategies can solve efficiently the problem caused by the variable time delay and the packet loss.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2009年第3期191-196,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金重点资助项目(60334010)
