摘要
针对通信时延对遥操作系统稳定性和透明性的影响,研究了一种基于双边自适应控制和波变量理论的控制方法。通过设计波控制器保证通信传输模块的无源性,在保证系统稳定的基础上,调节波阻抗系数来提高系统的透明性,并在时延10 s的情况下进行主从端速度、位置和力的跟踪仿真实验,结果表明该方法和已有的双边自适应方法相比既能保证系统稳定且透明性好,达到较好的控制效果。
Considering the impact of communication time-delay for the stability and transparency of the teleoperation system, a control scheme is presented based on the bilateral adaptive control and wave theory. Through design the wave controller to ensure communication transmission module passivity, in ensuring stability of the system based on the adjusted impedance factor to improve the system＇s transparency, a simulation is carried out study on the speed, position and force tracking of the master-slave. Experimental results show that the proposed scheme can guarantee systems stability and good transparency, and the control performance is improved.
出处
《控制工程》
CSCD
北大核心
2012年第3期425-430,共6页
Control Engineering of China
基金
国家自然科学基金资助项目(60975065)
关键词
大时延
遥操作
自适应
波变量
透明性
稳定性
large time-delay
teleoperation
adaptive control
wave variable
transparency
stability
