摘要
在遥操作系统中需要主、从机械手间进行通信,但通信通道中存在较大的通讯时延,这会降低系统操作性能,甚至会使系统不稳定.为了解决这个问题,首先建立系统的状态空间模型,接着提出用时间前向观测器预测从机械手状态,并结合力、位置和速度反馈消除或减小时延对系统影响.系统反馈参数可方便地通过线性矩阵不等式求解.该方法能使系统渐近稳定而且具有良好的透明性.仿真结果表明该方法是有效的.
In a teleoperation system,it is desirable to communicate states of the master and slave to each other.However,there exist communication time delays in transmission channels of a teleoperation system. Time delay will worsen the performance of the system.Moreover,the entire system tend to become unstable due to time delay.In order to eliminate or reduce the effect of time delay on the system,first of all,state space model of the system was derived.Secondly,time forward observer of the slave was established in local controller and the observer was employed to predict the state of the slave.Thirdly,force,state of the master and predicted state were used to design state feedback controller.Finally,stability and transparency condition was achieved.Feedback parameters could be easily obtained by solving a linear matrix inequality.In a word,the above method can ensure that the system is stable and the transparency is good.The results of the simulation show the effectiveness of the conclusion.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2004年第3期439-442,446,共5页
Control Theory & Applications
基金
国家863高技术项目(2001AA423140)
东南大学科技基金项目(9208001274).
关键词
遥操作
时延
透明性
状态观测器
预测
teleoperation
time delay
transparency
observer
predict
