时延下比率遥操作系统稳定性与性能折衷策略

通过系统动力学和二端口网络建模,采用通用控制结构,定义了时延下比率遥操作系统的理想性能,得出了实现理想性能的主从系统控制参数必须满足的约束条件.基于莱威林二端口网络绝对稳定性准则,在实现理想性能的策略基础上调节主从系统阻抗,导出了在操作者和环境无源条件下使用三通道结构实现时延比率系统的绝对稳定性与保持性能折衷的控制策略.通过仿真提出了用变阻尼来增强系统性能的改进方法.仿真结果表明了本策略的有效性.

Control scheme for stability and performance tradeoff in scaled telemanipulation with communication time delay

With modeling of scaled telemanipulation system and two-port network, using general bilateral control architecture the ideal responses of the system in the presence of time delay are defined and the control parameters restrictions of the master slave manipulator to realize the ideal performance are induced. Based on Llewellyn two-port network absolute stability criteria and regulating the impedance of the master slave manipulator with ideal performance, a new control scheme of using three-channel architecture for the system with transmission delay is proposed, which can realize tradeoff between guaranteeing the stability and preserving the performance of the system in the passivity of human operator and environment. Furthermore, an improved method by using variable damping is presented through simulation to enhance the performances. Simulation results show the validity of the proposed control scheme.