CN101692180B - Remote-control robot packet loss compensating system and implement method thereof - Google Patents
Remote-control robot packet loss compensating system and implement method thereof Download PDFInfo
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- CN101692180B CN101692180B CN2009101451799A CN200910145179A CN101692180B CN 101692180 B CN101692180 B CN 101692180B CN 2009101451799 A CN2009101451799 A CN 2009101451799A CN 200910145179 A CN200910145179 A CN 200910145179A CN 101692180 B CN101692180 B CN 101692180B
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Abstract
The invention discloses a remote-control robot packet loss compensating system and an implement method thereof. The system of the invention is composed of a controlled object (remote-control robot), a sensing mechanism, a controller, an actuating mechanism, a signal generator, a data buffer zone and a communication network. The method of the invention comprises: the actuating mechanism calculates the difference of the current time of the system and a recently received control input time stamp and temporarily stores in the data buffering zone; if the obtained time difference is bigger than a preset threshold value, the signal generator sends a driving signal to an idle network channel and drives the idle network channel to work; and otherwise, the recently received control input acts on the remote control robot. The idle network channel is fully utilized, thus greatly lowering adverse impact by network time delay and data packet loss, and improving the anti-jamming performance of the remote-control robot system. The invention has favourable effect and practical application and promotion value.
Description
Technical field
The present invention relates to teleoperation robot networking control technology field, especially relate to teleoperation robot packet loss compensating system and its implementation with Channel Sharing.
Background technology
Teleoperation robot is meant in a kind of remote handling system that can be difficult to accomplish in the environment near (distance remote, be pernicious to people or operate difficult) accurate operation of more complicated under people's the manipulation the people.In recent decades, many countries have dropped into very big strength in succession and have been engaged in teleoperation robot systematic research and development work, and achievement in research successful Application to numerous areas such as atomic energy technology, space technology, deep ocean works.
The sensing of teleoperation robot system and control signal need to transmit through network; And network inducement delay and data-bag lost can reduce system performance even cause that system is unstable; Therefore, reasonably corrective network induces the negative effect of time delay and data-bag lost to have crucial meaning.Existing scientific and technical literature is not studied the network inducement delay of teleoperation robot system and the compensation problem of packet loss.Existing forecast Control Algorithm can be used for corrective network and induce time delay and packet loss, and has obtained effect preferably.As far as compensation method based on PREDICTIVE CONTROL, all need shift to an earlier date some step PREDICTIVE CONTROL inputs during owing to each sampling and pass to topworks, can increase offered load like this; In addition, the compensation method meeting based on PREDICTIVE CONTROL inevitably causes predicated error.Method based on Linear Estimation can be used for estimating those packets that lose or that long delay takes place, estimates the control input and passes to topworks because this method need not to shift to an earlier date some steps, compares with the method based on PREDICTIVE CONTROL, can reduce offered load.
Based on the method for PREDICTIVE CONTROL and all can have certain prediction or evaluated error based on estimation approach, and the influence of this error is difficult to eliminate usually.As far as the teleoperation robot system, an important characteristic is exactly sharing of Internet resources, if the control input can be via the communication port transmission of a plurality of free time; Even then some passage generation long delay, packet loss even transmission are interrupted; Up-to-date control input still possibly received by topworks, and the shared prediction or the evaluated error of can not causing of this communication port, simultaneously; When Network Transmission is interrupted; With compare based on the prediction and the method for Linear Estimation, can guarantee that based on the compensation method of Channel Sharing system has the bigger number of dropped packets of allowing, littler H
∞Norm circle.
Summary of the invention
The present invention seeks to defective to the prior art existence; Through in the teleoperation robot system, adding signal generator and data buffer; Create the negative effect that a method of sharing based on many communication ports compensates network delay and packet loss in the teleoperation robot system; The state space description of application network control system also proposes the channel handoff algorithms; Utilize the Lyapunov method and free weighting matrix technology, realize the teleoperation robot grid is induced the compensation of time delay and packet loss.
The present invention adopts following technical scheme for realizing above-mentioned purpose:
Teleoperation robot packet loss compensating system of the present invention is characterized in that being made up of the identical channel and the signal generator of structure of n bar parallel connection, and the output terminal of signal generator connects the input end of n bar channel respectively; Wherein every channel is that controll plant, controller, sensing mechanism and topworks form by teleoperation robot all; The input end of topworks also is provided with the data buffer; The output terminal of data buffer is connected in series the two ends that are parallel to controller behind topworks, teleoperation robot, the sensing mechanism successively; The input end of the output termination data buffer of signal generator, wherein n is a natural number.
The implementation method of described teleoperation robot packet loss compensating system is characterized in that comprising the steps:
(1) be respectively n bar channel be provided with time delay and packet loss and upper bound λ
i, i=1,2,3 ... N, and the timestamp of the system of comparing data buffer records current time of moving and the control input of receiving recently is poor
λ wherein
iBe i bar channel time delay and packet loss and the upper bound;
(2) when said teleoperation robot packet loss compensating system reach stable state then system run abort; Then do not carry out channel and controller switches as
; And utilize current channel controller to control teleoperation robot; Otherwise, change step (3) over to;
(3) then check the duty of next channel controller as
;
(4) busy when next channel controller, then check the duty of next channel controller, return step (3);
(5) idle when next channel controller, then signal generator sends drive signal to this channel controller, is teleoperation robot transmission control input;
(6) relatively poor
of current time and the timestamp of the control input of receiving recently if
changes step (2) over to, if
then changes step (3) over to.
The implementation method of teleoperation robot packet loss compensating system is characterized in that, when teleoperation robot is that channel 1 is received the control input with channel 2 from two channels, actual available control input is described as:
u(t)＝ρK
1x(i
kh)+(1-ρ)K
2x(j
lh) (1)
T ∈ [ρ (i wherein
kH+ τ
k)+(1-ρ) (j
lH+ σ
l), ρ (i
K+1H+ τ
K+1)+(1-ρ) (j
L+1H+ σ
L+1)), and K
1, K
2Be respectively the controller gain of channel 1 and channel 2; The value principle of regulating parameter ρ does
And i
kH, j
lH, i
K+1H, j
L+1H is the sampling instant of sensing mechanism, τ
k, τ
K+1For network inducement delay and packet loss on the channel 1 with, σ
l, σ
L+1For network inducement delay and packet loss on the channel 2 with; Definition τ (t)=t-i
kH, σ (t)=t-j
lH, then
u(t)＝ρK
1x(t-τ(t))+(1-ρ)K
2x(t-σ(t)) (2)
Be the actual available control input of teleoperation robot shown in the formula (2).
The present invention the invention has the advantages that: through to the making full use of of idle channel, realize Discarded Packets compensation and correspondingly improve system performance that the situation that this invention is interrupted the network channel data transmission is particularly effective 1.; 2. can avoid reaching prediction or evaluated error based on estimation approach caused based on PREDICTIVE CONTROL.
The present invention is being on the basis of background with the teleoperation robot actual motion; The Discarded Packets compensation device and method of the Channel Sharing Network Based of a novelty has been proposed; Can improve the control performance of teleoperation robot system largely, respond well, have practical application and promotional value.
With compare based on the method for single communication passage, can delay compensation and the negative effect of packet loss to sharing of idle communication port.Simultaneously, this method can be avoided reaching prediction or evaluated error based on estimation approach caused based on PREDICTIVE CONTROL.When Network Transmission is interrupted, and compare based on the prediction and the method for Linear Estimation, can guarantee that based on the compensation method of Channel Sharing system has the bigger number of dropped packets of allowing, littler H
∞Norm circle.
Description of drawings
Fig. 1 is a system construction drawing of the present invention.
Fig. 2 is realization flow figure of the present invention.
Fig. 3 is an external disturbance synoptic diagram among the embodiment.
Fig. 4 is the robot motion's track and the velocity simulation curve of no Discarded Packets compensation among the embodiment.
Fig. 5 is robot motion's track and a velocity simulation curve in the embodiment of the invention.
Embodiment
Existing according to accompanying drawing, the present invention is done further description.
As shown in Figure 1, the teleoperation robot packet loss compensating system is characterized in that being made up of the identical channel and the signal generator of structure of n bar parallel connection, and the output terminal of signal generator connects the input end of n bar channel respectively; Wherein every channel is that controll plant, controller, sensing mechanism and topworks form by teleoperation robot all; The input end of topworks also is provided with the data buffer; The output terminal of data buffer is connected in series the two ends that are parallel to controller behind topworks, teleoperation robot, the sensing mechanism successively; The input end of the output termination data buffer of signal generator, wherein n is a natural number.
What the sensing mechanism in the system was collected is teleoperation robot finishes the whole time period of operation from starting working to status information; Comprise robot motion's track and speed etc.; Also comprise simultaneously wind speed; The external factor that electromagnetic interference (EMI) etc. are bigger to the teleoperation robot systematic influence, data are unit to gather once certain interval time with the millisecond.The data that sensing mechanism samples send to controller through network, and controller generates the control input and is transferred to topworks, and topworks acts on teleoperation robot with the control signal of receiving.End adds signal generator and data buffer in topworks; The drive signal of sending to idle channel is produced by the hardware signal generator, and the data buffer is used for the current time of register system operation and poor
of the timestamp of the control input of receiving recently
Below, provide model, and provide the controller selection algorithm, thereby realize making full use of and the negative effect of delay compensation and packet loss idle channel based on the model that obtains with teleoperation robot system that channel n=2 shares.
1. to having the teleoperation robot system modelling of Channel Sharing.
Consider teleoperation robot system state equation (3),, establish h and represent sampling period length, i if teleoperation robot is received the control input from two channels
kH, j
lH, i
K+1H, j
L+1H is the sampling instant of sensing mechanism, τ
k, σ
l, τ
K+1, σ
L+1Be respectively based on i
kH, j
lH, i
K+1H, j
L+1The network transfer delay of the resulting control input of h Obj State constantly and packet loss with, then actual available control input is described as:
u(t)＝ρK
1x(i
kh)+(1-ρ)K
2x(j
lh) (6)
T ∈ [ρ (i wherein
kH+ τ
k)+(1-ρ) (j
lH+ σ
l), ρ (i
K+1H+ τ
K+1)+(1-ρ) (j
L+1H+ σ
L+1)), and t-i
kH=τ (t)≤τ
M, t-i
kH-τ
k=α (t)≤α
M, the value principle of regulating parameter ρ is:
Definition τ (t)=t-i
kH, σ (t)=t-j
lH, then
u(t)＝ρK
1x(t-τ(t))+(1-ρ)K
2x(t-σ(t)) (7)
Accordingly, system (3) can be written as
Shown in system (8), when the data transmission of a channel was interrupted, controller still can be received up-to-date control input from other channel, thereby improved the performance of teleoperation robot system.
2. devise optimum controller gain K
1, K
2
Through defining suitable Lyapunov function, and utilize LMI and free weighting matrix technology, can design the optimal controller gain K of robot system with Channel Sharing
1, K
2
3. send a control signal to topworks.
For the teleoperation robot system that provides in (8); The bottom sensing mechanism is accomplished the collection of teleoperation robot parameter; The signal of each sensing mechanism obtains the correspondent voltage signal through impedance conversion and amplification; After the A/D conversion, transfer to main control system through communication network, main control system utilizes the optimal controller gain K that obtains according to the teleoperation robot supplemental characteristic of input
1, K
2Reach the STATE FEEDBACK CONTROL algorithm and produce control signal and export the control corresponding amount, control signal is sent into topworks through serial port.
4. will control input action in controll plant.
As shown in Figure 2; End adds a data buffer in topworks; Poor
of the timestamp that the current time of register system operation and the control of receiving are recently imported; And by the selection of following algorithm realization channel; Thereby will control input action in controll plant, accomplish control robot system movement locus, speed and direction of motion etc.Concrete channel selection algorithm is following:
(1), respectively, the channel 1 and channel 2 is set delay and packet loss, and the upper bound of
and compare the current time with the system operation control input recently received timestamp difference
(2) whether check system reaches stable state, then changes step (6) over to if reach stable state.If then not carrying out channel and controller,
or
do not switch; Utilize current controller and current channel control teleoperation robot; Otherwise, change step (3) over to.
(3) if the duty of
inspection controller 2; If controller 2 is busy; Do not carry out controller and switch and continue to wait for channel 1 transmission control input; If 2 free time of controller; Signal generator sends drive signal to controller 2 so that drive channel 2 and controller 2 entering duties, and is teleoperation robot transmission control input.
(4) if the duty of
inspection controller 1; If controller 1 is busy; Do not carry out controller and switch and continue to wait for channel 2 transmission control inputs; If 1 free time of controller; Signal generator sends drive signal to channel 1 and controller 1, so that make them get into duty, and is teleoperation robot transmission control input.
(5) the comparison current time changes step (2) with poor
of the timestamp of the control input of receiving recently over to as if
or
; Otherwise, change step (3) over to.
(6) system runs abort.
When long delay, packet loss and data transmission taking place in the teleoperation robot system interrupt, controller that provides above and channel automatic switchover algorithm can guarantee that controll plant receives newer control input, thereby the system that guarantees has and controls effect preferably.
Embodiment
In order to verify effect of the present invention, utilize the Matlab software programming to carry out emulation experiment.When the teleoperation robot system is carried out emulation, in system, add external interference signals shown in Figure 3, Fig. 4 and Fig. 5 have provided employing the present invention front and back respectively in squelch, the simulation curve figure of side-play amount aspect.As shown in Figure 4, horizontal ordinate is time t (unit: second), x
1, x
2Be robot motion's track and pace, z is transferred output.As can be seen from the figure, when the Channel Sharing of not considering robot system, and channel data transmission is when taking place to interrupt, and it is stable that system can't reach.
Fig. 5 is the simulation curve behind employing the present invention, horizontal ordinate and x among the figure
1, x
2, the implication of z is identical with Fig. 4.Can find out relatively that by two figure behind employing the present invention, system can reach stable within a short period of time, and has better anti-disturbance performance.
Can find out that from above analogous diagram the present invention suppresses in the teleoperation robot system noise, there is excellent control effect aspects such as side-play amount, for the teleoperation robot High Accuracy Control provides new technical foundation.
Claims (2)
1. the implementation method of a teleoperation robot packet loss compensating system; Said teleoperation robot packet loss compensating system is made up of the identical channel and the signal generator of structure of n bar parallel connection; Wherein n is a natural number, and the output terminal of signal generator connects the input end of n bar channel respectively; Every channel all is made up of controll plant, controller, sensing mechanism and topworks, and wherein teleoperation robot is controll plant, and the input end of topworks also is provided with the data buffer; The output terminal of data buffer is connected in series the two ends that are parallel to controller behind topworks, teleoperation robot, the sensing mechanism, the input end of the output termination data buffer of signal generator successively; This implementation method is characterised in that and comprises the steps, wherein, is that example is described with n=2:
(1) were the first channel and a second channel delay and packet loss and set the upper bound of
and compare the data buffer recording system is running the current time with the recently received control Enter the timestamp difference
(2) whether inspection teleoperation robot packet loss compensating system reaches stable state, then changes step (6) over to if reach stable state; If then not carrying out channel and controller,
or
do not switch; Utilize current controller and current channel control teleoperation robot; Otherwise, change step (3) over to;
(3) if the duty of
inspection second controller; If second controller is busy; Do not carry out controller and switch and continue to wait for first Channel Transmission control input; If second controller is idle; Signal generator sends drive signal to the second controller so that drive second channel and second controller entering duty, and is teleoperation robot transmission control input;
(4) if the duty of
inspection first controller; If first controller is busy; Do not carry out controller and switch and continue to wait for second channel transmission control input; If first controller is idle; Signal generator sends drive signal to the first channel and first controller, so that make them get into duty, and is teleoperation robot transmission control input;
(5) the comparison current time changes step (2) with poor
of the timestamp of the control input of receiving recently over to as if
or
; Otherwise, change step (3) over to;
(6) system runs abort.
2. the implementation method of teleoperation robot packet loss compensating system as claimed in claim 1 is characterized in that, when teleoperation robot from two channels promptly first channel receive the control input with second channel, actual available control input is described as:
u(t)＝ρK
1x(i
kh)+(1-ρ)K
2x(j
lh) (1)
T ∈ [ρ (i wherein
kH+ τ
k)+(1-ρ) (j
lH+ σ
l), ρ (i
K+1H+ τ
K+1)+(1-ρ) (j
L+1H+ σ
L+1)), and K
1, K
2Be the optimal controller gain; The value principle of regulating parameter ρ is:
And i
kH, j
lH, i
K+1H, j
L+1H is the sampling instant of sensing mechanism, τ
k, τ
K+1Be on first channel network inducement delay and packet loss with, σ
l, σ
L+1For network inducement delay on the second channel and packet loss with; Definition τ (t)=t-i
kH, σ (t)=t-j
lH, then
u(t)＝ρK
1x(t-τ(t))+(1-ρ)K
2x(t-σ(t)) (2)
Be the actual available control input of teleoperation robot shown in the formula (2).
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| CN104020743A (en) * | 2014-06-09 | 2014-09-03 | 三明学院 | Distributed estimation and control method based on two-layer hybrid network topological structure |
| CN105138754A (en) * | 2015-05-13 | 2015-12-09 | 西北工业大学 | Design method of variable-structure controller for double teleoperation with feature of time-varying delay |
| CN105334734B (en) * | 2015-11-03 | 2018-02-06 | 北方工业大学 | Time delay and packet loss compensation method and device of data-based networked control system |
| CN108227497B (en) * | 2018-01-11 | 2021-01-08 | 燕山大学 | Control method of networked teleoperation system under condition of considering system performance limitation |
| CN110211009A (en) * | 2019-06-03 | 2019-09-06 | 南京玖玖教育科技有限公司 | Novel mixed academic environment teaching platform |
| CN113009849B (en) * | 2021-02-20 | 2021-11-16 | 王功 | Robot operating system |
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