CN105184073A - Wave variable calculation method for variable advantage factor double teleoperation - Google Patents

Abstract

The invention discloses a wave variable calculation method for a variable advantage factor double teleoperation. The method comprises: firstly, establishing master end and slave end kinetic models of the variable advantage factor double teleoperation; secondly, designing a to-be-transmitted master end variable; thirdly, selecting a wave variable and establishing a communication model; and finally, obtaining the wave variable. According to the method disclosed by the invention, location information of a plurality of master ends is fused, and wave variable conversion is carried out. A relatively small amount of wave variable information needs to be transmitted. Compared to a conventional method for transmitting location information of two master ends via respective transmission channels, the method disclosed by the invention only needs one channel to transmit the wave variable information. In addition, aimed at the time delay problem ubiquitous in the teleoperation, the passivity of the teleoperation can be ensured very well. According to the wave variable method adopted by the invention, energy is temporarily stored in a remote operating system through time delay, so that the passivity of the remote operating system can be ensured, and the remote operating system has stability.

Description

A kind of wave variables acquiring method for becoming the double remote operating of dominant factor

[technical field]

The invention belongs to remote operating field, being specifically related to a kind of wave variables acquiring method for becoming the double remote operating of dominant factor.

[background technology]

Time delay is the objective phenomenon certainly existed in remote operating field, the existence of time delay makes the stability of remote operating and operating performance all receive very large impact, and the proposition of wave variables method is exactly for time delay remote control system, wave variables can well ensure the system passive in communications, has very important significance for the tool that affects of minimizing time delay on remote operating.

In remote operating field, the single operator scheme from hand of traditional single main hand receives restriction.Such as in-orbit assembling wait in the application of complex space task, single main hand list is difficult to meet day by day complicated task from the operator scheme of hand.For this reason, increasing scholar proposes the operator scheme that uses many people to share, i.e. a kind of double control model in recent years.Comprising two main sides and one from end.Oneself positional information, force information is shared mutually between them.This just make two main side operators can Collaborative Control from the motion of end, thus alleviate task difficulty, improve performance accuracy.

[summary of the invention]

The object of the invention is to the impact reducing the time delay that double remote operating is subject to, proposing a kind of wave variables acquiring method for becoming the double remote operating of dominant factor.

For achieving the above object, the technical solution adopted in the present invention comprises the following steps:

1) main side of the double remote operating of change dominant factor is set up, from end kinetic model:

For main side, kinetic model is:

$M_{m_1}{\stackrel{\·\·}{x}}_{m_1}+B_{m_1}{\stackrel{\·}{x}}_{m_1}+K_{m_1}{x}_{m_1}=F_{h_1}-F_{h_{1}d}---(1-1)$

$M_{m_2}{\stackrel{\·\·}{x}}_{m_2}+B_{m_2}{\stackrel{\·}{x}}_{m_2}+K_{m_2}{x}_{m_2}=F_{h_2}-F_{h_{2}d}---(1-2)$

For from end, kinetic model is:

$M_s{\stackrel{\·\·}{x}}_s+B_s{\stackrel{\·}{x}}_s+K_s{x}_s=F_{cs}-F_e---(1-3)$

Wherein, x represents position; M, B, K represent quality, damping, the coefficient of stiffiness respectively; F _cmrepresent the control that main side controller produces; F _csrepresent the control produced from side controller; F _hrepresent that hand is applied to the power of main side; F _erepresent the power being applied to environment from end; Subscript m ₁represent main side 1, subscript m ₂represent that main side 2, subscript s represents from end;

Between the main and slave terminal expected, the relation of power is:

$\left\{\begin{array}{c}{F}_{h_{1}d}={\mathrm{\α}}_1{F}_e+(1-{\mathrm{\α}}_1)F_{h_2}\\ F_{h_{2}d}={\mathrm{\α}}_2{F}_e+(1-{\mathrm{\α}}_2)F_{h_1}\end{array}\right.---(1-4)$

represent that the feedback force be subject to is expected in main side 1, represent that the feedback force be subject to is expected in main side 2; α ₁, and α ₂represent the dominant factor in double Compliance control respectively;

Between the main and slave terminal expected, the relation of position is:

$x_{sd}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-5)$

Wherein, x _sdrepresent the expectation displacement from end; α ₃represent the dominant factor in double Compliance control;

The control produced from side controller is:

$F_{cs}=Z_{cs}({\stackrel{\·}{x}}_s-{\stackrel{\·}{x}}_{sd})---(1-6)$

Wherein, Z _cscontrol group, represent the desired speed from end, F _csrepresent the control produced from side controller;

2) main side waiting for transmission variable is designed

In double remote operating, need the speed of main side and force information to be delivered to from end, and being delivered to main side from the speed of holding and force information;

As dominant factor α ₃when being time-varying parameter, need the α of main side ₃merge and become owner of in end position information, then transmit to from end; And due to position between two main sides close, therefore first carry out positional information fusion and substitution of variable in main side, design variable δ:

$\mathrm{\δ}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-7)$

Wherein, δ be main side 1 and main side 2 to the desired locations information transmitted from end, choose carry out wave variables conversion, now represent the desired speed information to transmitting from end, its account form is as follows:

$\stackrel{\·}{\mathrm{\δ}}={\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_1}+{\mathrm{\α}}_3{\stackrel{\·}{x}}_{m_1}-{\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_2}+(1-{\mathrm{\α}}_3){\stackrel{\·}{x}}_{m_2}---(1-8)$

Will wave variables conversion is carried out as the variable that need change;

3) select wave variables and set up traffic model

The selection of wave variables is as follows:

$\left\{\begin{array}{c}{v}_m=\frac{b\stackrel{\·}{\mathrm{\δ}}-f_m}{\sqrt{2b}}\\ u_m=\frac{b\stackrel{\·}{\mathrm{\δ}}+f_m}{\sqrt{2b}}\\ u_s=\frac{b{\stackrel{\·}{x}}_{sd}+f_e}{\sqrt{2b}}\\ v_s=\frac{b{\stackrel{\·}{x}}_{sd}-f_e}{\sqrt{2b}}\end{array}\right.---(1-9)$

Wherein, u _m, u _s, v _sand v _mfor the wave variables transmitted between main and slave terminal; f _mfor being resolved the force information from end transmission of acquisition by wave variables in main side; f _efor the environmental forces feedback information from end; for from end by wave variables resolve obtain main side transmission velocity information;

The communication delay that can run into when wave variables transmits in the channel, is represented by following traffic model:

$\left\{\begin{array}{c}{u}_s\left(t\right)=u_m(t-T_1)\\ v_m\left(t\right)=v_s(t-T_2)\end{array}\right.---(1-10)$

Wherein, T represents the communication delay between main and slave terminal.

4) specific implementation of wave variables

As follows by the anti-mode of separating speed and force information of wave variables:

${\stackrel{\·}{x}}_{sd}=\sqrt{\frac{2}{b}}{u}_s-\frac{1}{b}{f}_e---(1-11)$

$f_m=b\stackrel{\·}{\mathrm{\δ}}-\sqrt{2b}{v}_m---(1-12)$

Differentiator is utilized to incite somebody to action after obtaining, by calculating basis afterwards draw u _m; By u _marrived from end by transmission, become u _s, then utilizing (1-11) to calculate desired speed information from end (1-9) is utilized to draw v from end _s, afterwards by v _sarrive main side by transmission, become v _m, then utilize (1-12) to calculate force information f in main side _m;

A communication channel is had, transmission u between main and slave terminal _m, u _s, v _sand v _m, wherein u _mand u _sfor main side is to the wave variables from end transmission; v _sand v _mfor the wave variables of the transmission from end to main side; B is wave impedance, is normal number or symmetric positive definite matrix.

The present invention further improves and is:

Described step 2) in, from the desired locations velocity information of end, all encode wave variables from the force information of end and transmit; Main side is to the desired speed information transmitted from end from end, and the wave variables of main side transmission arrives after end, can obtain desired speed information from holding the decoding carrying out wave variables; From end to main side, transmission is from the environmental forces feedback information of end, and the decoding carrying out wave variables in main side can obtain the environmental forces feedback information from end.

Compared with prior art, the present invention has following beneficial effect:

The positional information of the present invention to multiple main side merges, then carries out wave variables conversion, and the wave variables information of required transmission is less.With traditional by the positional information of two main sides by compared with the method for respective channel transfer, the present invention only needs a channel transfer wave variables information.In addition, the present invention is directed to ubiquitous delay problem in remote operating, its passivity can well be ensured.The wave variables method adopted in the present invention, by time delay temporary transient stored energy in remote control system inside, thus can ensure remote control system passivity, make remote control system have stability.

[accompanying drawing explanation]

Fig. 1 is main side of the present invention computing block diagram;

Fig. 2 is wave variables schematic diagram of the present invention.

[embodiment]

Below in conjunction with accompanying drawing, the present invention is described in further detail:

See Fig. 1 and Fig. 2, it is as follows that the present invention specifically comprises step:

The first step: set up the main side of the double remote operating main and slave terminal of change dominant factor, from end kinetic model

$M_{m_1}{\stackrel{\·\·}{x}}_{m_1}+B_{m_1}{\stackrel{\·}{x}}_{m_1}+K_{m_1}{x}_{m_1}=F_{h_1}-F_{h_{1}d}---(1-1)$

$M_{m_2}{\stackrel{\·\·}{x}}_{m_2}+B_{m_2}{\stackrel{\·}{x}}_{m_2}+K_{m_2}{x}_{m_2}=F_{h_2}-F_{h_{2}d}---(1-2)$

$M_s{\stackrel{\·\·}{x}}_s+B_s{\stackrel{\·}{x}}_s+K_s{x}_s=F_{cs}-F_e---(1-3)$

Wherein x represents position, and M, B, K represent quality, damping, the coefficient of stiffiness respectively.F _cmrepresent the control that main side controller produces, F _csrepresent the control produced from side controller, F _hrepresent that hand is applied to the power of main side, F _erepresent the power being applied to environment from end.Subscript m ₁represent main side 1, subscript m ₂represent main side 2, subscript s represents from end.

Between the main and slave terminal that we expect, the relation of power is:

$\left\{\begin{array}{c}{F}_{h_{1}d}={\mathrm{\α}}_1{F}_e+(1-{\mathrm{\α}}_1)F_{h_2}\\ F_{h_{2}d}={\mathrm{\α}}_2{F}_e+(1-{\mathrm{\α}}_2)F_{h_1}\end{array}\right.---(1-4)$

represent that the feedback force be subject to is expected in main side 1, represent that the feedback force be subject to is expected in main side 2.α ₁and α ₂represent the dominant factor in double Compliance control respectively;

Between the main and slave terminal that we expect, the relation of position is:

$x_{sd}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-5)$

Wherein, x _sdrepresent the expectation displacement from end; α ₃represent the dominant factor in double Compliance control.

Second step: design main side waiting for transmission variable

In double remote operating, need the speed of main side and force information to be delivered to from end, and be delivered to main side from the speed of holding and force information.The method of employing wave variables can well ensure the stability at remote operating.

As dominant factor α ₃when being time-varying parameter, need the α of main side ₃merge and become owner of in end position information, then transmit to from end; And due to position between two main sides close, therefore first carry out positional information fusion and substitution of variable in main side, design variable δ:

$\mathrm{\δ}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-6)$

Wherein, δ be main side 1 and main side 2 to the desired locations information transmitted from end, choose carry out wave variables conversion.Account form is as follows:

$\stackrel{\·}{\mathrm{\δ}}={\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_1}+{\mathrm{\α}}_3{\stackrel{\·}{x}}_{m_1}-{\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_2}+(1-{\mathrm{\α}}_3){\stackrel{\·}{x}}_{m_2}---(1-7)$

calculating see in accompanying drawing 1, wherein containing differential term, addition term and multiplication item.Afterwards will wave variables conversion is carried out as the variable that need change.

3rd step: select wave variables and set up traffic model

The selection of wave variables is as follows:

$\left\{\begin{array}{c}{v}_m=\frac{b\stackrel{\·}{\mathrm{\δ}}-f_m}{\sqrt{2b}}\\ u_m=\frac{b\stackrel{\·}{\mathrm{\δ}}+f_m}{\sqrt{2b}}\\ u_s=\frac{b{\stackrel{\·}{x}}_{sd}+f_e}{\sqrt{2b}}\\ v_s=\frac{b{\stackrel{\·}{x}}_{sd}-f_e}{\sqrt{2b}}\end{array}\right.---(1-8)$

Wherein, u _m, u _s, v _sand v _mfor the wave variables transmitted between main and slave terminal.F _mfor being resolved the force information from end transmission of acquisition by wave variables in main side.F _efor the environmental forces feedback information from end. for from end by wave variables resolve obtain main side transmission velocity information.

From the desired locations velocity information of end, all encode wave variables from the force information of end and transmit.Main side is to the desired speed information transmitted from end from end, and the wave variables of main side transmission arrives after end, can obtain desired speed information from holding the decoding carrying out wave variables.From end to main side, transmission is from the environmental forces feedback information of end, and the decoding carrying out wave variables in main side can obtain the environmental forces feedback information from end.

The communication delay that can run into when wave variables transmits in the channel, is represented by following traffic model:

$\left\{\begin{array}{c}{u}_s\left(t\right)=u_m(t-T_1)\\ v_m\left(t\right)=v_s(t-T_2)\end{array}\right.---(1-9)$

Wherein, T represents the communication delay between main and slave terminal.

4th step: the specific implementation of wave variables

The implementation of wave variables is shown in shown in accompanying drawing 2, which show the concrete computing block diagram of wave variables.

A communication channel is had, transmission u between main and slave terminal _m, u _s, v _sand v _m, wherein u _mand u _sfor main side is to the wave variables from end transmission; v _sand v _mfor the wave variables of the transmission from end to main side.B is wave impedance, is normal number or symmetric positive definite matrix.

Embodiment

The first step: set up the main side of the double remote operating main and slave terminal of change dominant factor, from end kinetic model

According to (1-1) (1-2) (1-3) Modling model above.Concrete Selecting parameter sees the following form:

Ms+B+K/s	M(Kg)	B(N·s/m)	K(N/m)
				Main side 1, subscript m 1	1.5	7	120
Main side 2, subscript m 2	3	5	150
				From end, subscript s	1.5	1	200

Set up position and the power relation of main and slave terminal expectation, select α ₁=α ₂=0.5

Second step: design main side waiting for transmission variable

$\stackrel{\·}{\mathrm{\δ}}={\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_1}+{\mathrm{\α}}_3{\stackrel{\·}{x}}_{m_1}-{\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_2}+(1-{\mathrm{\α}}_3){\stackrel{\·}{x}}_{m_2}---(1-10)$

Wherein: α ₃for time-varying function, choose α ₃=sin (0.01t).

3rd step: select wave variables and set up traffic model

The selection of wave variables is as follows:

$\left\{\begin{array}{c}{v}_m=\frac{b\stackrel{\·}{\mathrm{\δ}}-f_m}{\sqrt{2b}}\\ u_m=\frac{b\stackrel{\·}{\mathrm{\δ}}+f_m}{\sqrt{2b}}\\ u_s=\frac{b{\stackrel{\·}{x}}_{sd}+f_e}{\sqrt{2b}}\\ v_s=\frac{b{\stackrel{\·}{x}}_{sd}-f_e}{\sqrt{2b}}\end{array}\right.---(1-11)$

The communication delay that can run into when wave variables transmits in the channel, is represented by following traffic model:

$\left\{\begin{array}{c}{u}_s\left(t\right)=u_m(t-T_1)\\ v_m\left(t\right)=v_s(t-T_2)\end{array}\right.---(1-12)$

Wherein, T represents the communication delay between main and slave terminal.T chooses the stochastic variable that average is 250ms.

4th step: the specific implementation of wave variables

The value of b determines according to specific tasks demand, when coming in contact with environment, chooses larger b to reduce the amplitude of motion, such as b=20; When not yet coming in contact, when needing to move fast, choose less b, such as b=5.

Above content is only and technological thought of the present invention is described; protection scope of the present invention can not be limited with this; every technological thought proposed according to the present invention, any change that technical scheme basis is done, within the protection domain all falling into claims of the present invention.

Claims (2)

1., for becoming a wave variables acquiring method for the double remote operating of dominant factor, it is characterized in that, comprise the following steps:

1) main side of the double remote operating of change dominant factor is set up, from end kinetic model:

For main side, kinetic model is:

$M_{m_1}{\stackrel{\·\·}{x}}_{m_1}+B_{m_1}{\stackrel{\·}{x}}_{m_1}+K_{m_1}{x}_{m_1}=F_{h_1}-F_{h_{1}d}---(1-1)$

$M_{m_2}{\stackrel{\·\·}{x}}_{m_2}+B_{m_2}{\stackrel{\·}{x}}_{m_2}+K_{m_2}{x}_{m_2}=F_{h_2}-F_{h_{2}d}---(1-2)$

For from end, kinetic model is:

$M_s{\stackrel{\·\·}{x}}_s+B_s{\stackrel{\·}{x}}_s+K_s{x}_s=F_{cs}-F_e---(1-3)$

Wherein, x represents position; M, B, K represent quality, damping, the coefficient of stiffiness respectively; F _cmrepresent the control that main side controller produces; F _csrepresent the control produced from side controller; F _hrepresent that hand is applied to the power of main side; F _erepresent the power being applied to environment from end; Subscript m ₁represent main side 1, subscript m ₂represent that main side 2, subscript s represents from end;

Between the main and slave terminal expected, the relation of power is:

$\left\{\begin{array}{c}{F}_{h_{1}d}={\mathrm{\α}}_1{F}_e+(1-{\mathrm{\α}}_1)F_{h_2}\\ F_{h_{2}d}={\mathrm{\α}}_2{F}_e+(1-{\mathrm{\α}}_2)F_{h_1}\end{array}\right.---(1-4)$

represent that the feedback force be subject to is expected in main side 1, represent that the feedback force be subject to is expected in main side 2; α ₁, and α ₂represent the dominant factor in double Compliance control respectively;

Between the main and slave terminal expected, the relation of position is:

$x_{sd}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-5)$

Wherein, x _sdrepresent the expectation displacement from end; α ₃represent the dominant factor in double Compliance control;

The control produced from side controller is:

$F_{cs}=Z_{cs}({\stackrel{\·}{x}}_s-{\stackrel{\·}{x}}_{sd})---(1-6)$

Wherein, Z _cscontrol group, represent the desired speed from end, F _csrepresent the control produced from side controller;

2) main side waiting for transmission variable is designed

In double remote operating, need the speed of main side and force information to be delivered to from end, and being delivered to main side from the speed of holding and force information;

As dominant factor α ₃when being time-varying parameter, need the α of main side ₃merge and become owner of in end position information, then transmit to from end; And due to position between two main sides close, therefore first carry out positional information fusion and substitution of variable in main side, design variable δ:

$\mathrm{\δ}={\mathrm{\α}}_3{x}_{m_1}+(1-{\mathrm{\α}}_3)x_{m_2}---(1-7)$

Wherein, δ be main side 1 and main side 2 to the desired locations information transmitted from end, choose carry out wave variables conversion, now represent the desired speed information to transmitting from end, its account form is as follows:

$\stackrel{\·}{\mathrm{\δ}}={\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_1}+{\mathrm{\α}}_3{\stackrel{\·}{x}}_{m_1}-{\stackrel{\·}{\mathrm{\α}}}_3{x}_{m_2}+(1-{\mathrm{\α}}_3){\stackrel{\·}{x}}_{m_2}---(1-8)$

Will wave variables conversion is carried out as the variable that need change;

3) select wave variables and set up traffic model

The selection of wave variables is as follows:

$\left\{\begin{array}{c}{v}_m=\frac{b\stackrel{\·}{\mathrm{\δ}}-f_m}{\sqrt{2b}}\\ u_m=\frac{b\stackrel{\·}{\mathrm{\δ}}+f_m}{\sqrt{2b}}\\ u_s=\frac{b{\stackrel{\·}{x}}_{sd}+f_e}{\sqrt{2b}}\\ v_s=\frac{b{\stackrel{\·}{x}}_{sd}-f_e}{\sqrt{2b}}\end{array}\right.---(1-9)$

Wherein, u _m, u _s, v _sand v _mfor the wave variables transmitted between main and slave terminal; f _mfor being resolved the force information from end transmission of acquisition by wave variables in main side; f _efor the environmental forces feedback information from end; for from end by wave variables resolve obtain main side transmission velocity information;

The communication delay that can run into when wave variables transmits in the channel, is represented by following traffic model:

$\left\{\begin{array}{c}{u}_s\left(t\right)=u_m(t-T_1)\\ v_m\left(t\right)=v_s(t-T_2)\end{array}\right.---(1-10)$

Wherein, T represents the communication delay between main and slave terminal;

4) specific implementation of wave variables

As follows by the anti-mode of separating speed and force information of wave variables:

${\stackrel{\·}{x}}_{sd}=\sqrt{\frac{2}{b}}{u}_s-\frac{1}{b}{f}_e---(1-11)$

$f_m=b\stackrel{\·}{\mathrm{\δ}}-\sqrt{2b}{v}_m---(1-12)$

Differentiator is utilized to incite somebody to action after obtaining, by calculating basis afterwards draw u _m; By u _marrived from end by transmission, become u _s, then utilizing (1-11) to calculate desired speed information from end (1-9) is utilized to draw v from end _s, afterwards by v _sarrive main side by transmission, become v _m, then utilize (1-12) to calculate force information f in main side _m;

A communication channel is had, transmission u between main and slave terminal _m, u _s, v _sand v _m, wherein u _mand u _sfor main side is to the wave variables from end transmission; v _sand v _mfor the wave variables of the transmission from end to main side; B is wave impedance, is normal number or symmetric positive definite matrix.

2. the wave variables acquiring method for becoming the double remote operating of dominant factor according to claim 1, is characterized in that, described step 2) in, from the desired locations velocity information of end, all encode wave variables from the force information of end and transmit; Main side is to the desired speed information transmitted from end from end, and the wave variables of main side transmission arrives after end, can obtain desired speed information from holding the decoding carrying out wave variables; From end to main side, transmission is from the environmental forces feedback information of end, and the decoding carrying out wave variables in main side can obtain the environmental forces feedback information from end.