CN106584455B - A kind of delay control method of remote operating mechanical arm system - Google Patents

Abstract

A kind of delay control method of remote operating mechanical arm system influences caused by delay compensation by establishing the inearized model of remote operating mechanical arm system, and then design point observer and state feedback control law, realizes effective control；For there is random delay in principal and subordinate's mechanical arm communication process of remote operating mechanical arm system, a kind of delay control method is proposed, to realize the stabilization of system and the synchronously control of principal and subordinate's machinery.By the inearized model for establishing remote operating mechanical arm system；According to the modelling state observer acquired；Design point Feedback Control Laws compensate for influence caused by time delay, realize effective control.

Description

Time delay control method of teleoperation mechanical arm system

Technical Field

The invention relates to the field of mechanical arm control, in particular to a time delay control method for a teleoperation mechanical arm system.

Background

The teleoperated mechanical arm can work in an environment which is difficult to reach by human or has danger, and complex work is completed according to a set program and a target. The teleoperation mechanical arm system is widely applied to various fields of space and deep sea exploration, military, industry, medical treatment and the like at present, and has wide application prospect.

The random time delay of the robotic arm system during teleoperation is a non-negligible problem. The delay may cause the system to operate out of synchronization, reduce the teleoperation performance, and even cause the system to be unstable. The existing methods of remote planning, bilateral control and the like have the problems of high requirement on prior knowledge of a system, poor perturbation on system parameters, poor noise robustness and the like. In addition, problems such as system modeling errors, environmental interference, device aging, etc. may also have a further impact on the control of teleoperated robotic arm systems. Therefore, in view of the above problems, it is a considerable problem to find a more effective time delay control method for teleoperation arm system

Disclosure of Invention

The technical problem to be solved by the invention is to provide a time delay control method of a teleoperation mechanical arm system, which can avoid the problems of system modeling error, environmental interference, device aging and the like and effectively realize time delay control aiming at the defects of the prior art.

The technical problem to be solved by the invention is realized by the following technical scheme, and the time delay control method of the teleoperation mechanical arm system is characterized in that: the method comprises the following steps: (1) establishing a linearization model of the teleoperation mechanical arm system, wherein the nonlinear dynamic model of the joint space is as follows:

wherein q ∈ RⁿFor the joint angle position, τ e RⁿFor the input torque vector, M (q) e R^n×nIs a matrix of the inertia, and the inertia matrix,for the centrifugal and Goldfish force matrices, C (q) e RⁿIn the term of the gravity force,external friction force;

(2) defining linear combination variablesq_r＝-Λq，Wherein Λ is a positiveGiven a diagonal matrix, one can obtain:

(3) subscripts m and s are used for distinguishing relevant parameters of the master mechanical arm and the slave mechanical arm, and the parameters can be obtained from an ② formula:

(4) respectively adopting the following nonlinear feedback control laws for the master mechanical arm and the slave mechanical arm of the teleoperation mechanical arm system in the step (3):

the following can be obtained:

whereinI.e. the control quantity to be applied, there is a time-varying delay d in the teleoperation process_tThe position tracking error of the master and slave robotic arms may be defined as:

e_m(t)＝q_m(t-d_t)-q_s(t),

(5) designing a state observer to define state variablesAvailable expansion systems:

wherein,C_m＝[I 0]， the state observer was designed for ⑦ as follows:

state quantity x in formula ⑧_oIs an estimation of the state quantity x, the observer gain matrix L can be obtained by applying the closed-loop eigenequation | sI- (A-LC)_m) And | carrying out pole allocation selection.

(6) Control law U in design ⑤, of the form:

U＝Kx_o ⑨

wherein,matrix K₁And K₂Can be generated by applying the closed-loop characteristic equation | sI + Λ²|sI-K₁||sI-K₂And | carrying out pole allocation solving.

Compared with the prior art, the invention has the beneficial effects that: by establishing a linear model of the teleoperation mechanical arm system, a state observer and a state feedback control law are designed, the influence caused by time delay is compensated, and effective control is realized; aiming at the problem of random time delay in the communication process of a master mechanical arm and a slave mechanical arm of a teleoperation mechanical arm system, a time delay control method is provided, so that the stability of the system and the synchronous control of the master mechanical arm and the slave mechanical arm are realized. Establishing a linearization model of the teleoperation mechanical arm system; designing a state observer according to the obtained model; and a state feedback control law is designed, so that the influence caused by time delay is compensated, and effective control is realized.

Drawings

Fig. 1 is a diagram illustrating simulation results according to an embodiment of the present invention.

Detailed Description

A time delay control method of a teleoperation mechanical arm system comprises the following steps: (1) establishing a linearization model of the teleoperation mechanical arm system, wherein the nonlinear dynamic model of the joint space is as follows:

wherein q ∈ RⁿFor the joint angle position, τ e RⁿFor the input torque vector, M (q) e R^n×nIs a matrix of the inertia, and the inertia matrix,is centrifugal force and GeMatrix of force, C (q) e RⁿIn the term of the gravity force,external friction force;

(2) defining linear combination variablesq_r＝-Λq，Where Λ is a positive definite diagonal matrix, we can obtain:

(3) subscripts m and s are used for distinguishing relevant parameters of the master mechanical arm and the slave mechanical arm, and the parameters can be obtained from an ② formula:

(4) respectively adopting the following nonlinear feedback control laws for the master mechanical arm and the slave mechanical arm of the teleoperation mechanical arm system in the step (3):

the following can be obtained:

whereinI.e. the control quantity to be applied, there is a time-varying delay d in the teleoperation process_tThe position tracking error of the master and slave robotic arms may be defined as:

e_m(t)＝q_m(t-d_t)-q_s(t),

(5) designing a state observer to define state variablesAvailable expansion systems:

wherein,C_m＝[I 0]， the state observer was designed for ⑦ as follows:

state quantity x in formula ⑧_oIs an estimation of the state quantity x, the observer gain matrix L can be obtained by applying the closed-loop eigenequation | sI- (A-LC)_m) And | carrying out pole allocation selection.

(6) Control law U in design ⑤, of the form:

U＝Kx_o ⑨

wherein,matrix K₁And K₂Can be generated by applying the closed-loop characteristic equation | sI + Λ²|sI-K₁||sI-K₂And | carrying out pole allocation solving.

The present invention is exemplified by a teleoperation system composed of a pair of two-degree-of-freedom robot arms. Selecting an initial position q of a main mechanical arm_m＝[0.1 0.2]^TFrom the initial position q of the arm_s＝[0.4 0.6]^TDetermining e according to the method described in step 1)_m＝[-0.3-0.4]^T，e_s＝[0.3 0.4]^T，r_m＝[0.4 0.8]^T，r_m＝[1.6 2.4]^T(ii) a Selecting a time-varying delay d_t＝0.2sin²(t)，ObtainingThe simulation result is shown in FIG. 1, in which the position tracking error e of the master and slave mechanical arms_mAnd e_sThe time delay control method quickly approaches zero, and the time delay control of the teleoperation mechanical arm system can be effectively realized.

Claims (1)

1. A time delay control method of a teleoperation mechanical arm system is characterized by comprising the following steps:

(1) establishing a linearization model of the teleoperation mechanical arm system, wherein the nonlinear dynamic model of the joint space is as follows:

wherein q ∈ RⁿFor the joint angle position, τ e RⁿAs input torque vector，M(q)∈R^n×nIs a matrix of the inertia, and the inertia matrix,as a matrix of centrifugal and Coriolis forces, G_q(q)∈RⁿIn the term of the gravity force,external friction force;

(2) defining linear combination variablesq_r＝-Λq，Where Λ is a positive definite diagonal matrix, we can obtain:

(3) subscripts m and s are used for distinguishing relevant parameters of the master mechanical arm and the slave mechanical arm, and the parameters can be obtained from an ② formula:

(4) respectively adopting the following nonlinear feedback control laws for the master mechanical arm and the slave mechanical arm of the teleoperation mechanical arm system in the step (3):

the following can be obtained:

whereinI.e. the control quantity to be applied, there is a time-varying delay d in the teleoperation process_tThe position tracking error of the master and slave robotic arms may be defined as:

e_m(t)＝q_m(t-d_t)-q_s(t),

e_s(t)＝q_s(t-d_t)-q_m(t). ⑥

(5) designing a state observer to define state variablesAvailable expansion systems:

wherein,C_m＝[I 0]， the state observer was designed for ⑦ as follows:

shape in formula ⑧Quantity of state x_oIs an estimation of the state quantity x, the observer gain matrix L can be obtained by applying the closed-loop eigenequation | sI- (A-LC)_m) And | carrying out pole allocation selection.

(6) Control law U in design ⑤, of the form:

U＝Kx_o ⑨

wherein,matrix K₁And K₂Can be generated by applying the closed-loop characteristic equation | sI + Λ²|sI-K₁||sI-K₂And | carrying out pole allocation solving.