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

A kind of delay control method of remote operating mechanical arm system

Technical field

The present invention relates to a kind of mechanical arm control field, especially a kind of timing_delay estimation side of remote operating mechanical arm system Method.

Background technique

Remote operating mechanical arm can be difficult to operation in the environment reached or with danger in the mankind, according to set program and mesh Mark completes complicated work.Remote operating mechanical arm system be widely used at present space and deep-sea exploration, military affairs, industry and The every field such as medical treatment, have broad application prospects.

Random delay of mechanical arm system during remote operating is can not ignore the problem of.Time delay will lead to system What is operated is asynchronous, reduces remote operating performance, even results in system unstability.The methods of existing remote layout, bilateral control are deposited It is more demanding in the priori knowledge to system, to system parameter perturbation and noise poor robustness the problems such as.In addition, system modelling The problems such as error, environmental disturbances, device aging, also can cause further to influence on the control problem of remote operating mechanical arm system. Therefore, in view of the above-mentioned problems, the delay control method for seeking a kind of more effective remote operating mechanical arm system is one and is worth grinding The problem of studying carefully

Summary of the invention

The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, propose one kind avoid system modelling error, The problems such as environmental disturbances, device aging, can effectively realize the delay control method of the remote operating mechanical arm system of delays time to control.

The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions, a kind of remote operating mechanical arm system Delay control method, its main feature is that: the following steps are included: (1) establishes the inearized model of remote operating mechanical arm system, joint The non-linear dynamic model in space are as follows:

Wherein q ∈ RⁿFor joint Angle Position, τ ∈ RⁿFor input torque vector, M (q) ∈ R^n×nFor inertial matrix,For centrifugal force and coriolis force matrix, C (q) ∈ RⁿFor gravity item,For outer friction power；

(2) linear union variable is definedq_r=-Λ q, Wherein Λ is the diagonal matrix of a positive definite, can be obtained:

(3) main mechanical arm and the relevant parameter from mechanical arm are distinguished using subscript m and s, by 2. Shi Ke get:

(4) following nonlinear Feedback Control is respectively adopted to the master and slave mechanical arm of remote operating mechanical arm system in step (3) Rule:

It can obtain:

WhereinThe control amount for as needing to apply, there are time-vary delay systems during remote operating d_t, the position tracking error of principal and subordinate's mechanical arm may be defined as:

e_m(t)=q_m(t-d_t)-q_s(t),

(5) design point observer, definition status variableAugmentation system can be obtained:

Wherein,C_m=[I 0], It is as follows to 7. design point observer:

Formula 8. in quantity of state x_oIt is the estimation to quantity of state x, observer gain matrix L can be by closed loop transform function |sI-(A-LC_m) | carry out POLE PLACEMENT USING selection.

(6) design formula 5. in control law U, form are as follows:

U=Kx_o ⑨

Wherein,Matrix K₁And K₂Can be by closed loop transform function | sI +Λ|²|sI-K₁||sI-K₂| it carries out POLE PLACEMENT USING and seeks.

Compared with prior art, the invention has the benefit that linearisation mould by establishing remote operating mechanical arm system Type, and then design point observer and state feedback control law influence caused by delay compensation, realize effective control；For There are problems that random delay in principal and subordinate's mechanical arm communication process of remote operating mechanical arm system, propose a kind of delay control method, 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, have realized The control of effect.

Detailed description of the invention

Fig. 1 is the simulation result schematic diagram of the specific embodiment of the invention.

Specific embodiment

A kind of delay control method of remote operating mechanical arm system, comprising the following steps: (1) establish remote operating mechanical arm system The inearized model of system, the non-linear dynamic model of joint space are as follows:

Wherein q ∈ RⁿFor joint Angle Position, τ ∈ RⁿFor input torque vector, M (q) ∈ R^n×nFor inertial matrix,For centrifugal force and coriolis force matrix, C (q) ∈ RⁿFor gravity item,For outer friction power；

(2) linear union variable is definedq_r=-Λ q, Wherein Λ is the diagonal matrix of a positive definite, can be obtained:

(3) main mechanical arm and the relevant parameter from mechanical arm are distinguished using subscript m and s, by 2. Shi Ke get:

(4) following nonlinear Feedback Control is respectively adopted to the master and slave mechanical arm of remote operating mechanical arm system in step (3) Rule:

It can obtain:

WhereinThe control amount for as needing to apply, there are time-vary delay systems during remote operating d_t, the position tracking error of principal and subordinate's mechanical arm may be defined as:

e_m(t)=q_m(t-d_t)-q_s(t),

(5) design point observer, definition status variableAugmentation system can be obtained:

Wherein,C_m=[I 0], It is as follows to 7. design point observer:

Formula 8. in quantity of state x_oIt is the estimation to quantity of state x, observer gain matrix L can be by closed loop transform function |sI-(A-LC_m) | carry out POLE PLACEMENT USING selection.

(6) design formula 5. in control law U, form are as follows:

U=Kx_o ⑨

Wherein,Matrix K₁And K₂Can be by closed loop transform function | sI +Λ|²|sI-K₁||sI-K₂| it carries out POLE PLACEMENT USING and seeks.

The present invention is by taking the remote control system that the mechanical arm of a pair of of two degrees of freedom forms as an example.Choose main mechanical arm initial position q_m=[0.1 0.2]^T, from mechanical arm initial position q_s=[0.4 0.6]^T, the method according to step 1) acquires e_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；Choose time-vary delay system d_t=0.2sin²(t),It seeksSimulation result as shown in Figure 1, in figure principal and subordinate's mechanical arm position tracking error e_mAnd e_sIt goes to zero rapidly, it was demonstrated that this patent the method can effectively realize the timing_delay estimation of remote operating mechanical arm system.

Claims (1)

1. a kind of delay control method of remote operating mechanical arm system, which comprises the following steps:

(1) inearized model of remote operating mechanical arm system, the non-linear dynamic model of joint space are established are as follows:

Wherein q ∈ RⁿFor joint Angle Position, τ ∈ RⁿFor input torque vector, M (q) ∈ R^n×nFor inertial matrix, For centrifugal force and coriolis force matrix, G_q(q)∈RⁿFor gravity item,For outer friction power；

(2) linear union variable is definedq_r=-Λ q,Wherein Λ is the diagonal matrix of a positive definite, can be obtained:

(3) main mechanical arm and the relevant parameter from mechanical arm are distinguished using subscript m and s, by 2. Shi Ke get:

(4) following nonlinear Feedback Control is respectively adopted to the master and slave mechanical arm of remote operating mechanical arm system in step (3) to restrain:

It can obtain:

WhereinThe control amount for as needing to apply, there are time-vary delay system d during remote operating_t, main It may be defined as from the position tracking error of mechanical arm:

e_m(t)=q_m(t-d_t)-q_s(t),

e_s(t)=q_s(t-d_t)-q_m(t). ⑥

(5) design point observer, definition status variableAugmentation system can be obtained:

Wherein,C_m=[I 0], It is as follows to 7. design point observer:

Formula 8. in quantity of state x_oIt is the estimation to quantity of state x, observer gain matrix L can be by closed loop transform function | sI- (A-LC_m) | carry out POLE PLACEMENT USING selection.

(6) design formula 5. in control law U, form are as follows:

U=Kx_o ⑨

Wherein,Matrix K₁And K₂Can be by closed loop transform function | sI+ Λ |² |sI-K₁||sI-K₂| it carries out POLE PLACEMENT USING and seeks.