CN108340369A - A kind of four-way remote operating bilateral control method based on delay compensation - Google Patents
A kind of four-way remote operating bilateral control method based on delay compensation Download PDFInfo
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- CN108340369A CN108340369A CN201810046081.7A CN201810046081A CN108340369A CN 108340369 A CN108340369 A CN 108340369A CN 201810046081 A CN201810046081 A CN 201810046081A CN 108340369 A CN108340369 A CN 108340369A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The four-way remote operating bilateral control method based on delay compensation that the invention discloses a kind of.On the basis of traditional four-way bilateral control method, for the present invention by establishing principal and subordinate end kinetic model, the compensation communication port that joins delay significantly improves the transparency of system while ensureing system stability.For traditional four-way bilateral control method under communication delay existing unstable phenomenon, the present invention proposes the amendment wave variables method based on passive theory, influence of the wave reflection phenomenon to system transparent existing for traditional wave variables is alleviated, ensures the fidelity of the position tracking performance and force feedback during remote operating.The present invention can ensure stability of remote control system under the conditions of time delay well, while be promoted from the position tracking performance at end and the fidelity of force feedback.The method of the present invention is easily achieved, and primarily can be used for the bilateral control of remote control system, ensures the stability and the transparency of system.
Description
Technical field
The invention belongs to remote operating control field, a kind of specifically four-way bilateral control of time delay remote control system
Method promotes the transparency of remote control system while ensureing remote control system stability.
Background technology
With the continuous development of robot technology, navigate in aviation by the teleoperation of human-computer interaction working method
It, the fields such as deep ocean work, medical operating played an important role, be with a wide range of applications.Especially have power anti-
The bilateral teleoperation system of feedback improves the transparent performance of system, enhances the telepresenc of operator.However, with principal and subordinate end
The increasing of distance, system will produce larger communication delay in signals transmission, be degrading the stability of system.
Previous bilateral control generally uses channel structure, i.e. two-port network form, the power and speed point at principal and subordinate end
Voltage and current that Biao Shi be in network.Although channel structure can ensure that remote control system is completed basic remote operating and appointed
Business, but the transparent performance of system can not ensure.For this purpose, document " Transparency in time-delayed systems
and the effect of local force feedback for transparent teleoperation”
(K.Hashtrudi-Zaad.IEEE Transactions on Robotics and Automation,2002,18(1):
108-114) propose a kind of four-way bilateral control method, be based on the matched thought of principal and subordinate's terminal impedance, lifting system it is transparent
Property.However, this method does not consider the intrinsic communication delay of system, for this purpose, document " Transparent Time-Delayed
Bilateral Teleoperation Using Wave Variables”(A.Aziminejad.IEEE Transactions
on Control Systems Technology,2008,16(3):548-555) by channel structure based on passive theory
Wave variables bilateral control method is introduced into four-way structure, it is proposed that wave variables four-way bilateral control method ensure that logical
Believe the stability under time delay.But the introducing of wave variables can cause wave reflection, deteriorate the transparent performance of system.For this purpose, of the invention
For stability existing for above-mentioned remote control system and transparent trade-off problem, the structure of wave variables is improved, is proposed a kind of new
Four-way remote operating bilateral control method promotes the transparency of remote control system while ensureing remote control system stability.
Invention content
It is an object of the invention to propose a kind of four-way remote operating bilateral control method based on delay compensation, to solve
The introducing of the stability and wave variables of certainly traditional four-way remote control system deteriorates the technical problems such as system transparent.
To achieve the above object, technical scheme of the present invention particular content is as follows：
The present invention includes the following steps：
Step 1：Establish the kinetic model of bilateral teleoperation system：
The kinetic model of main side：
ZcmVm+(C4Vs+C2Fe)e-Ts+b(C3Fh+C1Vm)=(1+C6)Fh(1)
Kinetic model from end：
The kinetic model of operator and main side interaction：Fh=Fh *-ZhVm(3)
The kinetic model to interact from end with external environment：Fe=Fe *+ZeVs(4)
Wherein, Zcm=Zm+Cm, Zce=Zs+Cs, ZmAnd ZsIt is the linear quality coefficient of principal and subordinate under power drive, Z respectivelym=
MmS, Zs=MsS, MmAnd MsIt is the quality at principal and subordinate end, C respectivelymAnd CsIt is the positioner coefficient at principal and subordinate end, C respectivelym=Bm+
Km/ s, Cs=Bs+Ks/ s, C1~C4It is four-way bilateral controller coefficient, C respectively5And C6It is the force compensating system at principal and subordinate end respectively
Number, Fh *It is the operating force of operator, FhIt is the interaction force of operator and main side, Fe *It is external environment power, FeBe from end with
The interaction force of external environment, ZhAnd ZeIt is the impedance factor of operator and environment, V respectivelymIt is the movement velocity of main side, Vs
It is the movement velocity from end, T is communication delay, and b is wave impedance coefficient；
Step 2：The computational methods for correcting wave variables are introduced, delay compensation communication port is designed：
In order to ensure stability of the system under communication delay, is introduced in this step and correct wave variables computational methods.However,
Wave variables method based on passive theory is only used for two-port network structure, in order to which this method is expanded to four-way structure
In remote control system, the communication port of system is separated into two-port network structure, therefore, the non-physical input speed of system and
Power mixed term is：
V1=C3Fh+C1Vm (5)
I2=C2Fe+C4Vs (6)
Because the closed loop equation at principal and subordinate end can be write as：
VmZm=-VmCm+Fh(1+C6)-I1 (7)
VsZs=-VsCs-Fe(1+C5)+V2 (8)
Therefore, the non-physical output speed of system and power mixed term are：
I1=Fh(1+C6)-VmZcm (9)
V2=Fe(1+C5)+VsZce (10)
In delay compensation communication port, it is as follows to correct wave variables formula：
Wherein, b is wave impedance coefficient, um(t) be main side forward direction wave variables, us(t) it is forward direction wave variables from end, vm
(t) be main side reversed wave variables, vs(t) it is reversed wave variables from end.
The Time Delay Model of remote control system is as follows：
us(t)=um(t-T) (15)
vm(t)=vs(t-T) (16)
Therefore, the hybrid matrix of the system can be expressed as：
The scattering operator of system is defined as：By the H in equation (17)
(s) it substitutes into, the norm of scattering operator is less than 1, and remote control system is stable.
Step 3：Four-way bilateral controller is designed, transparency parameter is matched：
Simultaneous equations (1)-(4), then：
Wherein, △i(i=1,2,3,4) is the error term in system transparent, can be ignored in Analysis of Transparency.In order to
Ensure that the transparency of remote control system, the speed at principal and subordinate end should meet Vm=Vs, while the impedance factor at principal and subordinate end should meet Zto
=Ze, Zte=Zh.Four-way bilateral controller coefficient C in the definition present invention1~C6It is not ZhAnd ZeFunction, therefore, by side
Journey (18)-(19), then：
Equation (20) is ideal transparency conditions, wherein C2And C3It is asynchronously 0.
Compared with prior art, the present invention has the advantages that：
1. four-way channel control method is used for bilateral teleoperation system by the kinetic model of the invention by establishing principal and subordinate end
System proposes ideal transparency conditions, improves the transparent performance of system well, to improve the position during remote operating with
The fidelity of track performance and force feedback.
2. the present invention, which proposes, corrects wave variables computational methods, and the computational methods are applied to four-way bilateral teleoperation
In the communication port delay compensation of system, the stability of system is well ensured.
3. amendment wave variables computational methods proposed by the present invention, reversed wave variables vs(t) include only signal I2, subtract well
Wave reflection problem existing for weak traditional wave variables.
Description of the drawings
Fig. 1 is amendment wave variables computational methods proposed by the present invention；
Fig. 2 is four-way bilateral teleoperation system block diagram proposed by the present invention, specifically describes the letter between main and slave terminal
Number transmit situation；
Fig. 3 be the bilateral teleoperation system of the present invention be in contact with operating side and environment movement when master and slave end position track
With force feedback situation simulation curve.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Conflict is not constituted between this to can be combined with each other.
In conjunction with embodiment, attached drawing 1 and attached drawing 2, the invention will be further described：
The present invention implementation technical solution be：
1) kinetic model of bilateral teleoperation system is established
The kinetic model of main side：
ZcmVm+(C4Vs+C2Fe)e-Ts+b(C3Fh+C1Vm)=(1+C6)Fh(1)
Kinetic model from end：
The kinetic model of operator and main side interaction：Fh=Fh *-ZhVm(3)
The kinetic model to interact from end with external environment：Fe=Fe *+ZeVs(4)
Wherein, Zcm=Zm+Cm, Zce=Zs+Cs,Zm=MmS, Zs=MsS, Mm=Ms=0.5kg, Cm=40Mm(10+1/s),
Cs=40Ms(10+1/s), C1~C4It is four-way bilateral controller coefficient, C respectively5And C6It is the force compensating system at principal and subordinate end respectively
Number, Fh *And Fe *Input amplitude is 2 respectively, and frequency is the square-wave signal of 1Hz, Zh=Mm, Ze=Ms, VmIt is the movement velocity of main side,
VsIt is the movement velocity from end, T is communication delay, and b is wave impedance coefficient.
2) computational methods for correcting wave variables are introduced, delay compensation communication port is designed
In order to ensure stability of the system under communication delay, is introduced in this step and correct wave variables computational methods, such as Fig. 1
It is shown.However, the wave variables method based on passive theory is only used for two-port network structure, in order to which this method is expanded to four
In the remote control system of channel design, the communication port of system is separated into two-port network structure, as shown in Figure 2.
Therefore, the non-physical input speed of system and power mixed term are：
V1=C3Fh+C1Vm (5)
I2=C2Fe+C4Vs (6)
Because the closed loop equation at principal and subordinate end can be write as：
VmZm=-VmCm+Fh(1+C6)-I1 (7)
VsZs=-VsCs-Fe(1+C5)+V2 (8)
Therefore, the non-physical output speed of system and power mixed term are：
I1=Fh(1+C6)-VmZcm (9)
V2=Fe(1+C5)+VsZce (10)
In delay compensation communication port, it is as follows to correct wave variables formula：
The Time Delay Model of remote control system is as follows：
us(t)=um(t-T) (15)
vm(t)=vs(t-T) (16)
Wherein, b=200Ns/m, T=0.5s.
3) four-way bilateral controller is designed, transparency parameter is matched
Simultaneous equations (1)-(4), then：
Wherein, △i(i=1,2,3,4) is the error term in system transparent, can be ignored in Analysis of Transparency.In order to
Ensure that the transparency of remote control system, the speed at principal and subordinate end should meet Vm=Vs, while the impedance factor at principal and subordinate end should meet Zto
=Ze, Zte=Zh.Because of the four-way bilateral controller coefficient C in the present invention1~C6It is not ZhAnd ZeFunction, therefore, by side
Journey (17)-(18), then：
Equation (19) is ideal transparency conditions, wherein C1=Zce=40Ms(10+1/s)+MsS, C2=C3=0.5, C4
=-Zcm=-40Mm(10+1/s)-MmS, C5=C6=-0.5.
4) Matlab emulation is carried out to above-mentioned process, verifies four-way remote operating bilateral control method proposed by the present invention
To the promotion effect of system transparent.M is taken when verificationm=Ms=0.5kg, b=200Ns/m, T=0.5s, Zh=Mm, Ze=Ms,
C1=40Ms(10+1/s)+MsS, C2=C3=0.5, C4=-40Mm(10+1/s)-MmS, C5=C6=-0.5, simulation time are
20s, when bilateral teleoperation system is in contact movement with operating side and environment, master and slave end position tracking and force feedback situation are imitative
True curve is as shown in Figure 3.
The above content is only the technological thought of the present invention, and protection scope of the present invention cannot be limited with this, every according to this
The technological thought proposed is invented, any change done on the basis of technical solution each falls within the guarantor of claims of the present invention
Within the scope of shield.
Claims (1)
1. a kind of four-way remote operating bilateral control method based on delay compensation, which is characterized in that include the following steps：
The first step：Establish the kinetic model of bilateral teleoperation system；
Second step：The computational methods for correcting wave variables are introduced, delay compensation communication port is designed；
Third walks：Four-way bilateral controller is designed, transparency parameter is matched；
In the first step, the kinetic model of foundation is：
The kinetic model of main side：
ZcmVm+(C4Vs+C2Fe)e-Ts+b(C3Fh+C1Vm)=(1+C6)Fh (1)
Kinetic model from end：
The kinetic model of operator and main side interaction：Fh=Fh *-ZhVm (3)
The kinetic model to interact from end with external environment：Fe=Fe *+ZeVs (4)
Wherein, Zcm=Zm+Cm, Zce=Zs+Cs, ZmAnd ZsIt is the linear quality coefficient of principal and subordinate under power drive, Z respectivelym=MmS, Zs
=MsS, MmAnd MsIt is the quality at principal and subordinate end, C respectivelymAnd CsIt is the positioner coefficient at principal and subordinate end, C respectivelym=Bm+Km/ s, Cs
=Bs+Ks/ s, C1~C4It is four-way bilateral controller coefficient, C respectively5And C6It is the force compensating coefficient at principal and subordinate end, F respectivelyh *It is
The operating force of operator, FhIt is the interaction force of operator and main side, Fe *It is external environment power, FeIt is from end and external environment
Interaction force, ZhAnd ZeIt is the impedance factor of operator and environment, V respectivelymIt is the movement velocity of main side, VsIt is from end
Movement velocity, T are communication delay, and b is wave impedance coefficient；
In second step, the computational methods for correcting wave variables are introduced, design delay compensation communication port is specifically：
The communication port of system is separated into two-port network structure, then the non-physical input speed of system and power mixed term are：
V1=C3Fh+C1Vm (5)
I2=C2Fe+C4Vs (6)
Because the closed loop equation at principal and subordinate end can be write as：
VmZm=-VmCm+Fh(1+C6)-I1 (7)
VsZs=-VsCs-Fe(1+C5)+V2 (8)
Therefore, the non-physical output speed of system and power mixed term are：
I1=Fh(1+C6)-VmZcm (9)
V2=Fe(1+C5)+VsZce (10)
In delay compensation communication port, it is as follows to correct wave variables formula：
Wherein, b is wave impedance coefficient, um(t) be main side forward direction wave variables, us(t) it is forward direction wave variables from end, vm(t) it is
The reversed wave variables of main side, vs(t) it is reversed wave variables from end；
The Time Delay Model of remote control system is as follows：
us(t)=um(t-T) (15)
vm(t)=vs(t-T) (16)
Therefore, the hybrid matrix of the system is expressed as：
The scattering operator of system is defined as：By H (s) generations in equation (17)
Enter, the norm of scattering operator is less than 1, and remote control system is stable；
In the third step, four-way bilateral controller is designed, match transparency parameter is specifically：
Simultaneous equations (1)-(4), then：
Wherein, △i(i=1,2,3,4) is the error term in system transparent, can be ignored in Analysis of Transparency；It is distant in order to ensure
The speed of the transparency of operating system, principal and subordinate end should meet Vm=Vs, while the impedance factor at principal and subordinate end should meet Zto=Ze, Zte
=Zh；Define four-way bilateral controller coefficient C1~C6It is not ZhAnd ZeFunction therefore by equation (18)-(19), obtain：
Equation (20) is ideal transparency conditions, wherein C2And C3It is asynchronously 0.
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| CN110262256A (en) * | 2019-07-18 | 2019-09-20 | 浙江大学 | A kind of polygon adaptive sliding-mode observer method of non-linear remote control system |
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| CN113721526A (en) * | 2021-09-01 | 2021-11-30 | 哈尔滨理工大学 | Remote operation control method of hexapod robot applied to time delay changing condition |
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