CN108469733A - A kind of polygon control method of four-way remote operating for improving wave variables - Google Patents
A kind of polygon control method of four-way remote operating for improving wave variables Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The invention discloses a kind of polygon control methods of four-way remote operating for improving wave variables.The present invention expands to bilateral control method polygon, by designing principal and subordinate end weight distribution coefficient, realizes the polygon work compound function of system, the working efficiency of lifting system.In addition, by establishing principal and subordinate end kinetic model, and the compensation communication port that joins delay, it proposes the ideal transparency conditions of system, while ensureing system stability, significantly improves the transparency of system, enhance the polygon telepresenc of operator.For traditional four-way channel control method under communication delay existing instability problem, the present invention proposes the improvement wave variables method based on passive theory, it can be according to the parameter of different demands independent choice by two, negative effect of the wave reflection phenomenon existing for traditional wave variables to system transparent is alleviated, ensures the fidelity of position tracking performance and force feedback of the system during polygon remote operating.
Description
Technical field
The invention belongs to remote operating control field, specifically a kind of polygon controls of four-way remote operating improving wave variables
Method processed promotes the transparency of remote control system while ensureing that more principal and subordinate robots cooperate with remote control system stability.
Background technology
With the continuous development of robot technology, by human-computer interaction working method teleoperation space flight,
The fields such as medical treatment, ocean played an important role, and be with a wide range of applications.Especially it is that by multiple principal and subordinate's machines
The polygon remote control system of people's work compound improves the work compound ability of system, improves the efficiency of operation, and improves
The transparent performance of system enhances the polygon telepresenc of operator.However, with the increasing of principal and subordinate end distance, it is especially polygon
The signal of multiple principal and subordinate robots mingles under environment, and the communication delay that system generates in signals transmission is to system stability
Deterioration degree it is more traditional bilateral teleoperation system it is even more serious.
Previous polygon control generally uses the 2n channel designs based on wave variables, i.e. 2n port networks form, n principal and subordinate
The power and speed at end indicate the voltage and current in network respectively.Although 2n channel designs can ensure that remote control system completes base
This remote operating task, but the transparent performance of system can not ensure, such as document " Multilateral teleoperation
control over time-delayed computer networks using wave variables[C]”(Kanno
T.Y.Haptics Symposium,IEEE,2012:A kind of 125-131) the polygon control method based on wave variables proposed, by
In the presence of wave reflection, the power and speed signal of system are distorted, and deteriorate system transparent, can not ensure coming personally for operator
Sense.For this purpose, document " Dual-User Teleoperation Systems:New Multilateral Shared Control
Architecture and Kinesthetic Performance Measures”(K.Hashtrudi-Zaad.IEEE/ASME
Transactions on Mechatronics,2012,17(5):A kind of polygon control method of four-way 895-906) is proposed,
Based on the matched thought of principal and subordinate's terminal impedance, the transparency of lifting system.However, this method does not consider the existing communication of system
The stability of time delay, system can not ensure.For this purpose, the present invention is for stability existing for above-mentioned polygon remote control system and transparent
Property trade-off problem and multirobot work compound demand, introduce the computational methods for improving wave variables, design principal and subordinate end weight
Distribution coefficient proposes a kind of new polygon control method of improvement wave variables four-way remote operating, is ensureing remote control system stabilization
Property while promoted remote control system the transparency, enhance multirobot work compound when operator polygon telepresenc.
Invention content
It is an object of the invention to propose a kind of polygon control method of four-way remote operating for improving wave variables, to solve
The introducing of the stability of traditional four-way remote control system, wave variables deteriorates system transparent, more principal and subordinate robots work compound
The technical problems such as system.
To achieve the above object, technical scheme of the present invention particular content is as follows：
Step 1：Establish the kinetic model of polygon remote control system
The kinetic model of i-th of main side：
I-th of kinetic model from end：
The kinetic model of i-th of operator and main side interaction：
Fhi=Fhi *-ZhiVmi (3)
I-th of kinetic model to interact from end with external environment：
Fei=Fei *+ZeiVsi (4)
Wherein, i=1 ..., n, j=1 ..., n indicate that the system is that have n main side and n a from the polygon distant of end
Operating system, Zcmi=Zmi+Cmi, Zcei=Zsi+Csi, ZmiAnd ZsiIt is the quality coefficient at i-th of principal and subordinate end, Z respectivelymi=mmiS,
Zsi=msiS, mmiAnd msiIt is the quality at i-th of principal and subordinate end, C respectivelymiAnd CsiIt is the position control system at i-th of principal and subordinate end respectively
Number, Cmi=Bmi+Kmi/ s, Csi=Bsi+Ksi/ s, C1i~C4iIt is the polygon control coefrficient of four-way, C respectively5iAnd C6iIt is i-th respectively
The force feedback coefficient at a principal and subordinate end, Fhi *It is the operating force of i-th of operator, FhiIt is the interaction of i-th of operator and main side
Power, Fei *It is external environment power, FeiIt is i-th of interaction force from end and external environment, ZhiAnd ZeiIt is i-th of operation respectively
The impedance factor of person and environment, VmiIt is the movement velocity of i-th of main side, VsiIt is i-th of movement velocity from end, λjiIt is j-th
The weight coefficient of i-th of main side pair from end, μjiIt is j-th of weight coefficient from end to i-th of main side, TjiIt is in communication port
The time delay at j-th of master/slave end pair, i-th of master/slave end；
Step 2：Design the weight coefficient of polygon remote control system main and slave terminal
λijThe weight coefficient for being i-th main side pair j-th from end, μijIt is i-th of weight system from end to j-th of main side
Number, the weight distribution relationship of communication port signal are as follows：
usij(t)=λijumij(t-Tij) (6)
vmij(t)=μijvsij(t-Tij) (8)
Wherein, i=1 ..., n, j=1 ..., n, umi(t) be i-th of main side forward direction wave variables, usi(t) it is i-th
Forward direction wave variables from end, vmi(t) be i-th of main side reversed wave variables, vsi(t) it is i-th of reversed wave variables from end,
umij(t) it is i-th of main side to j-th of forward direction wave variables from end transmission, vsij(t) it is to be transmitted from end to j-th main side for i-th
Reversed wave variables, pass through and design different weight coefficient λijAnd μijN main side can be met and n is a from different between end
Job requirements.
Step 3：The computational methods for improving wave variables are introduced, delay compensation communication port is designed
In order to ensure stability of the polygon remote control system under communication delay, is introduced in this step and improve wave variables calculating
Method.However, the wave variables method based on passive theory is only applicable to two-port network structure, for this method is expanded to four-way
In the remote control system of road polygonal structures, the communication port of system is separated into two-port network structure, therefore, the i-th of system
A non-physical input speed and power mixed term are：
Mmi=C3iFhi+C1iVmi (9)
Nsi=C2iFei+C4iVsi (10)
Because the closed loop equation at i-th of principal and subordinate end can be write as：
VmiZmi=-VmiCmi+Fhi(1+C6i)-Nmi (11)
VsiZsi=-VsiCsi-Fei(1+C5i)+Msi (12)
Therefore, i-th of system non-physical output speed and power mixed term are：
Nmi=Fhi(1+C6i)-VmiZcmi (13)
Msi=Fei(1+C5i)+VsiZcei (14)
In the communication port of delay compensation, the formula for improving wave variables is as follows：
umi(t)=biMmi(t) (15)
vsi(t)=Nsi(t) (16)
usi(t)=biMsi(t)+Nsi(t) (18)
Wherein, biIt is wave impedance coefficient, KiIt is the second coefficient of wave conversion proposed by the present invention.
The Time Delay Model of polygon remote control system is as follows：
Therefore, the hybrid matrix H of the systemi(s) as follows：
The scattering operator of system is defined as：By the H in equation (21)
(s) it substitutes into, the norm of scattering operator is less than 1, and remote control system is stable.
Step 4：The polygon controller of four-way is designed, transparency parameter is matched
Simultaneous equations (1)-(4), then：
Wherein,△mi(m=1,2,3,4) is error term, be can be ignored.In order to ensure
The speed of the transparency of polygon remote control system, i-th of principal and subordinate end should meet Vmi=Vsi, while the impedance system at i-th of principal and subordinate end
Number should meet Ztoi=Zei, Ztei=Zhi.The polygon coefficient C of four-way in the definition present invention1i~C6iIt is not ZhiAnd ZeiFunction,
Therefore, it by equation (22)-(23), obtains：
Equation (24) is ideal transparency conditions, wherein C2iAnd C3iIt is asynchronously 0.
In addition, after introducing improvement wave conversion computational methods, remote operating communication port signal equation of transfer is as follows：
As wave impedance biIt is sufficiently large, makeAnd meeting Ki∈ (0,1] when design wave become
Change the second COEFFICIENT Ki, makeSystem is the remote operating during
Position tracking performance and the fidelity of force feedback can ensure that the transparency of system, which has, significantly to be promoted simultaneously.
Compared with prior art, the present invention has the advantages that：
1. four-way channel control method is used for polygon remote operating by the kinetic model of the invention by establishing n principal and subordinate end
System proposes ideal transparency conditions, the transparent performance of system is improved well, to improve the position during remote operating
The fidelity of tracking performance and force feedback.
2. the Weight Value Distributed Methods of polygon remote control system main and slave terminal proposed by the present invention improve mostly main well
From the ability of end work compound, and improve the polygon telepresenc of operator.
3. improvement wave variables computational methods proposed by the present invention, forward direction wave variables um(t) include only signal Mmi(t), reversely
Wave variables vs(t) include only signal Nsi(t), wave reflection problem existing for previous wave variables is reduced well.In addition, by the meter
Calculation method is applied in the communication port delay compensation of the polygon remote control system of four-way, well ensures the stability of system
Energy.
4. two proposed by the present invention can simplify wave variables structure, subtract according to the coefficient of different demands independent choice
Light influence of the wave reflection to system transparent, ensures the fidelity of the position tracking performance and force feedback during remote operating.
Description of the drawings
Fig. 1 is polygon remote control system communication port Weight Value Distributed Methods proposed by the present invention；
Fig. 2 is the polygon remote control system block diagram of improvement wave variables four-way proposed by the present invention, specifically describe n main side with
Situation is transmitted from the signal between end；
Fig. 3 is that the polygon remote control system of the present invention is in contact under weight distribution with operating side and environment when moving 2
Main side and 2 are from end position tracking and 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 step be：
1) kinetic model of polygon remote control system is established
The kinetic model of i-th of main side：
I-th of kinetic model from end：
The kinetic model of i-th of operator and main side interaction：
Fhi=Fhi *-ZhiVmi (3)
I-th of kinetic model to interact from end with external environment：
Fei=Fei *+ZeiVsi (4)
Wherein, i=1,2, j=1,2, Zcmi=Zmi+Cmi, Zcei=Zsi+Csi, Zmi=mmiS, Zsi=msiS, mmi=msi=
0.05kg, Cmi=40mmi(10+1/s), Csi=40msi(10+1/s), C1i~C4iIt is the polygon control coefrficient of four-way, C respectively5i
And C6iIt is the force feedback coefficient at i-th of principal and subordinate end, F respectivelyh1 *And Fe1 *Input amplitude is 2 respectively, and the square wave that frequency is 1Hz is believed
Number, Fh2 *And Fe2 *Input amplitude is 2 respectively, and frequency is the sinusoidal signal of 1Hz, Zhi=Mmi, Zei=Msi, VmIt is the movement of main side
Speed, VsIt is the movement velocity from end.
2) weight coefficient of polygon remote control system main and slave terminal is designed
λijThe weight coefficient for being i-th main side pair j-th from end, μijIt is i-th of weight system from end to j-th of main side
Number, the weight distribution relationship of communication port signal are as follows：
usij(t)=λijumij(t-Tij) (6)
vmij(t)=μijvsij(t-Tij) (8)
Wherein, i=1,2, j=1,2, umi(t) be i-th of main side forward direction wave variables, usi(t) it is i-th before end
To wave variables, vmi(t) be i-th of main side reversed wave variables, vsi(t) it is i-th of reversed wave variables from end, umij(t) it is
The forward direction wave variables that i-th of main side is transmitted to j-th from end, vsij(t) it is i-th of backward-wave transmitted from end to j-th of main side
Variable.For 2 master 2 from polygon remote control system, λ11=0.8, λ12=0.2, λ21=0.2, λ22=0.8, μ11=0.8, μ12
=0.2, μ21=0.2, μ22=0.8, i.e. the 1st operator distributes more weights to more from the operator's distribution of the 1, the 2nd, end
Weight give from end 2.
3) computational methods for improving wave variables are introduced, delay compensation communication port is designed
In order to ensure stability of the polygon remote control system under communication delay, is introduced in this step and improve wave variables calculating
Method.However, the wave variables method based on passive theory is only applicable to two-port network structure, for this method is expanded to four-way
In the remote control system of road polygonal structures, the communication port of system is separated into two-port network structure, therefore, the i-th of system
A non-physical input speed and power mixed term are：
Mmi=C3iFhi+C1iVmi (9)
Nsi=C2iFei+C4iVsi (10)
Because the closed loop equation at i-th of principal and subordinate end can be write as：
VmiZmi=-VmiCmi+Fhi(1+C6i)-Nmi (11)
VsiZsi=-VsiCsi-Fei(1+C5i)+Msi (12)
Therefore, i-th of system non-physical output speed and power mixed term are：
Nmi=Fhi(1+C6i)-VmiZcmi (13)
Msi=Fei(1+C5i)+VsiZcei (14)
In the communication port of delay compensation, the formula for improving wave variables is as follows：
umi(t)=biMmi(t) (15)
vsi(t)=Nsi(t) (16)
usi(t)=biMsi(t)+Nsi(t) (18)
The Time Delay Model of polygon remote control system is as follows：
Wherein, i=1,2, j=1,2, bi=2000Ns/m, Ki=0.248, Tij=0.5 ± 0.1s.
4) the polygon controller of four-way is designed, transparency parameter is matched
Simultaneous equations (1)-(4), then：
Wherein,△mi(m=1,2,3,4) is error term, be can be ignored.In order to
Ensure that the transparency of polygon remote control system, the speed at i-th of principal and subordinate end should meet Vmi=Vsi, while the resistance at i-th of principal and subordinate end
Anti- coefficient should meet Ztoi=Zei, Ztei=Zhi.The polygon coefficient C of four-way in the definition present invention1i~C6iIt is not ZhiAnd Zei's
Therefore function by equation (21)-(22), obtains：
Equation (23) is ideal transparency conditions, wherein C1i=Zcei=40msi(10+1/s)+msiS, C2i=C3i=
0.5, C4i=-Zcmi=-40mmi(10+1/s)-mmiS, C5i=C6i=-0.5.
5) Matlab/Simulink emulation is carried out to above-mentioned process, verifies improvement wave variables four-way proposed by the present invention
Remote operating polygon control method in road is to the promotion effect of system transparent, simulation time 20s, when polygon remote control system is being weighed
Reassign it is lower be in contact with operating side and environment movement when, 2 main sides and 2 are from end position tracking and force feedback situation emulation song
Line 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 polygon control method of four-way remote operating for improving wave variables, which is characterized in that include the following steps：
The first step：Establish the kinetic model of polygon remote control system；
Second step：Design the weight coefficient of polygon remote control system main and slave terminal；
Third walks：The computational methods for improving wave variables are introduced, delay compensation communication port is designed；
4th step：The polygon controller of four-way is designed, transparency parameter is matched, is promoted from the position tracking performance at end and force feedback
Fidelity；
In the first step, the kinetic model of foundation is：
The kinetic model of i-th of main side：
I-th of kinetic model from end：
The kinetic model of i-th of operator and main side interaction：
Fhi=Fhi *-ZhiVmi (3)
I-th of kinetic model to interact from end with external environment：
Fei=Fei *+ZeiVsi (4)
Wherein, i=1 ..., n, j=1 ..., n indicate that the system is that have n main side and the n polygon remote operatings from end
System, Zcmi=Zmi+Cmi, Zcei=Zsi+Csi, ZmiAnd ZsiIt is the quality coefficient at i-th of principal and subordinate end, Z respectivelymi=mmiS, Zsi=
msiS, mmiAnd msiIt is the quality at i-th of principal and subordinate end, C respectivelymiAnd CsiIt is the position control coefrficient at i-th of principal and subordinate end, C respectivelymi
=Bmi+Kmi/ s, Csi=Bsi+Ksi/ s, C1i~C4iIt is the polygon control coefrficient of four-way, C respectively5iAnd C6iIt is i-th of principal and subordinate respectively
The force feedback coefficient at end, Fhi *It is the operating force of i-th of operator, FhiIt is the interaction force of i-th of operator and main side, Fei *
It is external environment power, FeiIt is i-th of interaction force from end and external environment, ZhiAnd ZeiIt is i-th of operator and ring respectively
The impedance factor in border, VmiIt is the movement velocity of i-th of main side, VsiIt is i-th of movement velocity from end, λjiIt is j-th of main side pair
I-th of weight coefficient from end, μjiIt is j-th of weight coefficient from end to i-th of main side, TjiIt is j-th in communication port
The time delay at i-th of the master/slave end in master/slave end pair；
In second step, the weight coefficient for designing polygon remote control system main and slave terminal is specifically：
If λijThe weight coefficient for being i-th main side pair j-th from end, μijIt is i-th of weight coefficient from end to j-th of main side,
The weight distribution relationship of communication port signal is as follows：
usij(t)=λijumij(t-Tij) (6)
vmij(t)=μijvsij(t-Tij) (8)
Wherein, umi(t) be i-th of main side forward direction wave variables, usi(t) it is i-th of forward direction wave variables from end, vmi(t) it is
The reversed wave variables of i main side, vsi(t) it is i-th of reversed wave variables from end, umij(t) it is i-th of main side to j-th from end
The forward direction wave variables of transmission, vsij(t) it is i-th of reversed wave variables transmitted from end to j-th of main side, it is different by designing
Weight coefficient λijAnd μijIt is a from job requirements different between end to meet n main side and n；
In the third step, the computational methods for improving wave variables are introduced, design delay compensation communication port is specifically：
Wave variables method based on passive theory is expanded in the remote control system of four-way polygonal structures, the communication of system is logical
Road is separated into two-port network structure, then the non-physical input speed of i-th of system and power mixed term are：
Mmi=C3iFhi+C1iVmi (9)
Nsi=C2iFei+C4iVsi (10)
The closed loop equation at i-th of principal and subordinate end is write as：
VmiZmi=-VmiCmi+Fhi(1+C6i)-Nmi (11)
VsiZsi=-VsiCsi-Fei(1+C5i)+Msi (12)
I-th of the non-physical output speed and power mixed term of system be：
Nmi=Fhi(1+C6i)-VmiZcmi (13)
Msi=Fei(1+C5i)+VsiZcei (14)
In the communication port of delay compensation, the formula for improving wave variables is as follows：
umi(t)=biMmi(t) (15)
vsi(t)=Nsi(t) (16)
usi(t)=biMsi(t)+Nsi(t) (18)
Wherein, biIt is wave impedance coefficient, KiIt is the second coefficient of wave conversion；
The Time Delay Model of polygon remote control system is as follows：
The then hybrid matrix H of systemi(s) as follows：
In the 4th step, the polygon controller of four-way is designed, matching transparency parameter is specifically：
Simultaneous equations (1)-(4), then：
Wherein,△miIt is error term, can be ignored；In order to ensure polygon remote control system
The speed of the transparency, i-th of principal and subordinate end should meet Vmi=Vsi, while the impedance factor at i-th of principal and subordinate end should meet Ztoi=Zei,
Ztei=Zhi；Define the polygon coefficient C of four-way1i~C6iIt is not ZhiAnd ZeiFunction obtained by equation (22)-(23)：
Equation (24) is ideal transparency conditions, wherein C2iAnd C3iIt is asynchronously 0；
It introduces after improving wave conversion computational methods, remote operating communication port signal equation of transfer is as follows：
As wave impedance biIt is sufficiently large, makeAnd meeting Ki∈ (0,1] when design the second COEFFICIENT K of wave conversioni, makePosition tracking performance of system during remote operating and
The fidelity of force feedback can ensure that the transparency of system, which has, significantly to be promoted simultaneously.
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| CN110340894A (en) * | 2019-07-18 | 2019-10-18 | 浙江大学 | A kind of adaptive polygon control method of the remote control system based on fuzzy logic |
| 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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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901396A (en) * | 2019-03-22 | 2019-06-18 | 清华大学深圳研究生院 | A kind of improvement wave variables method in bilateral teleoperation system |
| CN110340894A (en) * | 2019-07-18 | 2019-10-18 | 浙江大学 | A kind of adaptive polygon control method of the remote control system based on fuzzy logic |
| 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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