CN108582019B - Control method for flexible teleoperation system under asymmetric structure - Google Patents

Control method for flexible teleoperation system under asymmetric structure Download PDF

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CN108582019B
CN108582019B CN201810582364.3A CN201810582364A CN108582019B CN 108582019 B CN108582019 B CN 108582019B CN 201810582364 A CN201810582364 A CN 201810582364A CN 108582019 B CN108582019 B CN 108582019B
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杨亚娜
李军朋
华长春
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Yanshan University
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    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Abstract

The invention discloses a control method for a flexible teleoperation system under an asymmetric structure. The content is as follows: establishing a flexible teleoperation system model under an n-dimensional asymmetric structure; defining master and slave robot position synchronous error variables under network communication time-varying delay, and designing a new master and slave robot control method with input delay based on the definition; and a stable time-lag correlation stability condition of the teleoperation system is given based on a linear matrix inequality, so that the stability and the synchronism of the teleoperation system when the external input force is zero are ensured. The invention ensures the stable operation under the conditions of the flexible teleoperation system performance asymmetric structure and the time-varying asymmetric time-varying delay, thereby improving the flexibility and the practicability of the system. The control method is simple, and only uses the position and speed information of the motor, thereby improving the practicability of the control method.

Description

Control method for flexible teleoperation system under asymmetric structure
Technical Field
The invention relates to the technical field of control of nonlinear flexible teleoperation systems, in particular to a control method for a flexible teleoperation system under an asymmetric structure.
Background
The networked teleoperation system is used as a remote operation system which can exert respective advantages of human and mechanical systems to the maximum extent, and has wide application prospect and great application value in the present generation. A typical networked teleoperation system is mainly composed of five parts, which are an operator, a master robot, a network information transmission channel, a slave robot, and an external environment where the slave robot is located. The working mode can be roughly described as follows: the operator operates the local master robot, information such as the position, the speed and the like of the master robot is transmitted to the slave robot through transmission media such as a network, the slave robot simulates the behavior of the master robot under a specific environment according to the received position and speed information of the master robot so as to finish various complex work, and meanwhile, the working state of the slave robot is fed back to the master end operator, so that the operator can make a correct decision according to the motion state of the slave robot.
Teleoperation systems have been widely used in recent years in the fields of nuclear accident rescue, space exploration, deep sea exploration, telemedicine and the like. In practical application, on one hand, information exchange between a master end and a slave end is inevitably limited by communication bandwidth; on the other hand, the master-slave system model not only has strong nonlinear characteristics, but also is easily influenced by uncertain system parameters and disturbance of the external working environment. A large number of control methods are provided for a teleoperation system to ensure that the teleoperation system has good working performance. However, the existing control methods are implemented on the basis of the assumption that the master-slave robot is a rigid robot, and in practice, the robot has more or less flexible characteristics. And from the traditional machinery manufacturing industry to the technical fields of space flight and aviation and the like and the precision machinery such as robot manufacturing and the like, the low rigidity and flexibility become an important development direction for the structural design and manufacture in the fields. The flexible robot structure applied to high speed, high precision and high load weight ratio is particularly emphasized in the fields of industry and aerospace. The flexible robot is an exceptionally complex dynamic system, and compared with a rigid robot, the flexible robot has the advantages of high speed, low energy consumption, large operation space, light weight and the like, so that the flexible robot can meet the requirements of the future robot on the application aspects of high speed, precision, large bearing, light weight and the like. Therefore, the control research aiming at the flexible teleoperation system is urgently needed.
Disclosure of Invention
The invention aims to provide a control method for a flexible teleoperation system under an asymmetric structure so as to make up for the defects of the existing control strategy.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a control method for a flexible teleoperation system under an asymmetric structure comprises the following steps:
s1, establishing a flexible teleoperation system model under an n-dimensional asymmetric structure;
s2, defining master and slave robot position synchronous error variables under network communication time-varying delay, and designing a new master and slave robot control method with input delay based on the defined master and slave robot position synchronous error variables;
and S3, providing a stable time-lag correlation stability condition of the teleoperation system based on a linear matrix inequality, and ensuring the stability and the synchronism of the teleoperation system when the external input force is zero.
Preferably, in step S1, the establishing the flexible teleoperation system model under the n-dimensional asymmetric structure includes:
the slave robot in the teleoperation system usually works in complicated and severe environments which easily bring great influence to the controller of the slave robot; therefore, the controller of the slave-end robot is arranged at the master end, and the remote slave robot only needs to transmit signals such as position, speed and the like to the controller and receive control input from the controller; the remote teleoperation system under the asymmetric mechanism has higher flexibility and modularity, so that the control method of the slave robot can be realized and modified in a near place, and is suitable for deployment in various environments;
consider a teleoperation system consisting of two flexible articulated robot systems whose kinetic model is:
Figure BDA0001688565600000031
wherein subscript m represents the master robot and subscript s represents the slave robot; q. q.sm,qs∈RnIs a joint displacement matrix; thetam,θs∈RnA motor position matrix of the master robot and the slave robot; mm(qm),Ms(qs)∈Rn×nDetermining a positive inertia matrix for the system;
Figure BDA0001688565600000032
vector of Copenforces and centrifugal forces; km,Ks∈Rn×nA diagonal positive definite constant matrix representing a joint stiffness system; b ism,Bs∈Rn×nAn actuator damping matrix; j. the design is a squarem,Js∈Rn×nRepresenting the motor inertia constant diagonal matrix of the master robot and the slave robot; fh∈RnAnd Fe∈RnA force applied by a human operator and an environmentally applied torque, respectively; tau ism∈RnAnd τs∈RnA control torque provided to the controller; t ismAnd (t) is the transmission delay of information from the master end to the slave end. Due to the fact thatThe control signal of the robot needs to be transmitted from the master end through the network information channel, so that network information transmission delay exists.
Preferably, in step S2, the network communication time-varying delay defines master and slave robot position synchronization error variables, and designs a new master-slave robot control method with input delay based on the defined master and slave robot position synchronization error variables; the concrete content is as follows:
the definition formula of the position synchronization error variables of the master robot and the slave robot under the time-varying delay of network communication is as follows:
e＝θm-θs(t-Ts(t)) (2)
wherein, Ts(t) represents the network information transmission delay from the slave end to the master end, wherein the delay is asymmetric time-varying delay;
based on the master and slave robot position synchronous error variables defined by the formula (2), a new master and slave robot control method with input time delay is designed as follows:
Figure BDA0001688565600000041
wherein, Kp,KdA constant matrix is positively determined for the diagonal.
Preferably, in step S3, the linear matrix inequality-based method provides a stable time-lag dependent stability condition of the teleoperation system, and ensures stability and synchronicity of the teleoperation system when the external input force is zero; the specific process comprises the following steps: the Lyapunov equation was chosen as follows:
Figure BDA0001688565600000042
Figure BDA0001688565600000043
Figure BDA0001688565600000044
first, for V1The derivation is:
Figure BDA0001688565600000045
according to the designed control method, the following steps can be obtained:
Figure BDA0001688565600000046
secondly, for V2The derivation is:
Figure BDA0001688565600000047
then it is obtained:
Figure BDA0001688565600000051
further, for V3The derivation is:
Figure BDA0001688565600000052
further, it is possible to obtain:
Figure BDA0001688565600000053
wherein the content of the first and second substances,
Figure BDA0001688565600000054
Figure BDA0001688565600000061
Figure BDA0001688565600000062
thus, it is finally obtained:
Figure BDA0001688565600000063
the corresponding linear matrix inequalities can be obtained according to the inequalities:
Figure BDA0001688565600000064
wherein the content of the first and second substances,
Figure BDA0001688565600000065
Figure BDA0001688565600000066
represents the transpose of the respective matrix;
when the input force of the operator and the external world is zero and the inequality of the equation (14) is satisfied, the asymmetric flexible teleoperation system is stable, and the synchronization error e gradually converges to the zero point.
Due to the adoption of the technical scheme, compared with the prior art, the control method for the flexible teleoperation system under the asymmetric structure has the following beneficial effects:
the control method for the flexible teleoperation system under the asymmetric structure is simple in design, and is more suitable for complex and severe working environments, particularly working environments with radiation compared with the teleoperation system with the symmetric structure. The slave robot controller is arranged at the master end, so that the slave robot controller can be adjusted at any time according to the working performance of the slave robot, the slave robot controller is more flexibly applied, and the flexible robot can complete more complex working tasks. The invention ensures the stable operation under the conditions of the flexible teleoperation system performance asymmetric structure and the time-varying asymmetric time-varying delay, thereby improving the flexibility and the practicability of the system.
Drawings
FIG. 1 is a block diagram of an asymmetric teleoperation system;
fig. 2 is a control schematic block diagram of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The control method for the flexible teleoperation system under the asymmetric structure in the embodiment comprises the following steps:
s1, establishing a flexible teleoperation system model under an n-dimensional asymmetric structure;
considering that the slave robot in the teleoperation system often works in complex and severe environments such as nuclear accident sites, seabed, deep space and the like, and the complex and severe environments are easy to bring great influence to the controller of the slave robot. For example, radiation from a nuclear accident site can severely affect the control performance of the slave robot. Therefore, compared with a common teleoperation system with a symmetrical structure, the teleoperation system has the advantages that the controller of the slave-end robot is arranged at the master end, and as shown in fig. 1, the remote slave robot only needs to transmit signals such as position, speed and the like to the controller and receive control input from the controller. The remote teleoperation system under the asymmetric mechanism has higher flexibility and modularity, so that the control method of the slave robot can be realized and modified in a near place, and is suitable for deployment in various environments; consider a teleoperation system consisting of two nonlinear flexible robotic systems with an n-dimensional dynamical model:
Figure BDA0001688565600000081
wherein subscript m represents the master robot and subscript s represents the slave robot; q. q.sm,qs∈RnIs a joint displacement matrix;
Figure BDA0001688565600000082
is a joint velocity matrix;
Figure BDA0001688565600000083
is a joint acceleration matrix; thetam,θs∈RnA motor position matrix of the master robot and the slave robot; mm(qm),Ms(qs)∈Rn×nDetermining a positive inertia matrix for the system;
Figure BDA0001688565600000084
vector of Copenforces and centrifugal forces; km,Ks∈Rn×nA diagonal positive constant matrix representing joint stiffness; b ism,Bs∈Rn×nAn actuator damping matrix; j. the design is a squarem,Js∈Rn×nRepresenting the motor inertia constant diagonal matrix of the master robot and the slave robot; fh∈RnAnd Fe∈RnA torque applied by a human operator and a torque applied by the environment, respectively; tau ism∈RnAnd τs∈RnThe control torque provided for the controller. T ismAnd (t) is the transmission delay of information from the master end to the slave end. Since the control signal of the slave robot needs to be transmitted from the master end through the network information channel, there is a network information transmission delay.
S2, based on a flexible teleoperation system model (15) under an n-dimensional asymmetric structure, the position error definition formula of the master robot and the slave robot under the time-varying delay of network communication is as follows:
e＝θm-θs(t-Ts(t)) (14)
wherein, TsAnd (t) represents the network information transmission delay from the slave end to the master end. Obviously, the invention considers the asymmetric time-varying delay in order to better accord with the practical application environment.
Fig. 2 is a control schematic block diagram of the present invention, and as shown in fig. 2, a new master-slave robot control method with input delay is designed based on master and slave robot position synchronization error variables defined by equation (14) as follows:
Figure BDA0001688565600000085
wherein, Kp,KdA constant matrix is positively determined for the diagonal.
The difference from a general teleoperation system control strategy is that for a slave robot, the control input of the slave robot has a time delay, that is, the slave robot control strategy is as follows:
τs(t-Ts(t))＝Kp(θm(t-Ts(t))-θs(t-Tm(t)-Ts(t))) (16)
as can be seen from the control method (15), the control method provided by the invention is simple and easy to implement.
S3, providing a stable time-lag correlation stability condition of the teleoperation system based on a linear matrix inequality, and ensuring the stability and synchronism of the teleoperation system when the external input force is zero, wherein the method specifically comprises the following steps of:
Figure BDA0001688565600000091
Figure BDA0001688565600000092
Figure BDA0001688565600000093
wherein the content of the first and second substances,
Figure BDA0001688565600000094
and
Figure BDA0001688565600000095
respectively, time-varying delay Tm(T) and Ts(t) upper bound, i.e.
Figure BDA0001688565600000096
First, for V1The derivation can be:
Figure BDA0001688565600000097
the above derivation uses the commonly used attributes of the robot dynamics model:
Figure BDA0001688565600000098
is a negative symmetric matrix, i.e. there is an arbitrary vector x, such that
Figure BDA0001688565600000099
This is true.
Further according to the designed control method (15) can be obtained:
Figure BDA00016885656000000910
secondly, for V2The derivation can be:
Figure BDA0001688565600000101
further, the method can be obtained as follows:
Figure BDA0001688565600000102
according to the equation
Figure BDA0001688565600000103
Figure BDA0001688565600000104
The following can be obtained:
Figure BDA0001688565600000105
then to V3The derivation can be:
Figure BDA0001688565600000106
further, the method can be obtained as follows:
Figure BDA0001688565600000107
wherein the content of the first and second substances,
Figure BDA0001688565600000111
Figure BDA0001688565600000112
Figure BDA0001688565600000113
thus, it is finally obtained:
Figure BDA0001688565600000114
the corresponding linear matrix inequalities can be obtained according to the inequalities:
Figure BDA0001688565600000115
wherein the content of the first and second substances,
Figure BDA0001688565600000116
Figure BDA0001688565600000117
denotes the transpose of the corresponding matrix.
When the input force of an operator and the external world is zero and the linear matrix inequality (14) is established, the flexible teleoperation system under the asymmetric structure is stable, and the synchronization error e of the master robot and the slave robot gradually converges to the zero point.
Compared with the existing control method aiming at the teleoperation system, the control method of the flexible teleoperation system under the consideration of the asymmetric structure mainly has three advantages: firstly, compared with a teleoperation system with a symmetrical structure, the teleoperation system with the asymmetrical structure is more suitable for complex and severe operation environments on a control structure. Based on the teleoperation system under the symmetrical structure, because the control strategies of the slave robot and the slave robot are both arranged at the far end, when the control performance of the slave robot is poor due to severe change of the environment, the slave robot can only be called back to replace the control method to improve the control performance of the slave robot. It is clear that the teleoperation system in this symmetrical configuration has poor flexibility. In the teleoperation system under the asymmetric structure, the slave robot controller is arranged at the master end, and when the working performance of the slave robot is poor, the slave robot control method can be adjusted at any time, so that the teleoperation system is more suitable for the actual application environment; secondly, compared with a rigid teleoperation system, the flexible teleoperation system has the advantages of larger operation space, higher operation speed, light weight and the like, so that the flexible teleoperation system can meet the application requirements of the robot on high speed, precision, large bearing, light weight and the like in the future; finally, the control method is simple, and only the position and speed information of the motor is used, so that the practicability of the control method is improved.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (3)

1. A control method for a flexible teleoperation system under an asymmetric structure is characterized in that: the method comprises the following steps:
s1, establishing a flexible teleoperation system model under an n-dimensional asymmetric structure, aiming at a teleoperation system consisting of two flexible joint robot systems, wherein a dynamic model is as follows:
Figure FDA0002801802520000011
wherein subscript m represents the master robot and subscript s represents the slave robot; q. q.sm,qs∈RnIs a joint displacement matrix; thetam,θs∈RnA motor position matrix of the master robot and the slave robot; mm(qm),Ms(qs)∈Rn×nDetermining a positive inertia matrix for the system;
Figure FDA0002801802520000012
vector of Copenforces and centrifugal forces; km,Ks∈Rn×nA diagonal positive definite constant matrix representing a joint stiffness system; b ism,Bs∈Rn×nAn actuator damping matrix; j. the design is a squarem,Js∈Rn×nRepresenting the motor inertia constant diagonal matrix of the master robot and the slave robot; fh∈RnAnd Fe∈RnA force applied by a human operator and an environmentally applied torque, respectively; tau ism∈RnAnd τs∈RnA control torque provided to the controller; t ism(T) is the network communication transmission time delay from the master end to the slave end of the information, T represents time, and T is illustratedm(t) is a time varying delay over time;
the controller of the slave robot is arranged at the master end, and the remote slave robot under the structure only needs to transmit position and speed signals to the controller and receive control input from the controller; the control method of the slave robot in the remote teleoperation system under the asymmetric structure can be realized and modified at near;
s2, defining master and slave robot position synchronous error variables under network communication time-varying delay, and designing a new master and slave robot control method with input delay based on the defined master and slave robot position synchronous error variables;
s3, providing a stable time lag correlation stability condition of the teleoperation system based on the linear matrix inequality (2),
Figure FDA0002801802520000021
wherein the content of the first and second substances,
Figure FDA0002801802520000022
Figure FDA0002801802520000023
denotes the transpose of the corresponding matrix,
Figure FDA0002801802520000024
and
Figure FDA0002801802520000025
respectively representing time-varying delay Tm(T) and TsMaximum value of (t), Kp,KdThe matrix is a diagonal positive definite constant matrix, and Z, S and H are positive definite matrices, so that the stability and the synchronism of the teleoperation system when the external input force is zero are ensured.
2. The control method for the flexible teleoperation system under the asymmetric structure according to claim 1, characterized in that: in step S2, defining master and slave robot position synchronization error variables under the network communication time-varying delay, and designing a new master-slave robot control method with input delay based on the defined master and slave robot position synchronization error variables; the concrete content is as follows:
the definition formula of the position synchronization error variables of the master robot and the slave robot under the time-varying delay of network communication is as follows:
e＝θm-θs(t-Ts(t)) (3)
wherein e is a synchronous error variable theta of the positions of the master robot and the slave robotm,θs∈RnMotor position matrix, T, for master and slave robotss(t) represents network information transmission delay from the slave end to the master end, and t represents time, which indicates that the delay is asymmetric time-varying delay;
based on the master and slave robot position synchronous error variables defined by the formula (3), a new master and slave robot control method with input time delay is designed as follows:
Figure FDA0002801802520000026
wherein the content of the first and second substances,
Figure FDA0002801802520000027
is the main robot motor speed matrix.
3. The control method for the flexible teleoperation system under the asymmetric structure according to claim 1, characterized in that: in step S3, the linear matrix inequality-based stable time-lag correlation stability condition of the teleoperation system is given, so as to ensure the stability and synchronism of the teleoperation system when the external input force is zero; the specific process comprises the following steps: the Lyapunov equation was chosen as follows:
Figure FDA0002801802520000031
Figure FDA0002801802520000032
Figure FDA0002801802520000033
wherein (theta)m-θs)TRepresentative vector (θ)m-θs) The transpose of (a) is performed,
Figure FDA0002801802520000034
is a slave robot motor speed matrix; xi and upsilon are respectively in a variation range of [ t, t + upsilon]And
Figure FDA0002801802520000035
a variable of (d);
first, for V1The derivation is:
Figure FDA0002801802520000036
according to the designed control method, the following steps can be obtained:
Figure FDA0002801802520000037
secondly, for V2The derivation is:
Figure FDA0002801802520000038
then it is obtained:
Figure FDA0002801802520000041
further, for V3The derivation is:
Figure FDA0002801802520000042
further, it is possible to obtain:
Figure FDA0002801802520000043
wherein the content of the first and second substances,
Figure FDA0002801802520000044
Figure FDA0002801802520000045
Figure FDA0002801802520000051
wherein Z is-1,S-1,H-1Are the inverses of the matrices Z, S, H, respectively;
thus, it is finally obtained:
Figure FDA0002801802520000052
obtaining a corresponding linear matrix inequality (2) according to the inequality;
when the input force of an operator and the external world is zero and the linear matrix inequality of the formula (2) is satisfied, the asymmetric flexible teleoperation system is stable, and the synchronous error variable e converges to the zero point gradually.
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CN108646569B (en) * 2018-07-09 2020-05-12 燕山大学 Control method of teleoperation system in discrete time state
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