EP2758214A1 - Réseau de commande et procédé de passivation d'un réseau de commande - Google Patents

Réseau de commande et procédé de passivation d'un réseau de commande

Info

Publication number
EP2758214A1
EP2758214A1 EP12783082.6A EP12783082A EP2758214A1 EP 2758214 A1 EP2758214 A1 EP 2758214A1 EP 12783082 A EP12783082 A EP 12783082A EP 2758214 A1 EP2758214 A1 EP 2758214A1
Authority
EP
European Patent Office
Prior art keywords
variable
communication channel
passivity
passivity controller
response
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12783082.6A
Other languages
German (de)
English (en)
Inventor
Jordi ARTIGAS ESCLUSA
Jee-Hwan Ryu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Industry University Cooperation Foundation of Korea University of Technology and Education
Original Assignee
Deutsches Zentrum fuer Luft und Raumfahrt eV
Industry University Cooperation Foundation of Korea University of Technology and Education
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsches Zentrum fuer Luft und Raumfahrt eV, Industry University Cooperation Foundation of Korea University of Technology and Education filed Critical Deutsches Zentrum fuer Luft und Raumfahrt eV
Publication of EP2758214A1 publication Critical patent/EP2758214A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

Definitions

  • the invention relates to a control network comprising a master system, and a slave system connected to the master system via a bi-directional communication channel, the communication channel having a time-varying transmission delay. Furthermore, the invention relates to a method for passivation of a
  • control networks Known as “telepresence systems” or “virtual reality systems”. Based on such control networks, an operator may, for example, interact with a remote real or simulated / virtual environment by manually manipulating an input means (eg, a joystick) of the master system. Control signals, in particular position and / or speed signals and / or force signals, are detected by the input means, and to a remote slave system, for example with a
  • Robot manipulator sent.
  • the slave system interacts with the real / virtual environment of the slave system, for example, by moving a real / virtual object based on the received control signals in the real / virtual environment.
  • the slave system sends (feedback) response signals to the master system, which in particular indicate mechanical forces with which the environment acting on the slave system.
  • These response signals are i.a. the input means, which conveys these forces to the operator by generating the response signals corresponding counter forces in an input of the operator.
  • time-variable transmission delays occur in particular in the case of communication over long distances (for example in the case of satellite links, radio links), in communications in / via media with slow signal propagation speeds (for example in the case of
  • US 6,144,884 A is based on the so-called "wave variables" approach, and proposes an energy filter coupled to the bidirectional communication channel that limits the total energy generated by the communication channel itself.
  • the technical teaching is explained in US 6,144,884 A by means of a network with a position / speed-force architecture.
  • US Pat. No. 7,027,965B2 is based on the passivation of the network, known as "Time Domain Passivity Control” or “TDPC”.
  • the so-called “Passivity Observer” determines the positive or negative amount of energy that is dissipated or generated by the master system or the slave system, or by a so-called “passivity controller” Observer "a net energy generation, ie a negative energy contribution was determined, a damping determined and applied, which corresponds to the generated net energy.
  • This passivation of the control network, ie the communication channel takes place in the net energy based on the time variable
  • the object of the invention is to provide a control network and a method for passivation of just such a control network, with which in particular affected by the above-described causality ambiguity networks are passivated.
  • the device according to the invention is solved with a control network comprising a master system, and a slave system connected to the master system via a bi-directional communication channel, wherein the
  • the master system, the slave system is the first passivity controller and the second passivity controller are embodied and set up such that a control variable x m (t) for controlling the slave system can be generated by the master system and transmitted to the second passivity controller, wherein the control variable x m (t) due to the transmission delay T A is received in the communication channel as a control variable Xm (tT A ) from the second passivity controller, and wherein the control variable Xm (tT A ) is controlled by the second passivity controller and as a controlled control variable x sd (t) is transmitted to the slave system, through the slave system based on the controllable control variable Xsd (t) a response variable f sb (t) can be calculated or a
  • Response variable f sg (t) can be measured and transmitted to the first passivity controller, wherein the response size f S b (t) or f sg (t) due to the transmission delay T B in
  • Passive controller is received, and wherein the response size f s b (tT B ) or f sg (tT B ) is regulated by the first passivity controller and as a controlled response variable f md (t) is transmitted to the master system, by the slave system for controlling the master system on the basis of a slave system state at the time t, a control variable x s (t) can be generated and communicated to the first passivity controller, wherein the control variable x s (t) due to the transmission delay T B in the communication channel as the control variable Xs ( tT B ) is received by the first passivity controller, and wherein the control variable x s (tT B ) is controllable by the first passivity controller and can be transmitted as a controlled control quantity Xmd (t) to the master system, and by the master system on the basis of controllable control variable x md (t) a response variable f mb (t) can be calculated or a
  • Response variable f mg (t) is measurable and can be transmitted to the second passivity controller, wherein the response variable f mb (t) or f mg (t) due to the transmission delay T A in
  • Passive controller is received, and wherein the response variable f mb (tT A ) or f mg (tT A ) is controlled by the second passivity controller and as a controlled response variable f sd (t) is transmitted to the slave system.
  • the control network according to the invention is further characterized in that by the first passivity controller 104 based on one of the pairs: x s (tT B ) and f mb (t), or Xs (tT B ) and f mg (t), or Xm (t) and f sb (tT B ), or x m (t) and f sg (tT B ) an energy quantity E ⁇ t) can be determined by the second passivity controller 105 based on one of the pairs: x s (t) and fmb (tT A ), or x s (t) and f mg (tT A ), or x m (tT A ) and f sb (t), or Xm (tT A ) and f sg (t) have an energy quantity E 2 (t) can be determined and transmitted via the communication channel 103 to the first passivity controller 104, wherein the energy quantity E 2 (t) due to
  • Transmission delay T B is received in the communication channel 103 as the energy quantity E 2 (tT B ) from the first passivity controller 104, by the first passivity controller the Control variable x md (t) and / or the response variable f md (t) can be determined in such a way that the following applies: for all times t.
  • the control network according to the invention is further characterized in that by the second passivity controller based on one of the pairs: x s (t) and f m b (tT A ), or x s (t) and f mg (tT A ), or x m (tT A ) and f sb (t), or x m (tT A ) and f sg (t) an energy quantity E 3 (t) can be determined by the first passivity controller based on one of the pairs: x s ( tT B ) and fmb (t), or x s (tT B ) and f mg (t), or x m (t) and f s b (tT A ), or x m (t) and fsg (tT A ) an energy quantity E 4 (t) can be determined and transmitted via the communication channel to the second passivity controller, wherein the energy quantity E 4 (t) due to
  • Transmission delay T A is received in the communication channel as energy quantity E 4 (tT A ) from the second passivity controller, and by the second passivity controller, the control variable x sd (t) and / or the response variable f md (t) can be determined such that for all times t.
  • the pairs include:
  • conjugate sizes are present sizes, between which a unique relationship, ie in particular no
  • the control network thus comprises at least a master system, a slave system and a communication channel which connects the master system to the slave system for signal or data communication, and a first and a second passivity controller, by means of which the passivation of the control Network takes place.
  • the aforementioned terms “master system”, “slave system”, “communication channel”, and “passivity controller” are each broadly understood.
  • the master system typically includes a mechanical / haptic input means (eg, a joystick), and a master controller.
  • the communication channel is in particular a line-bound connection (eg cable, internet connection, etc.) or a line-unbound connection (radio connection, data transmission on optical or acoustic basis) between the master system and the slave system.
  • the slave system typically includes a slave controller and a mechanism of action, such as a real or virtual robot (robotic arm, etc.) connected to a
  • the slave system state at time t is a state parameter indicating the state of the action mechanism, for example, a position / velocity / force, etc. of the real / virtual robot.
  • the passivity controllers can each comprise a "passivity observer” and a “passivity controller” based on the known “time domain passivity control” approach, although other passivity controller designs known to the person skilled in the art are also possible which fulfill the features and functions according to the invention.
  • calculated response quantities are typically calculated deterministically in a controller of the master system or of the slave system, while measured response quantities are an interaction of the master system with a master system
  • Passivate network architectures in particular the following network architectures:
  • the control network can be a telepresence system or a "virtual reality" system, in the first case an interaction between an operator (at the master system) and a remote real environment and in the second case an interaction between the operator and a virtual environment he follows.
  • control network is characterized in that the control variables x m (t), X m (t A ), X sd (t), x s (t), x s (t B ), and x md ( t) flow quantities, in particular first time derivatives of calculated or measured positions or calculated or measured speeds
  • f sb (t), f S b (tT B) fmd, (t), f sg (t), f sg (tT B), fmb (t), fmb (t T A), W , f mg (t), and f mg (tT A ) are potential quantities, or "effort", in particular calculated or measured mechanical forces.
  • control network according to the invention makes it possible, in particular, to passivate the network architectures listed in Table 1, which have a "yes” in the column “Affected by the causality ambiguity", which was not possible in the control networks known hitherto.
  • Transmission delay T B T B (t) from the slave system in the direction of the master system, between the master system and the communication channel, a first passivity controller and between the communication channel and the slave system, a second passivity controller is connected.
  • the inventive method comprises the following method steps: generating a control variable Xm (t) for controlling the slave system by the master system and transmitting the control variable x m (t) to the second passivity controller, wherein the
  • Control variable x m (t) due to the transmission delay T A in the communication channel as the control variable x m (tT A ) is received from the second passivity controller, and wherein the control variable x m (tT A ) is controlled by the second passivity controller and as a controlled control variable x sd (t) is transmitted to the slave system,
  • Answer size f sb (t) or f sg (t) to the first passivity controller wherein the response size f sb (t) or f sg (t) due to the transmission delay T B in the communication channel as a response size f sb (tT B ) or f sg ( tT B ) is received by the first passivity controller, and wherein the response variable f sb (tT B ) or f sg (tT B ) is controlled by the first passivity controller and transmitted as a controlled response variable f md (t) to the master system based on a slave system state at time t generating a control variable x s (t) by the salvo system and transmitting the control variable x s (t) to the first passivity controller, wherein the control variable x s (t) due to the transmission delay T B in
  • Communication channel is received as a control variable x s (tT B ) from the first passivity controller, and wherein the control variable x s (tT B ) is controlled by the first passivity controller and is transmitted as a controlled control variable Xmd (t) to the master system, and based on the controlled control variable x m d (t) calculating a response variable f mb (t) or measuring a response variable f mg (t) by the master system and transmitting the response variable f mb (t) or f mg (t) to the second passivity controller, wherein the response quantity f mb (t) or f mg (t) is received by the second passivity controller as a response variable fmb (tT A ) or f mg (tT A ) due to the transmission delay TA, and wherein the response variable f m b (tT A ) or f mg (tT A ) is controlled by the second passivity controller and transmitted as a controlled response variable f
  • the method according to the invention comprises the method steps: based on one of the pairs: x s (tT B ) and f mb (t), or x s (tT B ) and f mg (t), or x m (t) and f sb (tT B ), or x m (t) and fsg (tT B ), determine an energy quantity E ⁇ t) by the first passivity controller, based on one of the pairs: x s (t) and f mb (tT A ), or x s (t) and f mg (tT A ), or x m (tT A ) and f sb (t), or x m (tT A ) and f sg (t) determine an energy quantity E 2 (t) by the second
  • the method according to the invention comprises the method steps: based on one of the pairs: x s (t) and f mb (tT A ), or x s (t) and f mg (tT A ), or x m (tT A ) and f sb (t), or x m (tT A ) and f sg (t) determining an energy quantity E 3 (t) by the second passivity controller based on one of the pairs: x s (tT B ) and f mb (t), or x s (tT B ) and f mg (t), or x m (t) and f sb (t-T A ), or x m (t) and f sg (tT A ) determining an energy quantity E 4 (t ) by the first
  • the inventive method allows in particular one of the
  • FIG. 1 shows a schematic representation of a control network according to the invention with a position-force (measured) architecture, comprising a master system 101, and a slave system 102 connected to the master system 101 via a bi-directional communication channel 103 wherein the communication channel 103 has a time-varying transmission delay T A from the master system 101 towards the slave system 102 and a time-varying transmission delay T B from the slave system 102 toward the master system 101, between the master system 101 and the master Communication channel 103, a first passivity controller 104 and between the Communication channel 103 and the slave system 102, a second passivity controller 105 is connected.
  • the master system 101, the slave system 102, the first passivity controller 104 and the second passivity controller 105 are embodied and set up in this exemplary embodiment such that a position control variable x m (t) for controlling the slave is provided by the master system 101 System 102 and can be transmitted to the second passivity controller 105, wherein the control variable x m (t) due to the transmission delay T A in the communication channel 103 as a control variable x m (tT A ) is received by the second passivity controller 105, and wherein the control variable x m (tT A ) through the second
  • Pass foundedsregler 105 is controllable and as a controlled control variable x sd (t) to the slave system (102) can be transmitted, and by the slave system 102 based on the controllable control variable x sd (t) a force response variable f sg (t) measurable and can be communicated to the first passivity controller 104, wherein the response variable f sg (t) is received by the first passivity controller 104 as a response variable f sg (tT B ) due to the transmission delay T B in the communication channel 103, and wherein the response variable f sg (tT B ) is controllable by the first passivity controller 104 and can be transmitted as a controlled response variable f md (t) to the master system (101).
  • the present embodiment is characterized in that by the first passivity controller 104 on the basis of the conjugate pair: Xm (t) and f sg (tT B ), an energy quantity E ⁇ t) can be determined, and by the second passivity controller 105 based of the conjugate pair: x m (tT A ) and f sg (t) an energy quantity E 2 (t) can be determined and transmitted via the communication channel 103 to the first passivity controller 104, wherein the energy quantity E 2 (t) due to the transmission delay T B in the
  • Communication channel (103) is received as the energy quantity E 2 (tT B ) from the first passivity controller 104, and by the first passivity controller 104, the control variable Xmd (t) and / or the response variable f md (t) can be determined such that E 2 (tT B ) - E ⁇ t) 0 for all times t.
  • an energy quantity E 3 (t) can be determined by the second passivity controller 105 on the basis of the conjugate pair: x m (tT A ) and f sb (t), and by the first passivity controller 104 Base of one of the pairs: x m (t) and f s b (tT B ) an energy quantity E 4 (t) can be determined and transmitted via the communication channel 103 to the second passivity controller 105, wherein the energy quantity E 4 (t) due to the transmission delay T A in the communication channel 103 is received as the energy quantity E 4 (tT A ) from the second passivity controller 105, and the control variable x sd (t) and / or the response variable t) can be determined by the second passivity controller 105 such that the following applies: for all times t.
  • Passellessregler each include a "passivity upper server” and a “passivity controller”, which can be dissipated by the latter energy.
  • the passivation of the control network, in particular of the communication channel 103, thus takes place in the present embodiment on the basis of the known "Time Domain Passivity Control" approach.
  • the energy E N (t) stored in the communication channel 103 results in:
  • E M (t) and E s (t) are the port energies at the left and right side of the
  • the port energies can each be the sum of an energy: E "(t), which flows into the communication channel 103 and an energy: E" (t), from the
  • the passivity condition for the control network results in:
  • Equation (6) can not be applied directly because the energies E M (t) and E S (t) does not exist to the same time due to the transmission delay.
  • equation (6) can be formulated as follows:
  • Equation (6) The passivity condition (Equation (6)) is satisfied as long as E M2S and E S2M are greater than or equal to 0. However, E M2S and E S2M are also not observable simultaneously due to the transmission delay.
  • the energies E 1 (t), E 2 (t), E 3 (t), E 4 (t) are calculated such that they are always positive and monotonically increasing.
  • the passivity condition including the transmission delay is present:
  • Attenuation factor ⁇ chosen such that the amount of the net energy gain is dissipated.
  • the setpoint speed for the slave system 102 results in: With:
  • the dissipated energy of the right passivity controller 105 results in:
  • the dissipated energy of the left passivity controller 104 is analogous to:

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

L'invention concerne un réseau de commande comprenant un système maître (101) et un système esclave (102) relié au système maître (101) par l'intermédiaire d'un canal de communication bidirectionnel (103). Un premier régulateur de passivité (104) est installé entre le système maître (101) et le canal de communication (103), tandis qu'un deuxième régulateur de passivité (105) est installé entre le système esclave (102) et le canal de communication (103) qui comporte des retards de transmission de durée variable. Le réseau de commande selon la présente invention évite des ambiguïtés de causalité et permet de ce fait une passivation du réseau de commande dans les architectures de réseau les plus diverses.
EP12783082.6A 2011-09-25 2012-07-23 Réseau de commande et procédé de passivation d'un réseau de commande Withdrawn EP2758214A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011114116.6A DE102011114116B4 (de) 2011-09-25 2011-09-25 Kontroll-Netzwerk und Verfahren zur Passivierung eines Kontroll-Netzwerks
PCT/DE2012/000739 WO2013041069A1 (fr) 2011-09-25 2012-07-23 Réseau de commande et procédé de passivation d'un réseau de commande

Publications (1)

Publication Number Publication Date
EP2758214A1 true EP2758214A1 (fr) 2014-07-30

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EP12783082.6A Withdrawn EP2758214A1 (fr) 2011-09-25 2012-07-23 Réseau de commande et procédé de passivation d'un réseau de commande

Country Status (4)

Country Link
EP (1) EP2758214A1 (fr)
KR (1) KR101991379B1 (fr)
DE (1) DE102011114116B4 (fr)
WO (1) WO2013041069A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107463095A (zh) * 2017-07-20 2017-12-12 南京邮电大学 一种具有时变采样周期的输出反馈控制器设计方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020113409B4 (de) 2019-05-17 2022-03-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Steuern eines Slave-Systems mittels eines Master-Systems
CN113601508B (zh) * 2021-08-16 2022-07-08 山东大学 一种机器人运动控制方法、系统及机器人

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US6144884A (en) * 1998-04-17 2000-11-07 Massachusetts Institute Of Technology Teleoperation with variable delay
US20050231480A1 (en) * 2004-04-20 2005-10-20 Gwangju Institute Of Science And Technology Method of stabilizing haptic interface and haptic system using the same
US7027965B2 (en) * 2000-09-13 2006-04-11 The University Of Washington Time domain passivity control of haptic interfaces
US20060290311A1 (en) * 2005-06-28 2006-12-28 Nikhil Chopra Method and System for Synchronizing Networked Passive Systems

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US6144884A (en) * 1998-04-17 2000-11-07 Massachusetts Institute Of Technology Teleoperation with variable delay
US7027965B2 (en) * 2000-09-13 2006-04-11 The University Of Washington Time domain passivity control of haptic interfaces
US20050231480A1 (en) * 2004-04-20 2005-10-20 Gwangju Institute Of Science And Technology Method of stabilizing haptic interface and haptic system using the same
US20060290311A1 (en) * 2005-06-28 2006-12-28 Nikhil Chopra Method and System for Synchronizing Networked Passive Systems

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BLAKE HANNAFORD ET AL: "Time-Domain Passivity Control of Haptic Interfaces", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE INC, NEW YORK, US, vol. 18, no. 1, 1 February 2002 (2002-02-01), XP011053671, ISSN: 1042-296X *
D. LEE ET AL: "Passive Bilateral Teleoperation With Constant Time Delay", IEEE TRANSACTIONS ON ROBOTICS., vol. 22, no. 2, 1 April 2006 (2006-04-01), US, pages 269 - 281, XP055279591, ISSN: 1552-3098, DOI: 10.1109/TRO.2005.862037 *
JEE-HWAN RYU ET AL: "A passive bilateral control scheme for a teleoperator with time-varying communication delay", MECHATRONICS., vol. 20, no. 7, 1 October 2010 (2010-10-01), GB, pages 812 - 823, XP055279596, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2010.07.006 *
JORDI ARTIGAS ET AL: "Time Domain Passivity Control-based Telepresence with Time Delay", INTELLIGENT ROBOTS AND SYSTEMS, 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PI, 1 October 2006 (2006-10-01), pages 4205 - 4210, XP031006781, ISBN: 978-1-4244-0258-8 *
See also references of WO2013041069A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107463095A (zh) * 2017-07-20 2017-12-12 南京邮电大学 一种具有时变采样周期的输出反馈控制器设计方法

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KR20140081845A (ko) 2014-07-01
DE102011114116A1 (de) 2013-03-28
WO2013041069A1 (fr) 2013-03-28
KR101991379B1 (ko) 2019-06-21
DE102011114116B4 (de) 2014-05-28

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