时延遥操作系统的非对称双通道波变量补偿法

doi:10.7527/S1000-6893.2016.0158

电子电器工程与控制

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时延遥操作系统的非对称双通道波变量补偿法

戴沛^1,2, 黄攀峰^1,2, 鹿振宇^1,2, 刘正雄^1,2

1. 西北工业大学航天学院智能机器人研究中心, 西安 710072;
2. 西北工业大学航天飞行动力学重点实验室, 西安 710072

收稿日期:2016-03-16 修回日期:2016-05-23 出版日期:2017-02-15 发布日期:2016-05-27
通讯作者: 黄攀峰,E-mail:pfhuang@nwpu.edu.cn E-mail:pfhuang@nwpu.edu.cn
基金资助:
国家自然科学基金（11272256，61005062，60805034）

Asymmetric two channel wave variable compensation method for teleoperation system with time delay

DAI Pei^1,2, HUANG Panfeng^1,2, LU Zhenyu^1,2, LIU Zhengxiong^1,2

1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received:2016-03-16 Revised:2016-05-23 Online:2017-02-15 Published:2016-05-27
Supported by:
National Natural Science Foundation of China (11272256, 61005062, 60805034)

摘要/Abstract

摘要：

为保证遥操作系统在时延条件下的稳定性，以及减少传统波变量方法的跟踪误差，提出一种非对称双通道波变量补偿法。该方法在前向通道波变量补偿法的基础上，采用能量整定器对反向通道的波变量进行补偿。通过调节波阻抗、滤波器和能量整定器的相关参数可以充分保证遥操作系统的稳定性和跟踪性能。实验结果表明该方法在保证时延遥操作系统稳定性的基础上，速度跟踪平均误差比传统波变量法减少70%以上，力跟踪平均误差比前向通道波变量补偿法减少60%以上。为了比较不同时延下本方法的效果，设计时延分别为3 s和0.6 s的2种实验。结果表明本方法在不同时延条件下均可以取得较好的效果。

关键词: 时延, 遥操作, 波变量, 跟踪性能, 稳定性

Abstract:

In order to guarantee system stability in time delayed teleoperation and reduce tracking errors of traditional wave variable method, the asymmetric two channel wave variable compensation method is proposed. This method compensates the wave variable in backward communication channel by energy regulator based on the forward wave variable compensation method. By tuning the parameters of wave impedance, and the cut off frequency of wave filter and energy regulator, the stability and tracking performance of teleoperation system can be guaranteed. By experiments, it is revealed that this method reduces over 70% average velocity tracking errors compared with the traditional wave variable method and reduces over 60% average force tracking errors compared with the forward wave variable compensation method in the condition of ensuring system stability. For comparison of performance in different time delays, we design two types of experiments with time delay of 3 s and 0.6 s. The results reveal that this method has good performance in the conditions of different time delays.

Key words: time delay, teleoperation, wave variable, tracking performance, stability

中图分类号:

戴沛, 黄攀峰, 鹿振宇, 刘正雄. 时延遥操作系统的非对称双通道波变量补偿法[J]. 航空学报, 2017, 38(2): 320225-320235.

DAI Pei, HUANG Panfeng, LU Zhenyu, LIU Zhengxiong. Asymmetric two channel wave variable compensation method for teleoperation system with time delay[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(2): 320225-320235.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

时延遥操作系统的非对称双通道波变量补偿法

Asymmetric two channel wave variable compensation method for teleoperation system with time delay

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