航空学报 > 2016, Vol. 37 Issue (2): 648-661   doi: 10.7527/S1000-6893.2015.0211

面向空间遥操作的非对称双人共享控制及其性能分析

鹿振宇1,2, 黄攀峰1,2, 戴沛1,2   

  1. 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技术重点实验室, 西安 710072
  • 收稿日期:2015-03-02 修回日期:2015-07-28 出版日期:2016-02-15 发布日期:2015-08-28
  • 通讯作者: 黄攀峰,男,博士,教授,博士生导师。主要研究方向:空间绳系机器人,空间机器人遥操作技术。Tel:029-88460366,E-mail:pfhuang@nwpu.edu.cn E-mail:pfhuang@nwpu.edu.cn
  • 作者简介:鹿振宇,男,博士研究生。主要研究方向:空间机器人遥操作。Tel:029-88460366,E-mail:lzy_robot@163.com;戴沛,男,硕士研究生。主要研究方向:空间机器人遥操作技术。Tel:029-88460366,E-mail:daipei@qq.com
  • 基金资助:

    国家自然科学基金(11272256,61005062,60805034)

Asymmetric dual-user shared control method and its performance analysis for space teleoperation

LU Zhenyu1,2, HUANG Panfeng1,2, DAI Pei1,2   

  1. 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:2015-03-02 Revised:2015-07-28 Online:2016-02-15 Published:2015-08-28
  • Supported by:

    National Natural Science Foundation of China(11272256,61005062,60805034)

摘要:

面向复杂操控任务的多人/机遥操作技术是未来空间遥操作的发展趋势之一。在综述目前双主单从的遥操作控制模式的基础上,提出一种面向空间遥操作的非对称双人共享控制方法。首先,通过分析理想双主单从遥操作系统模型,并对优势因子进行区分,建立了时延影响下的非对称双主单从共享控制系统模型;然后,利用传递阻抗、可达阻抗范围、性能表现距离和传递阻抗比等函数对系统的性能指标进行评价分析,并给出优势因子、控制阻抗和环境阻抗等参数对系统运动学性能的影响;最后,对所提出的方法进行仿真和实验验证,结果表明相比于传统控制方法,非对称双人共享控制具有较好的透明性和抗时延影响特性。

关键词: 遥操作, 非对称双人共享控制, 优势因子, 性能分析, 透明性

Abstract:

The technique of multi-master multi-salve teleoperation is one of future space teleoperation tendencies. After summarizing the current studies about dual-master single slave teleoperation control mode, we propose a kind of asymmetric dual-user shared teleoperation method for space manipulation. Firstly, we analyze the ideal transparency of dual-user teleoperation, discriminate the difference of multi-dominant parameters and build the model of asymmetric dual-user teleoperation system under the influence of delay. Then the functions of transparency transfer, range of achievable impedance, performance distance and transmitted impedance rate are built to compare and analyze the influence of dominant parameters, control impedance and environment impedance to the kinesthetic performance of dual-user teleoperation. Finally, the simulations and experiments are taken to certify the effectiveness of the proposed method. The simulation results represent that the transparency and the anti-delay performance of the asymmetric dual-user shared control method are better than the traditional method.

Key words: teleoperation, asymmetric dual-user shared control, dominant parameters, performance analysis, transparency

中图分类号: