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

Abstract

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

CLC Number:

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.

References

[1] 张斌, 黄攀峰, 刘正雄, 等. 基于虚拟夹具的交互式空间机器人遥操作实验[J]. 宇航学报, 2011, 32(2):446-450. ZHANG B, HUANG P F, LIU Z X, et al. An interactive space robot teleoperation experiment based on virtual fixtures[J]. Journal of Astronautics, 2011, 32(2):446-450(in Chinese).
[2] 丁炳源, 黄攀峰, 刘正雄, 等. 速度型虚拟夹具辅助空间遥操作技术研究[J]. 航空学报, 2012, 34(6):1436-1444. DING B Y, HUANG P F, LIU Z X, et al. Research on space teleoperation technology assisted with velocity-based virtual fixture[J]. Acta Aeronautica et Astronautica Sinica, 2012, 34(6):1436-1444(in Chinese).
[3] 田志宇, 黄攀峰, 刘正雄. 辅助空间遥操作的虚拟管道设计与实现[J]. 宇航学报, 2014, 35(7):834-842. TIAN Z Y, HUANG P F, LIU Z X. Design and implementation of virtual tube as an aid for space teleoperation[J]. Journal of Astronautics, 2014, 35(7):834-842(in Chinese).
[4] OBOE R, FIORINI P. A design and control environment for internet-based telerobotics[J]. The International Journal of Robotics Research, 1998, 17(4):433-449.
[5] 王永, 谢圆, 周建亮. 空间机器人大时延遥操作技术研究综述[J]. 宇航学报, 2010, 31(2):299-306. WANG Y, XIE Y, ZHOU J L. A researsh survey on teleoperation of space robot through time delay[J]. Journal of Astronautics, 2010, 31(2):299-306(in Chinese).
[6] LI Z J, XIA Y Q, SU C Y. Intelligent networked teleoperation control[M]. Berlin:Springer, 2015:182-190.
[7] LI Z J, XIA Y Q, SUN F C. Adaptive fuzzy control of multilateral cooperative teleoperation for multiple robotic manipulators under random time delays[J]. IEEE Transactions on Fuzzy Systems, 2014, 22(2):437-450.
[8] LI Z J, CAO X Q, YANG Y, et al. Bilateral teleoperation of holonomic constrained robotic system with time-varying delays[J]. IEEE Transactions on Instrument & Measurement, 2013, 62(4):752-765.
[9] LI Z J, CAO X Q, DING N. Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays[J]. IEEE Transactions on Fuzzy Systems, 2011, 19(4):745-757.
[10] NIEMEYER G, SLOTINE J J E. Telemanipulation with time delays[J]. The International Journal of Robotics Research, 2004, 23(9):873-890.
[11] NIEMEYER G, SLOTINE J J E. Stable adaptive teleoperation[J]. IEEE Journal of Oceanic Engineering, 1991, 16(1):152-162.
[12] BATE L, COOK C D, LI Z. Reducing wave-based teleoperator reflections for unknown environments[J]. IEEE Transactions on Industrial Electronics, 2011, 58(2):392-397.
[13] YE Y, LIU P X. Improving trajectory tracking in wave-variable-based teleoperation[J]. IEEE/ASME Transactions on Mechatronics, 2010, 15(2):321-326.
[14] LI H, KAWASHIMA K. Achieving stable tracking in wave-variable-based teleoperation[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(5):1574-1582.
[15] 张永林, 宋爱国. 广义波变量遥操作系统的透明性分析[J]. 宇航学报, 2008, 29(2):688-693. ZHANG Y L, SONG A G. Analysis of transparency in generalized wave based teleoperation[J]. Journal of Astronautics, 2008, 29(2):688-693(in Chinese).
[16] 崔艳, 居鹤华. 基于波变量的时延双边遥操作系统设计[J]. 计算机测量与控制, 2012, 20(5):1324-1325. CUI Y, JU H H. Design of time-delayed bilateral teleoperation system based on adjusted wave variables[J]. Computer Measurement & Control, 2012, 20(5):1324-1325(in Chinese).
[17] NIEMEYER G. Using wave variables in time delayed force reflecting teleoperation[D]. Cambridge:Massachusetts Institute of Technology, 1996:162-167.
[18] 王久和. 无源控制理论及其应用[M]. 北京:电子工业出版社, 2010:14-15. WANG J H. Passivity-based control theory and its applications[M]. Beijing:Publishing House of Electronics Industry, 2010:14-15(in Chinese).
[19] SLOTINE J J E, LI W. Applied nonlinear control[M]. Englewood Cliffs, NJ:Prentice-Hall, 1991.
[20] HU L Y, LIU X P, LIU G P. The wave-variable teleoperator with improved trajectory tracking[C]//20108th IEEE International Conference on Control and Automation (ICCA). Piscataway, NJ:IEEE Press, 2010:322-327.
[21] CHING H, BOOK W J. Internet-based bilateral teleoperation based on wave variable with adaptive predictor and direct drift control[J]. Journal of Dynamic Systems, Measurement and Control, 2006, 128(1):86-93.
[22] RAJU G J, VERGHESE G C, SHERIDAN T B. Design issues in 2-port network models of bilateral remote manipulation[C]//Proceedings of the 1989 IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 1989:1316-1321.
[23] TANNER N A, NIEMEYER G. Practical limitations of wave variable controllers in teleoperation[C]//Proceedings of the 2004 IEEE Conference on Robotics, Automation and Mechatronics. Piscataway, NJ:IEEE Press, 2004, 1:25-30.
[24] TANNER N A, NIEMEYER G. Improving perception in time-delayed telerobotics[J]. The International Journal of Robotics Research, 2005, 24(8):631-644.
[25] DE PASCALE M, DE PASCALE G, PRATTICHIZZO D, et al. The Haptik Library, a component based architecture for haptic devices access[C]//Proceedings of EuroHaptics, 2004:365-370.

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

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Da MO, Yuzhen LIN, Xiao HAN, Hongyu MA, Yixiong LIU. Research progress and future prospect of hydrogen micromix combustion technology [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 28994-028994.
[2]	Zhe ZHU, Jiangtao HUANG, Sheng ZHANG, Fei LI, Xin DU, Enguang SHAN, Jigang TANG, Chunyang WANG. Modeling and control for actively stabilized aerial refueling drogue with momentum rings [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 128882-128882.
[3]	Xueliang LI, Chuangchuang LI, Wei SU, Jie WU. Experiment of influence of distributed roughness elements on hypersonic boundary layer instability [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 128627-128627.
[4]	Dawei ZHANG, Guoping LIU. A high⁃order fully actuated predictive control approach of spacecraft flying⁃around under time⁃variant communication constraints [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628633-628633.
[5]	Guangren DUAN. Fully actuated system approach for stabilization control of sub-strict feedback systems [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629552-629552.
[6]	Runchang HU, Zian WANG, Yongliang CHEN, Dapeng ZHOU, Dapeng YANG, Zheng GONG. Stability augmentation control of thrust-vectored V/STOL aircraft based on L1 adaptive control [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727642-727642.
[7]	Siyuan CHANG, Yao XIAO, Guangli LI, Zhongwei TIAN, Kaikai ZHANG, Kai CUI. Effect of wing dihedral and anhedral angles on hypersonic aerodynamic characteristics of high-pressure capturing wing configuration [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 127349-127349.
[8]	Fangjian WANG, Ke XIE, Jin LIU, Yuhui SONG, Han QIN, Lan CHEN. Unsteady flow and wing rock characteristics of low aspect ratio flying-wing [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(4): 126449-126449.
[9]	Bian LI, Lili QU, Yuping GAO. Methods for J0613-0200 steering a cesium clock [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526500-526500.
[10]	Jing ZHANG, Kai GUO, Hongwei GUO, Rongqiang LIU, Ziming KOU. Structural design and stiffness analysis of deployable tensegrity mast [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(24): 228584-228584.
[11]	Yutian WANG, Jianxin LIU, Xiaokun WANG, Xiaoming LI. Effects of porous wall on secondary instability of optimal growth streaks in high speed boundary layers [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(22): 128519-128519.
[12]	Sihua LIU, Zhanying WANG, Lijian LI, Mindi ZHANG. Influence of nose shapes on high-speed water entry stability of projectile [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(21): 528437-528437.
[13]	Xia HUANG, Fan LIU, Zhitao LIU, Jinhua WU. Correlation between numerical simulation and wind tunnel test results of soft refueling [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(20): 628447-628447.
[14]	Xinyu ZHANG, Siyu XIE, Yang TAO, Gun LI. A robust control method for close formation of aerial-refueling UAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(20): 628425-628425.
[15]	Chen ZHANG, Hao ZHANG. Lunar-gravity-assisted low-energy transfer from Earth into Distant Retrograde Orbit (DRO) [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(2): 326507-326507.