摘要
临场感比率遥操作系统要求在保证系统稳定的同时能增强系统性能.本文通过系统建模、引入二端口网络的莱威林(Llewellyn)绝对稳定性准则,在定义比率系统的理想性能、导出实现理想性能的主从系统控制参数的约束条件后,分析了实现理想性能时系统的稳定性;基于莱威林准则,在实现理想性能的基础上调节主从系统阻抗,提出了在操作者与环境无源条件下能在系统绝对稳定性和增强性能之间折衷的控制策略.仿真表明了此策略的有效性.
It is necessary for the scaled telemanipulation system to guarantee the stability and enhance the performance simultaneously. By modeling the system and introducing Llewellyn two-port network absolute stability criteria, the ideal performance of the scaled telemanipulation is defined, the control parameters restrictions of the system to realize the ideal performance is induced and the stability of the system with the ideal performance is analyzed. Based on the absolute stability criteria and the regulation of impendence of the master slave manipulator the control scheme is presented which can realize tradeoff between absolute stability and performance enhancement of the system in the passivity of the both operator and environment. Simulation results show the validity of the proposed control scheme.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2005年第4期661-665,共5页
Control Theory & Applications
基金
湖南省自然科学基金资助项目(04JJY3089).
关键词
比率遥操作系统
控制策略
稳定性与性能折衷
绝对稳定性准则
scaled telemanipulation
control scheme
tmdeoff between stability and performance
absolute stability criteria
