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无环境力反馈的四通道双边控制 被引量：3

Four-channel bilateral control without environmental force feedback
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摘要 传统的四通道双边控制方法需要大量的力传感器,用以检测遥操作系统受到的环境力,在实际工程中不易推广应用.本文提出了一种无环境力反馈的四通道双边控制策略,分析了无时延和有时延两种情况下遥操作系统的透明性.并采用无源的双边控制律,设计了大时延情形下的系统控制结构.仿真结果表明,存在大时延时,提出的控制系统在自由运动和接触运动中都具有良好的性能. In the project of traditional four-channel bilateral remote control systems, there needs a great number of force sensors for measuring the environmental forces. This requirement prevents the project from widely accepted in applications. In this paper, a strategy of four-channel bilateral control without environmental force feedback is proposed; and the transparencies of the remote control with or without time-delays are investigated in details. Furthermore, the stable control configuration in the presence of large time-delay is proposed according to passive bilateral control law. Simulations validate the performance of the proposed control system in free motion and contact motion.
作者 王裕基 孙富春 刘华平 闵海波
机构地区 清华大学计算机科学与技术系智能技术与系统国家重点实验室清华信息科学与技术国家实验室
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2011年第3期315-320,共6页 Control Theory & Applications
基金 国家自然科学基金资助项目(60625304 90716021) 国家"973"计划资助项目(G2007CB311003 2009CB724002)
关键词 四通道 双边控制 力反馈 four-channel bilateral control force feedback
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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同被引文献98

  • 1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. 被引量：3
  • 2文广,章甫,赵丁选,姚必强,张敬东,李泽蓉.新型力反馈双向伺服系统干扰观测器PID控制算法的研究[J].重庆邮电学院学报（自然科学版）,2006,18(2):235-238. 被引量：3
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控制理论与应用
2011年 第3期

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