空间遥操作机器人主从双边自适应内模控制

Master-slave Bilateral Adaptive Internal Model Control for Space Teleoperation Robot

天地大时延严重破坏具有力反馈的空间遥操作机器人系统的稳定性和透明性;针对天地大时延和未知的从手操作环境,基于内模控制和自适应控制思想设计一种自适应内模控制器;推导从手环境参数辨识模型,基于带遗忘因子的递推最小二乘滤波辨识环境模型,并利用辨识信息构建自适应内模控制器;基于单参数SNPIDC算法分别设计主手和从手自适应控制器;大量的仿真结果证明,在设计的主从双边自适应内模控制器作用下,空间遥操作机器人系统稳定性好,对未知环境适应能力强,系统透明性好,阻抗匹配程度高,且操作人员临场感强。

The time delay between space station and ground station damages the stability and transparency of the space teleoperation robot system with force feedback. To the large time delay and the unknown operating environment of slave manipulator, the controller is designed based on the internal model theory and adaptive control theory. The adaptive controller of master and slave manipulator is designed by single parameter SNPIDC algorithm separately. The environmental parameters identification model is derived and the identification algorithm is the recursive least square method. The recognized information is used to build the adaptive internal model controller. The simulation results show that under the action of the designed controller, the system is stable and it has an adaptive ability to the unknown environment. The system has a good transparency and a high impedance matching degree. The operator has a high force telepresence.