基于波变量的时延双边遥操作系统设计

Design of Time-Delayed Bilateral Teleoperation System Based on Adjusted Wave Variables

针对波变量法在任意时延下能保证时延双边遥操作系统的稳定,但却降低主从端之间跟踪性的问题,提出一种改进基于波变量遥操作系统的设计方案;该方案引入PD控制器调整主从端速度误差,并采用PI控制器控制从端;最后,对调整和未调整的基于波变量双边遥操作系统分别进行仿真实验;实验结果表明,与未调整的系统相比,调整的系统在一定程度上极大地降低了主从端位置、速度和力的跟踪误差,使得该方案在保证系统稳定的前提下有效提高了系统透明性。

Wave variable method can guarantee the stability of bilateral teleoperation system under any delays. However, the perform- ance of tracking between the master and slave in such system is compromised. A new program for improving it by modified system is proposed. The PD controller is introduced to adjust the error of angular velocity between master and slave, and the PI controller is used in slave side. Finally, the simulation results show that compared with unadjusted system, the adjusted system can significantly reduce the tracking error of position, velocity and force between master and slave in some extent, and it can improve the transparent of system effectively under ensuring its stability.