时延遥操作系统的非对称双通道波变量补偿法

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

为保证遥操作系统在时延条件下的稳定性,以及减少传统波变量方法的跟踪误差,提出一种非对称双通道波变量补偿法。该方法在前向通道波变量补偿法的基础上,采用能量整定器对反向通道的波变量进行补偿。通过调节波阻抗、滤波器和能量整定器的相关参数可以充分保证遥操作系统的稳定性和跟踪性能。实验结果表明该方法在保证时延遥操作系统稳定性的基础上,速度跟踪平均误差比传统波变量法减少70%以上,力跟踪平均误差比前向通道波变量补偿法减少60%以上。为了比较不同时延下本方法的效果,设计时延分别为3s和0.6s的2种实验。结果表明本方法在不同时延条件下均可以取得较好的效果。

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 over60% 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 3sand 0.6s.The results reveal that this method has good performance in the conditions of different time delays.