基于主端力缓冲的波变量4通道双边控制方法研究

Wave Variables Four-Channel Bilateral Control Method Based on Master Side Force Buffer

针对同步性能会直接影响遥操作双边控制系统的透明性和跟踪性的问题,提出了一种基于主端力缓冲的波变量4通道双边控制方法.首先,给出了一种定时延条件下力反馈双边控制系统同步性的定量度量函数;其次,在波变量4通道双边控制结构中,设计了异构形式的主从端控制器,通过在主端控制器添加力缓冲单元和补偿单元来实现主从端同步控制,消除了波变换方法对主端控制器超前作用的影响;在此基础上,采用多回路反馈结构稳定性分析方法对提出的方法进行稳定性分析,并得到系统稳定的约束条件.最后通过仿真和搭建的实验平台验证了所提方法的有效性.

The synchronization performance will directly affect the transparency and tracking of the teleoperation control system.A wave variable four-channel bilateral control method based on the master side force buffer was proposed in this paper.Firstly,aquantitative measure function for the synchronization performance with constant time delay was presented.Secondly,in the wave variables four channel bilateral control structure,a master and slave controller with heterogeneous form was designed,which was added with a force buffer unit and a compensation unit to realize the master slave synchronization control,and the effect made by the wave transformation method＇s leading action on the master controller was eliminated.On this basis,the stability of the proposed method was analyzed by the multi-loop feedback structure stability analysis method,and the constraint condition of the system stability was obtained.Finally,Numerical simulations and experiments were performed to study the efficiency of the proposed method.