基于滑模控制和广义预测控制的主从控制系统设计

Design of master slave control system based on sliding mode control and generalized predictive control

主—从机器人心血管介入手术中,医生手指感受到导丝的"弹跳"力觉感受,手术中存在通信延时、导丝弯曲、力传动机构摩擦对力反馈控制有较大影响,因此采用基于人手对力感知的认识设计滑模控制器。结合广义预测控制算法和虚拟图像仿真技术,减小力反馈中延时产生的影响,根据医生对"弹跳"力的理解和人手力感知阈值研究透明度的多感知定量评价指标。仿真结果表明:所设计的主—从机器人控制系统对于以柔性体为操作对象系统设计、工程实现及其系统透明度评价有重要理论意义和实用价值。

In cardiovascular interventional surgery of master-slave robot,doctor’s finger feels a"bounce".During the operation,time delay and friction of force transmission mechanism and the bending of the guide wire have great influences on the force feedback control,which requires higher robustness of the system.So sliding mode controller is designed based on human hand's perception of force.Combined with generalized predictive control algorithm and virtual image simulation technology,the influence of feedback delay is reduced.Multi-perception quantitative evaluation index of transparency is studied according to doctors’understanding of"bounce"force and human hand’s perception threshold.The simulation results show that the designed master-slave robot control system has important theoretical significance and practical value for the system design,engineering implementation and transparency evaluation of the system using flexible body as operation target.