基于自适应反演控制的遥操作系统仿真研究

Simulation of Teleoperation System Based on Adaptive Backstepping control

为了提高遥操作系统约束运动时轨迹跟踪的静态品质和动态性能,采用Hunt-Crossley模型描述系统环境的不同动力学特性,分别设计静态和动态环境中的轨迹跟踪控制器。静态环境下,设计PID控制律实现轨迹跟踪,并求解镇定系统的PID增益取值范围。动态环境下,基于李雅普诺夫函数设计自适应反演控制律,并证明其稳定性。通过仿真对比分析了两种算法分别在静态环境和动态环境中的控制性能,结果表明:当采用PID控制时,系统在静态环境中的轨迹存在较小的超调量和跟踪滞后,而在动态环境中的运动轨迹具有明显的振荡;当采用自适应反演控制律时,系统在静态环境和动态环境中均能够实现精确、及时的跟踪控制,具有很好的静态和动态品质。

In order to improve the static quality and dynamic performance of the trajectory tracking when the teleoperation system is constrained to move,this paper used Hunt-Crossley model to describe the different dynamic characteristics of the system environment,and designed trajectory tracking controllers in static and dynamic environments respectively.In the static environment,the PID control law was designed to realize trajectory tracking,and the PID gain range of the stabilized system was solved.In dynamic environment,the adaptive backstepping control law was designed to realize the trajectory tracking of the system and its stability was proved.The control performances of the two algorithms in static environment and dynamic environment were compared and analyzed through simulation.The results show that,when PID control is adopted,the trajectory of the system in the static environment has a small overshooting and tracking lag,but in the dynamic environment the motion trajectory oscillation is obvious.When adaptive backstepping control is adopted,the system can realize accurate and timely tracking control in both static and dynamic environments,with good static and dynamic quality.