远程遥控装载机的延时补偿控制研究

Research on a delay compensation control system for remote control loading machines

为了解决现有工程车辆远程遥控系统因网络延时导致控制系统不稳定问题,设计了一套针对装载机的延时补偿控制系统,在无线局域网中,采用精准时间协议计算延时时间;将装载机的动臂等效成一个二连杆结构进行运动学和动力学建模;利用Smith预估器进行延时补偿。通过OPNET进行网络环境模拟仿真、Simulink进行控制系统仿真,仿真结果表明:精准时间协议能够准确地计算出延时时间,在10 ms的延时下Smith预估器取得了良好的控制效果,为工程车辆远程遥控延时补偿提供了一种低成本方案。

In order to solve the instability due to network time delay in the remote control system for engineering vehicles,a delay compensation control system was designed for loading machines.In a wireless local network,the precise time protocol was used to calculate delay time.The loading machine’s manipulator was equivalent to a two-link arm for kinematic and dynamic modeling.The Smith predictor was used for delay compensation in the control system.Network conditions were simulated in the OPNET software and the control system was simulated in the Simulink.Simulation results showed that the precise time protocol could accurately calculate the delay time;the Smith predictor achieved good results with a delay of 10 ms.This system was a low-cost solution for the time delay problem in the remote control of engineering vehicles.