System and method for synchronously controlling teleoperation

A technology of synchronous control and operating system, applied in general control system, control/adjustment system, two-dimensional position/channel control, etc. Operates on issues such as high robustness and strong real-time performance, achieving the effect of unifying real-time performance and robustness

Inactive Publication Date: 2013-01-16
NO 63921 UNIT OF PLA
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Problems solved by technology

The above three types of traditional teleoperation control modes either put the decision-making link in the space robot (autonomous teleoperation), because the limited intelligence level of the space robot reduces the robustness of teleoperation; or put the decision-making link in the operator (teleoperation). programming teleoperation

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  • System and method for synchronously controlling teleoperation
  • System and method for synchronously controlling teleoperation
  • System and method for synchronously controlling teleoperation

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Embodiment Construction

[0037] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] Such as figure 1 As shown, the synchronous control teleoperation system of the present invention includes an operator, a ground control center, a space system, and uplink and downlink channels. The operator is the actual operator, who supervises the remote operation process online; when the actual state of the space system deviates greatly from the expected state, or the system state has a large risk, or other operation errors occur, the operator commands the terminal and the uplink channel through the remote control. Send the operation suspension command to the space system, so as to implement the necessary online intervention in the teleoperation process. The ground control center constructs an equivalent model of the space system on the ground and predicts the uplink time delay in real time, thereby realizing the sy...

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Abstract

The invention belongs to the technical field of space teleoperation and discloses a system and a method for synchronously controlling teleoperation. The system comprises an operator, a ground control center, a space system and uplink and downlink channels, wherein the ground control center is used for constructing a space system model, predicting uplink time delay in real time, generating a remote control instruction of a space robot according to a synchronous simulation state of the model, receiving and processing a feedback state of a space system at the same time, and correcting the remote control instruction according to the feedback state. The method comprises the steps as follows: constructing an equivalent model of the space system on the ground and carrying out synchronous simulation on the space system; and automatically generating the remote control instruction according to a synchronous simulation state, and synchronously controlling the equivalent model to finish automatic control of the space robot. Compared with the conventional space teleoperation mode, the decision of a ground system is adopted to replace dependence of the conventional mode on the decision of the space system or the operator, and the dual requirements for real-time performance and robustness of a space operation task are met.

Description

technical field [0001] The invention belongs to the technical field of space teleoperation control mode, and specifically relates to a control system and a method thereof for obtaining the synchronous simulation state of a space robot based on a ground-integrated space system model and implementing continuous and real-time teleoperation. Background technique [0002] Space teleoperation technology is a powerful means to extend and expand the intelligence and behavior of ground operators to space by manipulating on-orbit space robots to complete space operation tasks. In 1967, the Surveyor III lunar lander of the United States successfully completed the soil collection and force measurement tasks on the lunar surface, becoming the first human application of space robot teleoperation technology. In the following two decades, the research on space teleoperation technology mainly stayed at the theoretical level, during which the work of T.Sheridan, L.Penin and M.Spong et al. was...

Claims

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Application Information

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IPC IPC(8): G05B17/02G05D1/02
Inventor 胡天健黄学祥谭谦
Owner NO 63921 UNIT OF PLA
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