Measuring method of space teleoperation command time delay

A technology of time delay measurement and measurement method, which is applied in transmission monitoring, signal transmission systems, instruments, etc., can solve problems such as unpredictability, random changes in time delay of space teleoperation, impact on perception and operation performance, and improve accuracy Effect

Inactive Publication Date: 2013-05-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Introducing a large delay into the control loop will have a great impact on the perception and operation performance of the system, and bring great challenges to the stability of th

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  • Measuring method of space teleoperation command time delay
  • Measuring method of space teleoperation command time delay
  • Measuring method of space teleoperation command time delay

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specific Embodiment approach

[0068] According to the idea of ​​the present invention, the teleoperation instruction sending and verification software is designed, which includes the functions of time delay measurement, analysis, calculation and the like. The command selects the most representative master-slave / bilateral control command in the long-delay teleoperation process, and its operation steps:

[0069] 1. The command sender sends 600 verification-type master-slave / bilateral control commands according to the command interval of 250ms (the error does not exceed ±5ms), and the command sender fills in the three parameters of source, sink, and Tf in the delay measurement field;

[0070] 2. After the command verification terminal receives the verification-type master-slave / bilateral control command, fill in Ts in the delay measurement field;

[0071] 3. After the verification is completed, the instruction verification end fills in the feedback sending time in the Tz field of the delay measurement field, ...

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Abstract

The invention relates to a measuring method of space teleoperation command time delay and aims at time delay measurement and analysis problems. The measuring method improves accuracy of measurements and analysis of teleoperation control command in each section of time delay in a system through measures of developing a high-precision timing system, adding time delay measuring fields in sub-system inside information, and the like. The measuring method has the advantages of being capable of conducting system internal time delay measurements on the teleoperation control command, analyzing precision of command transmission time delay, command executing time, command feedback time delay, command circuit time, two-machine synchronous time, and the like. The measuring method can be popularized to time delay measurement in other information transmission processes, is capable of adding time delay measurement fields in every point of a router, and fills corresponding fields through an information source and an information sink, thereby further analyzing time delay distribution conditions inside a system.

Description

technical field [0001] The invention belongs to the field of time-delay operation, and in particular relates to a method for measuring the time-delay of a space teleoperation command. By developing a high-precision time service system and increasing the time-delay measurement field through internal information interaction, the measurement and analysis of the time-delay of a space operation command is realized. . Background technique [0002] The so-called long-delay teleoperation refers to an operation mode in which a local operator controls a remote telerobot to complete an operation task under conditions of relatively large communication delay and limited communication bandwidth. In the field of space applications, it generally refers to the operator controlling the space robot to operate on the ground. The research on long-delay teleoperation technology will make it possible for space robots to replace astronauts to complete various space tasks, and has received widespre...

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Application Information

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IPC IPC(8): H04B17/00G08C17/02H04B17/364
Inventor 黄攀峰田志宇刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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