Method for compensating finite interference time of remote operation system based on terminal slide model

A limited time, operating system technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of reduced observation speed, system instability, poor interference observer performance, etc., to achieve reduced design burden and faster convergence Fast, strong anti-interference effect

Active Publication Date: 2017-05-10
YANSHAN UNIV
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Problems solved by technology

However, when the typical disturbance observer based on sliding mode has a large initial observation error, its observation speed will be greatly reduced, thus increasing the burden of controller

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  • Method for compensating finite interference time of remote operation system based on terminal slide model
  • Method for compensating finite interference time of remote operation system based on terminal slide model
  • Method for compensating finite interference time of remote operation system based on terminal slide model

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[0043] The present invention will be further explained below in conjunction with the drawings:

[0044] Such as Figure 1-2 As shown, the steps of the method of the present invention are as follows:

[0045] Step 1. Select the master robot and the slave robot to form a teleoperation system, respectively measure the system parameters of the master robot and the slave robot, and use the force sensor to measure the force exerted by the operator and the force exerted by the external environment.

[0046] The system parameters include: the length and mass information of the rod, and the inertia matrix, Coriolis force, centrifugal force matrix and gravity term of the master robot and the slave robot calculated according to the length and mass information of the rod.

[0047] Step 2: Measure the joint position information of the master robot and the slave robot online, and obtain the speed information of the master robot and the slave robot in a limited time by using the robust accurate diffe...

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Abstract

The invention discloses a method for compensating finite interference time of a remote operation system based on a terminal slide model. The method comprises the steps of respectively selecting a master robot and a slave robot so as to form a remote operation system, respectively measuring system parameters of the master robot and the slave robot, measuring power-off position information of the master robot and the slave robot online, obtaining joint speed information of the master robot and the slave robot by virtue of a robust precise differentiator, designing a finite time interference observer based on a terminal slide model, feeding back to the controller design of the master robot and the slave robot, and acquiring a parameter value range of the interference observer by virtue of a Lyapunov equation. By virtue of the method, the problems of low observation speed and limited capacity of an existing observer are solved, the influences caused by parameter indeterminacy and unknown interferences to the remote operation system are overcome, and the anti-jamming performance of the system is improved; and the controller design is simplified, and the application in engineering practice is benefited.

Description

technical field [0001] The invention relates to the field of remote control system control, in particular to a method for compensating for limited time of remote control system interference based on terminal sliding mode. Background technique [0002] The teleoperation system is mainly composed of the operator, the master robot, the network information transmission channel, the slave robot and the remote external working environment. Its working mode can be roughly described as: the operator operates the local master robot, and transmits information such as the position and speed of the master robot to the slave robot through the network and other transmission media, and the slave robot follows the received position and speed information of the master robot. Simulate the behavior of the master robot in a specific environment to complete various tasks, and at the same time, the working status of the slave robot will be fed back to the master operator, so that the operator can...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 华长春杨亚娜李军朋
Owner YANSHAN UNIV
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