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Control Method of Teleoperation System in Discrete Time State

An operating system and discrete time technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as harsh external environment, influence, network delay, etc., and achieve the effect of ensuring stability and synchronization

Active Publication Date: 2020-05-12
YANSHAN UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a control method of the remote operating system in a discrete time state to solve the problem that the existing control method is affected by network delay and harsh external environment

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  • Control Method of Teleoperation System in Discrete Time State
  • Control Method of Teleoperation System in Discrete Time State
  • Control Method of Teleoperation System in Discrete Time State

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Embodiment Construction

[0051] The invention will be described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0052] Control method of the present invention comprises the following steps:

[0053] S1. Establishing a teleoperation system model in an n-dimensional discrete-time state;

[0054] In the teleoperation system, the master-slave robot has highly coupled nonlinearity, which means that the existence of system uncertainty is inevitable. In addition, most environmental systems have unavoidable external disturbances. For example, the radiation at the site of a nuclear accident will seriously affect the control performance of the slave robot. Therefore friction force, uncertainty and external interference etc. are considered in the model of the present invention, and its dynamic model is:

[0055]

[0056] Among them, the s...

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Abstract

The invention discloses a control method of a remote operation system in a discrete time state. The method includes the following steps that a remote operating system model in an n-dimensional discrete time state is established; an expanded state observer is established on the basis of the established system model to estimate and compensate the total interference in the system; position synchronization errors of a master robot and a slave robot are defined under network communication time delay,and a discrete sliding mode control method with input time delay is designed; finally,stability conditions of the remote operation system are given on the basis of the Lyapunov theory,and the stability and synchronism of the remote operation system are guaranteed. According to the method,the controlmethod design of the remote operation system under the discrete time state is considered; compared with a remote operation system in a continuous time state,the discrete system state is considered inthe design stage of a controller,discrete errors caused by the design of the controller are avoided,and the method is more suitable for actual working environments,so that the method is more flexibleto use.

Description

technical field [0001] The invention belongs to the technical field of nonlinear teleoperation system control, and in particular relates to a control method of a teleoperation system in a discrete time state. Background technique [0002] Non-linear teleoperation system means that the operator controls the main manipulator locally to complete the remote operation of the machinery in the remote inaccessible or dangerous environment. A typical nonlinear teleoperation system is mainly composed of five parts, which are the operator, the master robot, the network information transmission channel, the slave robot, and the external environment where the slave robot is located. Teleoperation technology has made great achievements, and its results are widely used in various fields such as space exploration, deep sea development, nuclear waste disposal, telemedicine, etc. Human beings have continuously expanded their cognition and operation space. [0003] In the practical applicatio...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨亚娜闫泳利刘福才李军朋
Owner YANSHAN UNIV
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