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A control method for a bilateral remote control system

An operating system and bilateral technology, applied in the direction of digital control, electrical program control, etc., can solve problems such as few results, and achieve the effect required by good convergence speed and high performance indicators

Active Publication Date: 2021-11-23
NANJING UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0003] There are more and more achievements in the research on the stability of bilateral teleoperation system and the stability of fixed-time control, but there are few achievements in the study of bilateral teleoperation system and fixed-time control at the same time.

Method used

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  • A control method for a bilateral remote control system
  • A control method for a bilateral remote control system
  • A control method for a bilateral remote control system

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Embodiment Construction

[0094] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0095] Such as figure 1 , figure 2 and image 3 As shown, the present invention is a research on the tracking stability of the master and slave ends when the bilateral telecontrol system is subjected to external force under a fixed time control. The specific operation steps are as follows:

[0096] Step 1: Build a system dynamics model:

[0097] master end:

[0098] From the end:

[0099] External environment force model: Human operation torque F h =J m T *[0 1] T *F

[0100] where the inertia matrix M m , M s , the Coriolis force matrix C m and C s and J m and J s The expression of is as follows:

[0101]

[0102]

[0103]

[0104] In the simulation, the parameters are selected as follows:

[0105] m 1 =0.5kg, m 2 = 1 kg, l 1 = 1m, l 2 =0.8m, g=9.81m / s 2 .

[0106] In addition there are The sch...

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Abstract

The invention discloses a control method of a bilateral teleoperation system, which comprises the following steps: step 1: establishing a dynamic equation of a bilateral teleoperation system model; step 2: designing a fixed-time controller for the system; step 3: using a Lyapunov function to prove the control The system stability under the controller; the present invention overcomes the problem that both the stability of the bilateral telecontrol system and the stability of the fixed-time control cannot be studied at the same time, and applies the fixed-time control to the research of the bilateral telecontrol system, realizing the system convergence time The estimation of does not depend on the initial value, and it has better convergence speed and performance compared with the previous control method of bilateral teleoperation system. In some applications that have strict requirements on convergence time, such as aerospace and ocean exploration, it has great advantages and is a reliable, effective and important control method.

Description

technical field [0001] The invention belongs to the field of teleoperation control, in particular to a fixed-time control method of a bilateral teleoperation system. Background technique [0002] With the development of aerospace, submarine exploration and other work, people are full of curiosity about dangerous unknown areas, and the demand for teleoperation robots has also begun to increase. Bilateral teleoperation has become a research hotspot for scientists because it has better synchronization performance than traditional teleoperation systems. There have been a lot of work cases at home and abroad that study the modeling, simulation and analysis of fixed-time control systems and bilateral teleoperation systems. Document 1 (Jinming Huang, Zhongcai Zhang. Nonlinear feedback design for fixed-time tracking of a class of nonlinear systems. International Journal of Computer Mathematics. 2017, 94(7): 1349-1362.) Nonlinear feedback for a series of nonlinear systems Perform a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/19
Inventor 顾周彤张保勇张益军宋帅陈自然
Owner NANJING UNIV OF SCI & TECH
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