Time stamp-based vehicle teleoperation time delay control method

A control method and time stamping technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of inability to guarantee system operability and transparency, difficulty in designing control observers, and system stability reduction, etc. problem, to achieve the effect of excellent spectral resolution performance, convenient modeling, and simple model

Pending Publication Date: 2021-09-28
NANJING AGRICULTURAL UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Chinese patent 201510793832.8 "A Timing Delay Teleoperation Control Method Based on Wave Variables" improves the stability of the teleoperation system with time delay through forward and backward channel wave variable compensation and energy setting, but because the method is too conservative, it cannot be guaranteed System operability and transparency
Chinese patent 201610887383.8 "A Time Delay Control Method for Teleoperation Manipulator System" uses the linearization model of the teleoperation system to design a state observer, and performs time delay compensation according to the state feedback control law, but for unknown, time-varying and nonlinear environment model, it is difficult to design the corresponding control observer
Chinese patent 201910939886.9 "A predictive display method based on real-time reconstruction model in space teleoperation" uses 3D reconstruction and virtual force rendering technology to predict and display the force sense between the master and slave to solve the time delay in space teleoperation and the influence of unknown environment, but for nonlinear and uncertain network communication teleoperation models, the control effect is not ideal
Chinese patent 201510498123.7 "A design method for a variable structure controller with variable time delay two-person remote operation" uses the method of integrating the error to design a sliding mode controller, which can ignore the specific value of time delay and has good robustness, but As the delay increases, the system stability gradually decreases

Method used

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  • Time stamp-based vehicle teleoperation time delay control method
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  • Time stamp-based vehicle teleoperation time delay control method

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Embodiment 1

[0055] see figure 1 , the present invention specifically includes steps as follows:

[0056] Step 1: The master terminal obtains satellite time information T based on GNSS 1 , as the standard time information to calibrate the local time, the master end will time information T 1 Send it to the slave as a timestamp together with the control message;

[0057] Step 2: Obtain satellite time information T based on GNSS from the terminal 2 , as the standard time information to calibrate the local time, the slave receives the control message and parses the time stamp T in the control message 1 ;

[0058] Step 3: Calculate the specific random delay time ΔT=T 2 -T 1 ;

[0059] Step 4: Delay time ΔT measured according to the time stamp and "actually measured rotation angle of the vehicle teleoperation steering wheel" θ i Time series of ARMA model modeling;

[0060] Step 5: Set the "measured rotation angle of the steering wheel of the remote operation of the vehicle" to θ i A ti...

Embodiment 2

[0063] see figure 2 and image 3 , in the present invention, " based on GNSS dynamic time stamp measurement to table " method, it is characterized in that:

[0064] Step ①: The master terminal obtains satellite time information T based on GNSS 1 , as the standard time information to calibrate the local time, and set T 1 as a timestamp;

[0065] Step ②: Send by the master end with time stamp T 1 the control message to the slave;

[0066] Step ③: After network communication transmission, the slave receives the control message and parses the time stamp T in the control message 1 ;

[0067] Step ④: Obtain satellite time information T based on GNSS from the terminal 2 , as the standard time information to calibrate the local time;

[0068] Step ⑤: Calculate the delay time ΔT=T 2 -T 1 , after the delay measurement is over, the slave end sends a response message to the master end that has completed the time stamp measurement.

Embodiment 3

[0070] see Figure 4 , in the present invention, based on the ARMA model, the "desired rotation angle θ of the vehicle teleoperation steering wheel i+1 "Predictive output control, characterized by:

[0071] Select "Vehicle Teleoperation Steering Wheel Actual Measured Rotation Angle" θ i A time series of length p+1 {θ i , θ i-1 , θ i-2 ,...,θ i-p}(i-p>0), input to the expected steering angle predictor of the vehicle direction based on the ARMA model, "the expected steering wheel angle of the vehicle teleoperated steering wheel" θ i+1 Expressed as,

[0072] θ i+1 = β 1 θ i +β 2 θ i-1 +β 3 θ i-2 +…+β p θ i-p +Z t (1)

[0073] Among them, β 1 , β 2 , β 3 ,...,β p is the parameter of the autoregressive model, Z t is the delay error of the teleoperation network communication,

[0074] Z t =ΔT i -α 1 ΔT i-1 -α 2 ΔT i-2 -...-α q ΔT i-q (2)

[0075] Among them, α 1 , α 2 ,...,α q is the parameter of the moving average model, {ΔT i , ΔT i-1 , ΔT i...

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Abstract

The invention discloses a time stamp-based vehicle teleoperation time delay control method, and belongs to the technical field of time delay control. The method is characterized in that a time stamp measurement method for master and slave ends of vehicle teleoperation based on GNSS (Global Navigation Satellite System) dynamic table setting eliminates the time difference of timing modules at the two ends, and by sending control information with time stamps, the specific delay time is obtained after the time of the two ends is compared and measured, then modeling is conducted on the time sequence of the actually-measured rotation angle theta i of the vehicle teleoperation steering wheel based on an ARMA model, a predicted value of the expected rotation angle theta i + 1 of the vehicle teleoperation steering wheel at the next moment is output, and reliable control over vehicle teleoperation is achieved. The method has a good improvement effect on the vehicle teleoperation system with random time delay influence, enhances the traceability and robustness of the system, and has a good application prospect in the field of teleoperation time delay control.

Description

technical field [0001] The invention relates to a delay control method, in particular to a time stamp-based vehicle remote operation delay control method, which belongs to the field of communication delay control. Background technique [0002] Vehicle teleoperation is a remote driving control technology, which consists of an operator, a master controller, a communication link, a slave driving robot and a working environment. Due to the unique advantages of the teleoperation system, this technology has been widely used in harsh operating environments or remote control fields such as aerospace, satellite remote sensing and telemetry, deep-sea exploration, and nuclear energy development. [0003] In the current research on teleoperation technology, for example, the teleoperation used in aerospace and lunar exploration uses a special radio channel, which has strong specificity and high cost. It is a control method that obtains high reliability at the expense of time. . The rem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 卢伟李家诚陈浩
Owner NANJING AGRICULTURAL UNIVERSITY
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