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Control method of proportional derivative and damping controller

A technology of damping controllers and control methods, which is applied to electric controllers, controllers with specific characteristics, etc., can solve problems such as non-unique solutions, complicated solution process of Lyapunov-like methods, and no general construction method, etc., to achieve improved stability output effect

Pending Publication Date: 2021-10-01
江苏济邦智能科技有限公司
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Problems solved by technology

[0004] A widely used framework for solving the stability problem of delayed teleoperation is the Lyapunov-like method combined with the linear matrix inequality (LMI) technique. Based on the Lyapunov-Krasovskii function, various studies have been performed on delayed teleoperation, however, there is no Lyapunov- The general construction method of Krasovskii functional, and the solution is not unique, in addition, the solution process of the Lyapunov-like method is very complicated

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  • Control method of proportional derivative and damping controller
  • Control method of proportional derivative and damping controller
  • Control method of proportional derivative and damping controller

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Embodiment Construction

[0025] The present invention provides a technical solution: please refer to Figure 1-2 , a proportional derivative plus damping controller control method, is characterized in that, comprising the following steps:

[0026] S1, the master teleoperator and the slave teleoperator are both a degree of freedom device and can be modeled by the following linear dynamic model;

[0027] S2, ignoring the gravity and friction terms, the PDd controller controls with synchronous master motion and slave motion;

[0028] S3. Accurate stability criteria for proportional-derivative (PD) control;

[0029] S4. Accurate stability criteria for proportional damping control (Pd);

[0030] S5. Accurate stability criteria for proportional (P) control.

[0031] Specifically, according to the operation steps in S1, the linear dynamic model is recorded as formula (1) and formula (2), and formula (1) is Formula (2) is

[0032] Specifically, according to the operation steps in S1, where M i ,B i ...

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Abstract

The invention discloses a control method of a proportional derivative and damping controller, and belongs to the technical field of damping controller control, and the control method comprises the following steps: S1, a master remote operator and a slave remote operator are one-degree-of-freedom equipment, and can perform modeling through the following linear dynamics model. According to the invention, an accurate stability standard is provided, the stability standard is utilized, a stable region can be clearly expressed by an expression, a calculation mode is reduced, stable output of a judgment standard is improved, PDd and simple Pd (proportional derivative and damping) are widely used for guaranteeing stability of remote operation, and based on a PDd controller, an exact stability standard is deduced in a display evaluation function of time delay, so that the exact time delay limit of the system stability can be simply and conveniently obtained through the stability criterion.

Description

technical field [0001] The invention relates to the technical field of damping controller control, in particular to a proportional derivative plus damping controller control method. Background technique [0002] Teleoperation has attracted increasing attention in recent decades due to its wide range of applications, such as hazardous material handling, space operations, robotic surgery, and underwater mining, typically, as figure 1 As shown, the teleoperator consists of five components: human operator, master teleoperator, slave teleoperator, communication channel and environment, if only the master motion (and / or force) information is measured and transmitted to the slave site, Then the system is called one-sided, however, if the slave information is also sent to the master at the same time, the system is called a two-way system, two-way interaction and control can significantly improve system performance. [0003] For delayed remote operating systems, there are two differ...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 郭剑辉裔萍
Owner 江苏济邦智能科技有限公司
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