时延双边遥操作机器人系统控制方法研究

发布时间：2018-08-28 06:01

【摘要】：随着空间技术,海洋技术和原子能技术等领域的快速发展,迫切需要大量工作在危险和未知环境下的高级机器人,而全自主机器人在这些环境中灵活作业目前仍不现实,因此,能扩展人的能力去操控远端设备的遥操作机器人吸引了大量研究者的目光。遥操作机器人系统中,通信时延是不可避免的,它将影响交互式遥操作机器人系统的工作性能,甚至会造成系统的不稳定。所以,研究如何对通信通道具有时延的遥操作机器人系统进行控制器设计具有理论意义和应用价值。本文以稳定性和主从机之间的跟踪性能为主要目标,基于Lyapunov泛函方法,利用Youla参数变换、LMI工具及优化思想,研究了遥操作机器人系统在通信通道具有时延的情况下的各种控制器的设计方法。本文的研究工作和创新成果如下：1)针对通信时延为固定时延的线性遥操作机器人系统,利用分散控制器的二次不变性,提出了一类遥操作机器人系统的稳定控制框架,保证了系统在通信时延从无到有时的稳定性。框架模拟分离出外部输入力所产生的输出信号,并仅将其作为控制器的参考信号,该控制框架无需对操作力和环境进行任何假设;2)针对通信时延是时变时延且操作者和环境为非无源的情况下的遥操作机器人系统,研究了一种保性能控制器设计方案,并推导出闭环系统稳定的时滞相关稳定性判据及优化控制算法,保证了主从机之间的位置跟踪性能,速度跟踪性能和作用力跟踪性能；3)针对固定通信时延的非线性遥操作机器人系统设计了一种加速度反馈控制方案,并给出了闭环控制系统输入状态稳定判据。该方案在主机器人端使用从端反馈的加速度信号,从机器人端利用位置误差和非线性阻尼的叠加信号,避免了接触不稳定问题,撤销了对从端外部环境和主端操作手的无源性的假设,与其他方法相比,此方法加快了系统同步的速度,提高了跟踪性能；4)针对时变通信时延的非线性遥操作机器人系统设计了一种加速度反馈控制方案,并给出了闭环遥操作机器人系统稳定的小增益条件。该方案在主机器人端使用从端反馈的加速度信号,从机器人端利用位置误差和线性阻尼的叠加信号,保证了系统在前向和反向通信时延时变且具有上下界的情况下的稳定性。
[Abstract]:With the rapid development of space technology, marine technology and atomic energy technology, there is an urgent need for a large number of advanced robots working in dangerous and unknown environments. Telebot, which can expand human ability to control remote devices, has attracted the attention of a large number of researchers. In teleoperation robot system, communication delay is inevitable, which will affect the performance of interactive teleoperation robot system, and even cause instability of the system. Therefore, it is of theoretical significance and practical value to study how to design the controller of tele-robot system with communication channel delay. This paper aims at stability and tracking performance between master-slave computers, based on Lyapunov functional method, using Youla parameter transformation tool and optimization idea. In this paper, the design methods of various controllers for teleoperation robot systems with communication channel delay are studied. The research and innovation of this paper are as follows: 1) for linear teleoperation robot systems with fixed communication delay, a stable control framework for a class of tele-robot systems is proposed by using the quadratic invariance of decentralized controllers. The stability of the system is ensured when the communication delay starts from scratch. The frame simulates the output signal generated by the external input force and uses it only as the reference signal of the controller. This control framework does not need to assume any operation force and environment. A design scheme of guaranteed cost controller is proposed to solve the problem that the communication delay is time-varying and the operator and environment are non-passive. The delay-dependent stability criterion and optimal control algorithm of closed-loop system are derived to ensure the performance of position tracking, velocity tracking and force tracking between master and slave. 3) an acceleration feedback control scheme is designed for the nonlinear teleoperation robot system with fixed communication delay, and the stability criterion of the input state of the closed-loop control system is given. In this scheme, the acceleration signal feedback from the end of the main robot is used, and the superposition signal of position error and nonlinear damping is used from the end of the robot to avoid the problem of contact instability. Compared with other methods, this method speeds up the synchronization of the system and improves the tracking performance. 4) an acceleration feedback control scheme is designed for nonlinear telerobot systems with time-varying communication delay, and a small gain condition for the stability of closed-loop teleoperation robot systems is given. The scheme uses the acceleration signal feedback from the end of the main robot and the superposition signal of position error and linear damping from the end of the robot to ensure the stability of the system under the condition that the forward and reverse communication delay is time-varying and has upper and lower bounds.
【学位授予单位】：北京科技大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242

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