[1]刘少强,王爱民,樊晓平,等.时延下比率遥操作系统稳定性与性能折衷策略[J].东南大学学报(自然科学版),2005,35(3):469-474.[doi:10.3969/j.issn.1001-0505.2005.03.031]
 Liu Shaoqiang,Wang Aimin,Fan Xiaoping,et al.Control scheme for stability and performance tradeoff in scaled telemanipulation with communication time delay[J].Journal of Southeast University (Natural Science Edition),2005,35(3):469-474.[doi:10.3969/j.issn.1001-0505.2005.03.031]
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时延下比率遥操作系统稳定性与性能折衷策略()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
35
期数:
2005年第3期
页码:
469-474
栏目:
自动化
出版日期:
2005-05-20

文章信息/Info

Title:
Control scheme for stability and performance tradeoff in scaled telemanipulation with communication time delay
作者:
刘少强1 王爱民2 樊晓平1 黄惟一2
1 中南大学信息科学与工程学院, 长沙 410075; 2 东南大学仪器科学与工程系, 南京 210096
Author(s):
Liu Shaoqiang1 Wang Aimin2 Fan Xiaoping1 Huang Weiyi2
1 School of Information Science and Engineering, Central South University, Changsha 410075, China
2 Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
关键词:
比率遥操作系统 控制策略 稳定性与性能折衷 时延 绝对稳定性准则
Keywords:
scaled telemanipulation system control scheme stability and performance tradeoff time delay absolute stability criteria
分类号:
TP242.2
DOI:
10.3969/j.issn.1001-0505.2005.03.031
摘要:
通过系统动力学和二端口网络建模,采用通用控制结构,定义了时延下比率遥操作系统的理想性能,得出了实现理想性能的主从系统控制参数必须满足的约束条件.基于莱威林二端口网络绝对稳定性准则,在实现理想性能的策略基础上调节主从系统阻抗,导出了在操作者和环境无源条件下使用三通道结构实现时延比率系统的绝对稳定性与保持性能折衷的控制策略.通过仿真提出了用变阻尼来增强系统性能的改进方法.仿真结果表明了本策略的有效性.
Abstract:
With modeling of scaled telemanipulation system and two-port network, using general bilateral control architecture the ideal responses of the system in the presence of time delay are defined and the control parameters restrictions of the master slave manipulator to realize the ideal performance are induced. Based on Llewellyn two-port network absolute stability criteria and regulating the impedance of the master slave manipulator with ideal performance, a new control scheme of using three-channel architecture for the system with transmission delay is proposed, which can realize tradeoff between guaranteeing the stability and preserving the performance of the system in the passivity of human operator and environment. Furthermore, an improved method by using variable damping is presented through simulation to enhance the performances. Simulation results show the validity of the proposed control scheme.

参考文献/References:

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相似文献/References:

[1]谢建良,陈南,钟秉林,等.有源结构声控制的单通道多作动器控制策略[J].东南大学学报(自然科学版),1998,28(4):119.[doi:10.3969/j.issn.1001-0505.1998.04.024]
 Xie Jianliang,Chen Nan,Zhong Bingling,et al.Singlechannel Multiactuator Tactics for Active Structural Acoustical Control[J].Journal of Southeast University (Natural Science Edition),1998,28(3):119.[doi:10.3969/j.issn.1001-0505.1998.04.024]

备注/Memo

备注/Memo:
作者简介: 刘少强(1964—), 男, 博士, 副教授, liussqq@mail.csu.edu.cn.
更新日期/Last Update: 2005-05-20