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为保证遥操作系统在时延条件下的稳定性,以及减少传统波变量方法的跟踪误差,提出一种非对称双通道波变量补偿法。该方法在前向通道波变量补偿法的基础上,采用能量整定器对反向通道的波变量进行补偿。通过调节波阻抗、滤波器和能量整定器的相关参数可以充分保证遥操作系统的稳定性和跟踪性能。实验结果表明该方法在保证时延遥操作系统稳定性的基础上,速度跟踪平均误差比传统波变量法减少70%以上,力跟踪平均误差比前向通道波变量补偿法减少60%以上。为了比较不同时延下本方法的效果,设计时延分别为3s和0.6s的2种实验。结果表明本方法在不同时延条件下均可以取得较好的效果。
In order to ensure the stability of the teleoperation system under the delay condition and to reduce the tracking error of the traditional wave variable method, an asymmetric two-channel wave-variable compensation method is proposed. On the basis of the compensation method of forward channel wave variables, this method compensates the wave parameters of the reverse channel by using the energy conditioner. By adjusting the wave impedance, the parameters of the filter and the energy corrector can fully guarantee the stability and tracking performance of the teleoperation system. Experimental results show that the proposed method can reduce the average error of speed tracking by more than 70% compared with the traditional wave-based method and reduce the average error of force tracking by more than 60% compared with the compensation of forward channel wave based on the stability of the remote operation system. In order to compare the effect of this method with different time delays, two experiments with design delays of 3 s and 0.6 s, respectively, were designed. The results show that this method can achieve better results under different delay conditions.