| Tele-operation system with force sense tele-presence can carry on the complex work which approaches with difficulty in uncertain or extreme environment (such as high temperature, high pressure, strong radiation etc.). With the aid of the force sense tele-presence which provides to the remote operating system is on site the feeling, enables the operator really to feel the robot with to operate the object as well as the environment mutual function, thus improves system serviceability, greatly enhances the working efficiency. But remote operating system control theory and the control strategy research is carried on the force sense tele-presence tele-operated system, regarding enhances the force sense tele-presence tele-operated robot serviceability which has the extremely vital role, therefore"research of the force sense tele-presence remote operation robot"has the extremely important practical significance.This Ph.D. dissertation developed under the project supported by National Natural Science Foundation of China (No.50475011) and Excellence Youth Teacher State Program of Ministry of Education, which exists the question in view of presently the force sense bilateral servo-control method "the driven slave contacts when a rigid bigger object feeds back the strength impact oversized" and "the master- slave control follows the movement bad" and so on, a H∞control state observer compensated the position difference-force difference bilateral servo-control strategy is proposed, the force sense tele-presence master-slave remote operation robot system is constructed, and control structure and the serviceability theoretical analysis of the master-slave remote operation robot assembly system has been carried. Based on the master, the slave which controls the 2DOF force feedback manipulator constitution by the fluid experiments the platform from the master-slave remote operation bilateral servo-control, the feasibility and the serviceability of the H∞control state observer compensated the position difference-force difference force feedback bilateral servo-control strategy are studied. the master-slave isomerism remote operation force feedback bilateral servo-control test platform has built which through two 2DOF hydraulic pressure servo force feedback manipulator as the master, useing the network camera to complete the video frequency feedback and controlling the 4DOF hydraulic pressure servo by the local area network to connect the manipulator, force sense and the position follow the characteristic research have been carried on under the network existence lag condition.The main research work and innovative results of the dissertation are summarized as follows:(1) In view of presently the force sense bilateral servo-control method "the driven slave contacts when a rigid bigger object feeds back the strength impact oversized" and "the master- slave control follows the movement bad" and so on, a H∞control state observer compensates the position difference - force difference bilateral servo-control strategy is proposed. This strategy has alleviates the feedback force impact, eliminates manipulator vibration effective, suppress the dynamics disturbance of system, improves the master-slave follow characteristic dynamic performance and stability.(2) Based on the two-port network model of master-slave tele-operated manipulator system, to study the position and force information of both the interdependence and mutual influence of internal relations, from the control structure and principle, through systemic comparating and analyzing the commonly used master-slave tele-operated bilaterial servo control strategy, discussed the inherence causation of the feeds back the strength impact oversized and the master- slave control follows the movement bad, theoretical reference has been provided for the conduct of a new bilaterial servo control strategy.(3) Based on the control of hydraulic motor control system of mathematical models and bilateral servo system of control structure, through analyzing and calculating for the H∞control of the state observer and stability, the SIMULINK simulation model has been established of a master-slave tele-operated bilateral servo control system and carried through simulation research.Armed to the problem that closed-loop system stability is influenced vulnerable by change of the dynamics, using H∞control of the state observer to process effective compensation for hydraulic control motor system dynamic characteristics of differences , and three bilateral servo control system has been carried through simulation experimentation comparison. It has been proved that the H∞control of the state observer compensation position feedback control algorithms employ the whole closed-loop system has a good dynamic performance, improved from the master-slave position follow character and force tele-presence, a theoretical basis has been provided for new tele-operatedbilateral servo control system carrying through platform test and system development .Furthermore, the following research works are put up in this Ph.D. dissertation:(1) In order to validate the validity and feasible of H∞control state observer compensates the position feedback bilateral servo-control strategy, the master-slave isomerism remote operation force feedback bilateral servo-control test platform has built which through two 2DOF hydraulic pressure servo force feedback manipulator as the master controlling the 4DOF hydraulic pressure servo, the force sense bilateral servo long-distance range remote operation control has realized. Separately in the idling, grasps the tire, stresses under the stone three kind of different operating modes, based on three kind of different controls strategies followed under the network existence lag condition, the master-slave position follow and the force sense experiment has carried on. Indicated through the experiment, the H∞control state observer compensated the position difference - force difference control strategy has been improved effectively the master-slave follow the performance, alleviated the driven slave contacted when a rigid bigger object feeds back the strength to the leader the impact, enhanced the operator to be on site the force sense, experimental basis has been provided for further carried on the master-slave remote operation robot research based on the Internet network.(2) In order to study the performance of the hydraulic system of the 2 DOF force-feedback manipulator, the model of the 2 DOF electro-hydraulic servo valve control swing motor hydraulic system is set up, and the decoupling conditions of two channels valve control motor hydraulic system is educed by simplification of the model. Based on the hydraulic decoupling, the model of the valve control motor force servo control system is deduced, and the dynamic characteristic of the system is studied.(3) A servo valve-controlled motor system of the mathematical model has been established, deduced electro-hydraulic servo valve controlled swing hydraulic motor transfer function, and analyzed the dynamic properties.Uses the position difference-force difference bilateral servo-control strategy of state observer compensated H∞control, with the aid of the high tele-presence prompted which cause the operator really feel the driven end operated the object the tendency mutually to affect, can effectively improve the the characteristic of force sense tele-presence and master-slave follow, and effectively solved contacted when a rigid bigger object has oversized fed back the force impact oversized and so on the question, the valuable experience and the essential technology was provide on the key step for the force sense remote operation roboto practical application that goes out step. The practical application of the system will bring into unique superiority in the rescue area and special field. And it should have great effect on society and economy.
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