Research On Real-time Performance For Network-based Teleoperation System

With development and popularization of the network, teleoperation system is now moreand more applied, such as application in telemedicine and remote blasting and so on. In thispaper, it is researched and designed that the remote authenticity based on teleoperation systemto reduce influence of time-varying delay and packet loss in network, increase transparency ofsystem, ensure stability of the teleoperation system and strengthen remote authenticity. Inrecent years, many scholars have conducted more thorough research on robustness study ofthe teleoperation control system and puting forward a variety of pre-estimated method forreducing effect of delay and packet loss, having yielded many results. But there still exist afew issues to be solved. Therefore, the paper first introduced topic background andsignificance, investigated the teleoperation control system and determined research schemethrough analysis and comparison of technical characteristics. The primary work andachievements in this paper are as follows:The system model of the process of discrete data transmission is proposed accord to therelations of sampling time and delay time based on discrete form of sending and receivingdata in the teleoperation system. The model provides the theory support in study ofpreestimated algorithm with adaptive function based on nonlinear discrete-time transmissionsystem in the network. In view of the subsystem with similar structure in teleoperation system,this paper gives the input and output stable condition of teleoperation system by the smallgain theorem, and it is proved that the validity of the conditions. The conditions can ensurethe system input output stability when the preestimated algorithm has been adopted inteleoperation system.Based on the model of force-position mechanical arm, a feedback controller has beendesigned to ensure robustness of the nonlinear system with mechanical arm of themultiple-degree of freedom. Through simulation experiment of the feedback controller, thebasic debugging principles of parameters have been given. The method can not onlyguarantee the stability of the system, but also make setting and adjustment of parametersrelatively easy.Main study for the preestimated algorithm to effectively reduce the influence of variabletime delay and packet loss is performed. At present, there is not too much research in effect ofdisadvantage of network transmission and system sample time on data in the teleoperationsystem and the change trend of the discrete data transmission in network. Therefore, it isinvestigated that the basic principle of process of data change which were transmitted in the network and analysed that the relation of data transmitted in the network, sample time ofsystem, variable time delay and orders of sending and receiving data. According to therelation of the above parameters, it has been devised that a new preestimated algorithm withself-adaptive ability by which the stabilization of the teleopertion system which is nonlinearand discrete was proved and the stabilization condition was proposed. By simulation test andexperiment, it was proved that this new algorithm is effective, and the improvement directionsof the algorithm were proposed according to the simulation experiment. Comprehensiveexperimental results, it further proves that the algorithm can not only guarantee stability of theteleoperation system which is nonlinear and discrete, but also improve the transparency of thesystem.In this paper, it is discussed that control and investigation of the teleoperation system andthe design proposal has satisfied with request, so it achieves the expectation effect of thepaper.