Delay Analysis And Research Of Internet-based Teleoperation Control

Internet access becomes easier, more cost-effective and the data transfers are getting faster and more reliable. Internet-based teleoperation control is a hot and controversial issue in the field of automation. Scholars around the world have done a great deal of research and reached great achievements, mainly focusing on some applications in which a hard-real-time environment is not demanded.This paper focuses on delay issue of Internet-based teleoperation control. A couple of topics such as the composition of delay, clock synchronization, delay measurement method are discussed .On studying the delay problem to Internet-based teleoperation control and analyzing the principle of Smith estimation compensation, and considering that the forward channel as well as the feedback channel exists uncertain delay in Internet-based teleoperation control system, a compensation control algorithm basing on forward and feedback channel forecasting delay is described in this paper. The simulation results show that this compensation algorithm is effective when it is applied in Internet-based teleoperation control system. But if the delay compensation parameter does not match the forward and feedback channel delay respectively, the performance of this control algorithm is unsatisfied. A delay prediction algorithm based on historical data is given in this paper to make sure that the compensation delay parameter is close to the forward and feedback channel delay respectively.Further more, an experimental platform, Internet-based arm wrestling control system was built in Rockwell Automation Laboratory in Guangdong University of Technology. This paper describes the design, the hard wares selection, the function principle and the network configuration of the platform. The mathematical model of the control system is created, basing on feedback channel delay as well as forward. In the end a toolbox named TrueTime is used in a simulation platform where uncertain network delay is created in a network interference Node.The simulation results show that this compensation control algorithm also can effectively solve the delay problem in Internet-based arm wrestling control system.