Study On Control Of Inspection Vehicle Teleoperation System With Variable Time

Technology of wireless teleoperation can broaden human's working range in dangerous environments or adverse circumstance. Technology of teleoperation is a research focus in robotics field, which has been widely applied in many fields. Inspection vehicle as a branch of the mobile robot has the functions of a road obstacle recognition, automatic control, environmental monitoring and so on, which is easy to extract the complex environment of the important information.Because the wireless network technology is added into inspection vehicle, the time-delay of wireless network will lead to system unstable. The system is controlled difficultly. It is quite necessary to study the control method on system of teleoperation with wireless network. The main work contents of this thesis are as follows:Firstly, according to the shift and deviation establish the mathematical model of inspection vehicle, and the thesis discusses the stability problem with time-delay.Secondly, the calculation model of network delay is given by the analysis of wireless time-delay. The thesis mainly analyses the time-delay prediction of average delay window (ADW). Because the method inaccurately predicts, a new type of identifier is proposed. Then, the prediction results are analyzed.To describe the system dynamics, the appropriate features model is selected according to the error curve of dynamic despondence. A control algorithm of HSIC-Smith is presented by combining the advantages of HSIC and smith predictive control. The algorithm, in which different motion state is controlled by respective modal of the HSIC based on Smith principle, is employed to reduce or eliminate the influence of network delays.Finally, the method based on fuzzy control of parameters on line tuning is proposed. The method can solve the disadvantage of the difficult of parameter tuning in HSIC. It makes fuzzy processing to the error and error rate of system. Then, using fuzzy information of change trend can realize the on-line real-time adjustment of HSIC parameters.The algorithm is compared with PID-Smith predictor algorithm by experiments. The results show that the proposed algorithm can realize quick and accurate control of the teleoperation system of inspection vehicle, and adapt to the variance of delays. The algorithm is better than PID-Smith predictor algorithm.