Research On Large Time Delay Of Space Robot Teleoperation Control System

Because of the large distance between heaven and earth, leading to it is difficult to remote control the space robot on the ground because of the large distance between heaven and earth, and the it will have great communication delay. The large time delay, will not only affect the stability of the teleoperation system, but also make the operator fail to receive the distant information, and would produce fatigue and great operating pressure, therefore, large time delay problems become one of the most difficulties in the space robot teleoperation system.Bilateral control has a series of advantages, such as it can be applied to the environment from the end of the unknown or unstructured and so on, these make the bilateral control become the research hot focus on teleoperation systems. The general bilateral teleoperation control was simplified to two port network model before, although this kind of structure is simple, and can satisfy the general remote operation task performance, but to the need for intricate task work, two channel structures cannot meet demand. According to the idea that the force and movement both can be transferred in round-trip, the researchers put forward the four channel bilateral control structure. On the basis of predecessors, this paper mainly completed the following work:First of all, after researching and analyzing the classic four channel structure, designed a kind of four-channel bilateral control system structure based on true force feedback, we named it as "KBG controller" according to the controller parameters, this structure in considering the true force supplied by operator, the effect of force feedback from the remote environment influence on the operator, and use the position deviation on the force correction.Then analysis performance of teleoperation bilateral control system which designed in last section, in the past the researchers mainly focus on analyzing system stability and transparency, in this paper we give a general Lyapunov energy function, using the passive theory to analysis, that the whole system passive conclusion, then can get the system stability, then give the transparency measurement function and analysis. But the two performances cannot fully reflect all the system performance, teleoperation system also needs the tracking ability of the slave to the master, namely system tracking performance, and also give the system tracking performance measurement function and analysis it. Use of system performance analysis, get the controller parameter selection range.After that, this paper analyses the existing delay processing methods, considering the characteristics of the Markov process, it was concluded that the time delay between heaven and earth with Markov no aftereffect characteristic of, therefore, use Markov model for large time delay between heaven and earth to forecasting and modeling, and verify it through software simulation.Finally in order to verify the performance of the proposed system, we search on a space robot teleoperation system of the ground validation simulink experiment, which has a1-dof slave manipulator, according to the experimental results verify the feasibility and validity of the whole system.