Research Of Control Strategies On Tele-operated Construction Robot System Based On Wireless Network

Tele-operated Construction Robot System based on Internet Engineering is the engineering machinery computer networks operated under the human environment are difficult to access by the operator through the job. Researching and developing projects based tele-operation construction robot system enables wireless communication network remote control system is fully mobile operation, greatly enhance the flexibility of the system, and reduce maintenance costs, with significant engineering practical significance. However, due to the inevitable presence of a wireless communication network delay and delay when compared to wired networks larger and more variability, thus affecting the stability of the operating system and remote operation capability. In this paper, the stability and operational performance tele-operation construction robot system engineering wireless communication network environment is studied. The main contents are as follows:1. Researched project implementation method tele-operation construction robot system software, including analysis and selection of wireless communication protocols, client/server model, socket programming and MFC-based multi-threaded programming techniques.2. Designed tele-operation construction robot engineering hardware and software systems. Wherein the design of the overall system including hardware design, the design of a wireless communication network system and the remote operation terminal and a control terminal site system design. Design of software systems including the introduction of WAN simulator, control software and on-site client-side control software design.3. Designed gain scheduling control structure and algorithm; Used this method, the PID controller output multiplied by the appropriate gain, and based on network delay dynamically adjust the gain; Experimental studied the control characteristics of the gain scheduling control method.4. Designed fuzzy control structure and algorithm; Used fuzzy control rules from PID parameter adjustment law and experimental experience tuning PID output parameters; Experimental studied the control characteristics of the fuzzy control method.5. Designed fuzzy neural network control structure and algorithm; Used fuzzy control knowledge skills and self-learning ability of neural networks to adjust the output line to adapt to environmental changes; Experimental studied the control characteristics of the fuzzy neural network control method.The results show that the model based on scheduling parameters gain control in the network delay is small, showing superior to conventional PID control control. But when network latency increases to a certain value, due to the limitations of the method itself has difficulty obtaining experimental system and the precise reasons for the model parameters, gain scheduling control lost the original control. The non-parametric model based on fuzzy control and fuzzy neural network control, intelligent control mechanism because, without the establishment of the system parameters of the model, the network delay is larger still than the conventional PID control showed better control effects. Especially fuzzy neural network control, further improve the control effect of fuzzy control, network delay has better adaptability and robustness.Results of this study to improve the teleoperation robot system engineering wireless communication network environment stability and operational performance instructive.