Research On Adaptive Control Method For Large Time Delay Space Teleoperation System

In the space teleoperation system,the main end operator controls the movement of the main end arm.The motion signal is transmitted to the slave manipulator from the transmission channel,and the end manipulator can replace the main operator to complete various spatial tasks.The actual execution of the tasks in the process of stability and tracking performance are two important performance of remote operating system,and the communication time delay between heaven and earth and the environment from the end of model uncertainty is an important reason to affect the tracking performance of remote operating system,which will result in the end between the master-slave manipulator position and force tracking error,serious situation even lead to unstable state.In this paper,the large time delay and environmental uncertainty of the space teleoperation system are studied.The main work of this paper is as follows:A bilateral PID control method for teleconnection system based on adaptive Smith predictor is proposed for large delay and unknown environment problems.First of all,in order to solve the actual model and the model error,the traditional model reference adaptive method of controlled object and adjustable system of exchange,and the Lee Yap Andrianof energy function method to design adaptive algorithm based on system model identification and real-time correction.Secondly,the identification result is used as a reference model of the Smith predictor,so as to complete the fusion of adaptive identification and Smith predictive control algorithm,and realize the effective control of the remote operation system under the condition of large time delay and uncertain environmental parameters.Aiming at the discrete data transmission mode adopted in space teleoperation system,the discrete modeling method of the system is analyzed,and the corresponding discretization control method is designed.The first system of discrete mathematics model using least squares identification,the identification model is designed based on the system state observer,and then combined with the adaptive control algorithm,the control system can change with the observer output,so as to realize the dispersion of effective suppression of large time delay and unknown environmental problems of system.The physical experiment platform of the space teleconnection system is built.The three degree of freedom hand controller developed by the lab is the main arm and Falcon force feedback hand controller as the slave manipulator.The corresponding control interface and algorithm are written in C++ language.In the physical experiment,we design the two modes of free operation and contact movement of the teleoperation system,and investigate the stability and tracking performance of the space teleoperation system in the unknown environment with large delay,so as to verify the effectiveness of the proposed method.