Research On Control Method Of Teleoperation With Time Delay Based On Passive Theory

In the fields of space exploration,nuclear industry and telemedicine,teleoperation technology is the most important method for human beings to work.In addition to reducing the impact of dangerous environment,it can also expand the limitation of human space distance.Currently,there are some limitations in the design of autonomous robots.Now,the combination of human intelligent decision and machine is an effective method.The biggest problem of teleoperation technology is time delay,which will both affect the system stability and operation performance.Against the background,this paper analyzes and studies the control methods under the time delay of teleoperation.Due to the existence of time delay,the main factors lead to the teleoperation system instability.Therefore,a bilateral control structure model is built based on the teleoperation system,the passive theoretical analysis of the whole system is carried out.For the system instability caused by time-delay link,wave variable controller is added to change the delay link passivity.Compared with the traditional force-position bilateral control structure,the four channel structure with more comprehensive information is built.Finally,the system operation performance is improved.On the basis of passive theory,aiming at the four channel bilateral control structure based on passive theory,the stability of each link is analyzed,and the basic conditions of system stability are obtained.The simulation platform is built by MATLAB,considering the designed control structure contains multiple control parameters,so as to verify the designed control structure rationality.By using the wave variable controller,the force and velocity information channels are directly superimposed.Considering the interference of the time-delay loop,the wave variable channel is constructed by combining the main end force information and the slave end velocity information.A another group of wave variable channels,which are built by the velocity information of the main end and the force information of the slave end,are used to verify the rationality of the structure through simulation.For systematically verify the control structure effectiveness,a two-sided remote control system physical platform is designed and built.Based on passive theory,the four channel two-sided control structure is verified.The experimental results show that:on the premise of ensuring the system stability,the control structure and dual wave variable channel structure are proposed,so that the information from the slave end,which can effectively produce a sense of presence to the operator at the main end.