CN108582019A - A kind of control method for flexible remote control system under unsymmetric structure - Google Patents
A kind of control method for flexible remote control system under unsymmetric structure Download PDFInfo
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- CN108582019A CN108582019A CN201810582364.3A CN201810582364A CN108582019A CN 108582019 A CN108582019 A CN 108582019A CN 201810582364 A CN201810582364 A CN 201810582364A CN 108582019 A CN108582019 A CN 108582019A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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Abstract
The invention discloses a kind of control methods for flexible remote control system under unsymmetric structure.Its content is：Establish flexible remote control system model under n dimension unsymmetric structures；Give a definition master and slave robot location's synchronous error variable in network communication time-vary delay system, and be based on this definition, designs new principal and subordinate's robot control method with input delay；The On Delay-Dependent Stability condition of the stabilization of remote control system is provided based on linear matrix inequality, ensures stability and synchronism of the remote control system when extraneous input power is zero.The present invention is by ensureing the stable operation under flexible remote control system performance dissymmetrical structure and time-varying asymmetry time-vary delay system, to improve flexibility and the practicability of system.Control method in the present invention is simple, has only used position and the velocity information of motor, therefore improves the practicability of the control method.
Description
Technical field
The present invention relates to non-linear flexible remote control system control technology fields, more particularly to one kind being directed to unsymmetric structure
The control method of lower flexibility remote control system.
Background technology
Networking remote control system is as the remote-controlled operation that can play the respective advantage of the mankind and mechanical system to greatest extent
System is with a wide range of applications and huge application value in the present age.Typical networking remote control system is mainly by five
Part forms, be respectively operator, main robot, network information transfer channel, from robot and residing for the robot
External environment.Its operating mode substantially can be described as：Operator operates local host device people, and by the position of main robot, speed
The information such as degree are sent to by transmission mediums such as networks from robot, from robot according to the position of the main robot received and
Velocity information, the behavior of simulation framework device people is to complete various complex works in certain circumstances, while from the work of robot
Main side operator will be fed back to by making state, and person easy to operation makes correct decision according to from the motion state of robot.
Remote control system has been widely used in nuclear accident rescue, space exploration in recent years, deep-sea detecting and long-range
The fields such as medical treatment.In practical applications, the information interaction at one side principal and subordinate end is inevitably communicated remote control system
The limitation of bandwidth；Another aspect master-slave system model not only has strong nonlinear characteristic, and it is not true to be vulnerable to systematic parameter
The influence of fixed and external working environment disturbance.A large amount of control method is proposed for remote control system to ensure that it is fine that it has
Working performance.However the realization of existing control method is based on the basis of the hypothesis of the artificial rigid machine people of principal and subordinate's machine, and
In practice more or less there is flexible characteristic in robot.And from traditional machinery manufacturing industry to space flight and aviation etc. technical fields and
The precision machineries such as robot building, Low rigidity and flexibility become the important development side that these field structures manufacture and design
To.And it is particularly subject to applied to high speed, high-precision, high load dead weight ratio flexible robot's structure industrial and field of aerospace
Pay attention to.Flexible robot is the dynamic system of a complex, for rigid machine people, high with speed,
The advantages that low energy consumption, operating space is big, light weight can meet future robot in high speed, precision, big carrying and light weight
The requirement of the application aspects such as change.Therefore we study there is an urgent need to be unfolded to be directed to the control of flexible remote control system.
Invention content
The object of the present invention is to provide a kind of control methods for flexible remote control system under unsymmetric structure, to make up
It is insufficient existing for existing control strategy.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：
A kind of control method for flexible remote control system under unsymmetric structure, this method content include the following steps：
S1. flexible remote control system model under n dimension unsymmetric structures is established；
S2. give a definition master and slave robot location's synchronous error variable in network communication time-vary delay system, and based on definition
Master and slave robot location's synchronous error variable designs new principal and subordinate's robot control method with input delay；
S3. the On Delay-Dependent Stability condition of the stabilization of remote control system is provided based on linear matrix inequality, is ensured distant
Stability and synchronism of the operating system when extraneous input power is zero.
Preferably, in step sl, the n that establishes ties up flexible remote control system model under unsymmetric structure, specific interior
Appearance includes：
Often being worked in complicated rugged environment from end robot in remote control system, these complicated rugged environments
It easily gives from the controller of robot and brings tremendous influence；Therefore, it will be placed in main side from the controller of end robot, tied herein
Distant place only needs slave robot by the signal transmissions such as position, speed to controller, and control of the reception from controller under structure
Input；Remote tele-operation system under asymmetric mechanism has higher flexibility and a modularization, therefore from the control of robot
Method processed can be realized and be changed on hand, therefore be suitable for the deployment of various environment；
Consider that the remote control system being made of two flexible joint robot systems, kinetic model are：
Wherein, subscript m represents main robot, and subscript behalf is from robot；qm,qs∈RnFor joint displacements matrix；θm,θs
∈RnFor the motor position matrix of host and slave processors device people；Mm(qm),Ms(qs)∈Rn×nFor the positive definite inertial matrix of system；For the vector of coriolis force and centrifugal force；Km,Ks∈Rn×nRepresent joint stiffness system
Diagonal positive definite constant matrices；Bm,Bs∈Rn×nFor actuator damping matrix；Jm,Js∈Rn×nRepresent the motor of master and slave robot
Inertia constant diagonal matrix；Fh∈RnAnd Fe∈RnThe torque that the power and environment that respectively human operator applies apply；τm∈Rn
And τs∈RnThe control moment that device provides in order to control；Tm(t) be information from main side to the propagation delay time from end.Due to from robot
Control signal needs be transmitted from main side through network information channel, therefore can have network information transfer time delay.
Preferably, in step s 2, give a definition master and slave robot location's synchronous error of the network communication time-vary delay system becomes
Amount, and master and slave robot location's synchronous error variable based on definition, design the new principal and subordinate robot control with input delay
Method processed；Its particular content is：
The defined formula of master and slave robot location's synchronous error variable is under network communication time-vary delay system：
E=θm-θs(t-Ts(t)) (2)
Wherein, Ts(t) the network information transfer time delay from end to main side is represented, time delay is asymmetric time-vary delay system here；
Based on master and slave robot location's synchronous error variable that (2) formula defines, the new principal and subordinate with input delay is designed
Robot control method is：
Wherein, Kp,KdFor diagonal positive definite constant matrices.
Preferably, in step s3, the time lag phase of the stabilization that remote control system is provided based on linear matrix inequality
Stability condition is closed, ensures stability and synchronism of the remote control system when extraneous input power is zero；Its detailed process is：Choosing
Take Lyapunov Equation as follows：
First, to V1Derivation is：
It can be obtained according to designed control method：
Secondly, to V2Derivation is：
It can so obtain：
In turn, to V3Derivation is：
Further, it can obtain：
Wherein,
Therefore it can finally obtain：
Corresponding linear matrix inequality can be obtained according to upper inequality：
Wherein, * it represents corresponding
The transposition of matrix；
When operator, extraneous input power are zero, and above-mentioned (14) formula inequality is set up, then asymmetric flexibility remote operating
System is stablized, and synchronous error e asymptotic convergences are to zero.
Due to the adoption of the above technical scheme, provided by the invention a kind of for flexible remote control system under unsymmetric structure
Control method has such advantageous effect compared with prior art：
The design of control method for flexible remote control system under unsymmetric structure of the present invention is simple, compared to symmetrical junction
The remote control system of structure is more suitable for complicated severe working environment, particular with the working environment of radiation.Due to will be from
Robot controller is placed in main side, therefore can make its application more at any time according to being adjusted from the working performance of robot
It is flexible, to enable flexible robot to complete more complicated task.The present invention is by ensureing in flexible remote operating
Stable operation under system performance dissymmetrical structure and time-varying asymmetry time-vary delay system, to improve system flexibility and
Practicability.
Description of the drawings
Fig. 1 is the structure diagram of unsymmetric structure remote control system；
Fig. 2 is the control principle block diagram of the present invention.
Specific implementation mode
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used for limiting the scope of the invention.
A kind of control method for flexible remote control system under unsymmetric structure of the present embodiment includes the following steps：
S1. flexible remote control system model under n dimension unsymmetric structures is established；
Consider often to work in the complexity such as nuclear accident scene, seabed, deep space badly from end robot in remote control system
Environment in, these complicated rugged environments, which are easily given from the controller of robot, brings tremendous influence.Such as nuclear accident is existing
The radiation of field can seriously affect the control performance from robot.Therefore compared with generally symmetrical structure remote control system, the present invention
It is middle consider will from end robot controller be placed in main side, as shown in Figure 1, under such configuration the slave robot of distant place only need by
The signal transmissions such as position, speed receive the control input from controller to controller.Long-range distant behaviour under asymmetric mechanism
Making system has higher flexibility and modularization, therefore can be realized and be repaiied on hand from the control method of robot
Change, therefore is suitable for the deployment of various environment；Consider the remote control system being made of two non-linear flexible robot systems,
N ties up kinetic model：
Wherein, subscript m represents main robot, and subscript behalf is from robot；qm,qs∈RnFor joint displacements matrix；For joint velocity matrix；For joint velocity matrix；θm,θs∈RnFor the motor of host and slave processors device people
Location matrix；Mm(qm),Ms(qs)∈Rn×nFor the positive definite inertial matrix of system；For brother
The vector of family name's power and centrifugal force；Km,Ks∈Rn×nRepresent the diagonal positive definite constant matrices of joint stiffness；Bm,Bs∈Rn×nFor actuator
Damping matrix；Jm,Js∈Rn×nRepresent the motor inertia constant diagonal matrix of master and slave robot；Fh∈RnAnd Fe∈RnRespectively
The torque that the torque and environment that human operator applies apply；τm∈RnAnd τs∈RnThe control moment that device provides in order to control.Tm(t)
It is information from main side to the propagation delay time from end.Due to from the control signal of robot need from main side through network information channel into
Row transmission, therefore can have network information transfer time delay.
S2. it is based on flexible remote control system model (15) under n dimension dissymmetrical structures, it is master and slave under network communication time-vary delay system
Robot location's error defined formula is：
E=θm-θs(t-Ts(t)) (14)
Wherein, Ts(t) the network information transfer time delay from end to main side is represented.It is obvious that in order to more meet practical application
Asymmetric time-vary delay system is considered in the environment present invention.
Fig. 2 show the control principle block diagram of the present invention, as shown in Fig. 2, the master and slave robot position defined based on (14) formula
Synchronous error variable is set, designing new principal and subordinate's robot control method with input delay is：
Wherein, Kp,KdFor diagonal positive definite constant matrices.
With general remote control system control strategy the difference is that, for from end robot, control input itself
There are time delays, i.e., are being from robotic end control strategy：
τs(t-Ts(t))=Kp(θm(t-Ts(t))-θs(t-Tm(t)-Ts(t))) (16)
From control method (15) as can be seen that control method proposed by the present invention is simply and readily implemented.
S3. the On Delay-Dependent Stability condition of the stabilization of remote control system is provided based on linear matrix inequality, is ensured distant
Stability and synchronism of the operating system when extraneous input power is zero, the specific steps are choose three Lyapunov Equations such as
Under：
Wherein,WithRespectively time-vary delay system Tm(t) and Ts(t) the upper bound, i.e.,
First, to V1Derivation can obtain：
The Dynamic Models of Robot Manipulators attribute generally used has been used in the above derivation：It is negative pair
Claim matrix, that is, there is arbitrary vector x so thatIt sets up.
It can further be obtained according to designed control method (15)：
Secondly, to V2Derivation can obtain：
It can further obtain：
According to equation It can obtain：
And then to V3Derivation can obtain：
It can further obtain：
Wherein,
Therefore, it can finally obtain：
Corresponding linear matrix inequality can be obtained according to upper inequality：
Wherein, * it represents corresponding
The transposition of matrix.
When operator, extraneous input power are zero, and linear matrix inequality (14) is set up, then under dissymmetrical structure
Flexible remote control system is stablized, and principal and subordinate robot synchronous error e asymptotic convergences are to zero.
The present invention considers the control method of flexible remote control system under unsymmetric structure, and remote operating is directed to compared to existing
The control method of system mainly has the advantages of three aspects：First, on the control structure, compared to the remote operating system of symmetrical structure
It unites, remote control system is more suitable for complicated severe operating environment under unsymmetric structure.Based on the remote operating system under symmetrical structure
System, since the control strategy from robot and from robot is placed in distal end, when due to environment acute variation so that from robot
When control performance is poor, control performance to replace control method to improve from robot can only will be recalled to from robot.It is very aobvious
Remote control system flexibility under the right symmetrical structure is poor.And the remote control system under unsymmetric structure is due to by slave
Device people's controller is placed in main side, when manually make from machine performance it is poor when, can at any time to being adjusted from robot control method,
Therefore more meet actual application environment；Secondly, compared with rigid remote control system, flexible remote control system has the operation of bigger
The advantages that space, higher service speed and light weight, can meet future robot in high speed, accurate, carrying greatly
With the requirement of the application aspects such as lightweight；Finally, the control method in the present invention is simple, has only used position and the speed of motor
Information, therefore improve the practicability of the control method.
The embodiment of the present invention provides for the sake of example and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
It is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application to select and describe embodiment
It will be appreciated that various embodiments with various modifications of the present invention to design suitable for special-purpose.
Claims (4)
1. a kind of control method for flexible remote control system under unsymmetric structure, it is characterised in that：This method content includes
Following steps：
S1. flexible remote control system model under n dimension unsymmetric structures is established；
S2. give a definition master and slave robot location's synchronous error variable in network communication time-vary delay system, and based on the master and slave of definition
Robot location's synchronous error variable designs new principal and subordinate's robot control method with input delay；
S3. the On Delay-Dependent Stability condition of the stabilization of remote control system is provided based on linear matrix inequality, ensures remote operating
Stability and synchronism of the system when extraneous input power is zero.
2. a kind of control method for flexible remote control system under unsymmetric structure according to claim 1, feature
It is：In step sl, described to establish flexible remote control system model under n dimension unsymmetric structures, particular content includes：
It will be placed in main side from the controller of end robot, the slave robot of distant place is only needed position, speed etc. under such configuration
Signal transmission receives the control input from controller to controller；Remote tele-operation system under asymmetric mechanism has
Higher flexibility and modularization, therefore can be realized and be changed on hand from the control method of robot, therefore it is suitable
Together in the deployment of various environment；
Consider that the remote control system being made of two flexible joint robot systems, kinetic model are：
Wherein, subscript m represents main robot, and subscript behalf is from robot；qm,qs∈RnFor joint displacements matrix；θm,θs∈Rn
For the motor position matrix of host and slave processors device people；Mm(qm),Ms(qs)∈Rn×nFor the positive definite inertial matrix of system；For the vector of coriolis force and centrifugal force；Km,Ks∈Rn×nRepresent joint stiffness system
Diagonal positive definite constant matrices；Bm,Bs∈Rn×nFor actuator damping matrix；Jm,Js∈Rn×nRepresent the motor of master and slave robot
Inertia constant diagonal matrix；Fh∈RnAnd Fe∈RnThe torque that the power and environment that respectively human operator applies apply；τm∈Rn
And τs∈RnThe control moment that device provides in order to control；Tm(t) be information from main side to the propagation delay time from end.Due to from robot
Control signal needs be transmitted from main side through network information channel, therefore can have network information transfer time delay.
3. a kind of control method for flexible remote control system under unsymmetric structure according to claim 1, feature
It is：In step s 2, the network communication time-vary delay system is given a definition master and slave robot location's synchronous error variable, and is based on
Master and slave robot location's synchronous error variable of definition, designs new principal and subordinate's robot control method with input delay；Its
Particular content is：
The defined formula of master and slave robot location's synchronous error variable is under network communication time-vary delay system：
E=θm-θs(t-Ts(t)) (2)
Wherein, Ts(t) the network information transfer time delay from end to main side is represented, time delay is asymmetric time-vary delay system here；
Based on master and slave robot location's synchronous error variable that (2) formula defines, new principal and subordinate's machine with input delay is designed
People's control method is：
Wherein, Kp,KdFor diagonal positive definite constant matrices.
4. a kind of control method for flexible remote control system under unsymmetric structure according to claim 1, feature
It is：In step s3, the On Delay-Dependent Stability item of the stabilization that remote control system is provided based on linear matrix inequality
Part ensures stability and synchronism of the remote control system when extraneous input power is zero；Its detailed process is：Choose Li Yapunuo
Husband's equation is as follows：
First, to V1Derivation is：
It can be obtained according to designed control method：
Secondly, to V2Derivation is：
It can so obtain：
In turn, to V3Derivation is：
Further, it can obtain：
Wherein,
Therefore it can finally obtain：
Corresponding linear matrix inequality can be obtained according to upper inequality：
Wherein, * it represents corresponding
The transposition of matrix；
When operator, extraneous input power are zero, and above-mentioned (14) formula inequality is set up, then asymmetric flexibility remote control system
Stablize, and synchronous error e asymptotic convergences are to zero.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108646569A (en) * | 2018-07-09 | 2018-10-12 | 燕山大学 | The control method of remote control system under discrete-time state |
| CN110794678A (en) * | 2019-11-05 | 2020-02-14 | 燕山大学 | Four-channel teleoperation force feedback control method under hysteresis nonlinearity limitation |
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| CN105988368A (en) * | 2016-07-27 | 2016-10-05 | 江南大学 | Fault-tolerant control method for networked control system with time-varying delay |
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| JP3749883B2 (en) * | 2002-08-28 | 2006-03-01 | 独立行政法人科学技術振興機構 | Remote operation method and apparatus |
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| CN110794678A (en) * | 2019-11-05 | 2020-02-14 | 燕山大学 | Four-channel teleoperation force feedback control method under hysteresis nonlinearity limitation |
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