遥操纵系统主—从双向伺服控制技术研究
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摘要
具有临场感的遥操纵系统可以在人难以靠近的高温、高压、强辐射、窒息等极限环境下进行复杂的操纵作业。力觉临场感可在很大程度上提高遥操纵作业的效率和精确性。国内外对力觉临场感遥操纵系统的研究主要存在主-从跟随特性差,反馈力冲击等问题。
本文以由新型电液伺服控制手控器组成的遥操纵系统为研究对象,建立了手控器电液伺服系统的数学模型,为其设计了基于线性二次型指标的调节器,并通过观测器实现了完全的状态反馈。为降低系统对参数变化的敏感度,设计了自适应控制器,并研究了消除扰动影响的方法。针对现有遥操纵系统所存在的前述问题,介绍了一种位置差-力差型双向伺服控制策略,分析了策略的稳定性和透明性。
Because of the difficulty in developing Intelligent Robot, which can Indepen -dently works in bad dangerous mutative or unknown environment, the research of Telemanipulator System(TS) becomes more practical. The dynamic reciprocity between robot and operated object can be felt by TS on account of the telepresence, which can make the operator accomplish exact and complicated operation. Vision telepresence can provide most information for teleoperation, but when the robot is contacted with the environment and only has vision telepresence system, operators cannot acquire the real sense. Experiments on teleoperation systems indicate that force telepresence can provide great help for teleoperation systems, and it can greatly enhance manipulation performance.
The existing force-feedback manipulate devices have been mostly adopted electrical torque-motor as the drive component, they are too huge but cannot provide force to meet the needs, force-feedback effect unconspicuous and Dead Zone is too big. Solving this problem, a 6-DOF force-feedback device based on electro-hydraulic servo control , which makes machine Drives control detection multi-functions in one, is put forward and developed.by the Industrial Robot Lab of JLU. The object of the study is the Bilateral Servo Control(BSC) System of the telerobot. This Dissertation studied and designed the Electro-hydraulic Servo
Control(EHSC) System and BSCS, as follows are the main contents:
1. Builded the math model of EHSCS of the TS. By analysing the structure principle and working features of the Twin Flapper-nozzel Electro-hydraulic Servo valve detailedly, builded the math model of EHSCS, obtained values of the Parameters.
2. Simplified the high-order math model of the system to a lower order. The method, which is not to retain the dominant poles of the system, has been used to reducing the order of system. Simulation indicated that the precision of this approach was very high.
3. Designed a Linear Quadratic(LQ) controller for EHSC system. To meet the need of the EHSC, designed a LQ optimal contoller, system has good dynamic and stastic character; To solve the problem that the acceleration feedback and speed feedback are difficultly actualized, designed a output-feedback LQ controller and realized the state feedback control by design of a Redused-order Observer.
4. Model Reference Adaptive Controllers were designed to debase the degree of sensitivity of the parameters changes(i.e. robust).
5. Studied ways to eliminate the fluence of the disturbances in the EHSC. At first introduced a kind of state observer to follow the disturbances, this can solve the difference of 6 Cylinders’output positions; And then design a more complicated robust dynamic compensator, the simulation indicated that this compensator could compensate many kinds of disturbances, and has a capability to adapt changes of parameters.
6. Introduced and analyzed the new Bilateral Control tactic. The existing force BSC tactics has some disadvantages, such as too violent impact of force feedback and bad performance when slavert is following movements. The new BSC tactic can improve the above condition. Then followed the way of two-port-network model., which based on the electro-circuit network theory, analyzing the stability and the transparency of the BC tactic. Thereinto, during the study of transparency, used a more suited define, which could better evaluate the performance of the TS.
The EHSC system, which is designed in this Dissertation, has a great control object parameters adaptability and conquer the influence of disturbances; The new type of BSC tactic, which is used in the Dissertation, can to a certain extent improve the efficiency of teleoperations, debate the force feedback impact, has some practical significance.
本文以由新型电液伺服控制手控器组成的遥操纵系统为研究对象,建立了手控器电液伺服系统的数学模型,为其设计了基于线性二次型指标的调节器,并通过观测器实现了完全的状态反馈。为降低系统对参数变化的敏感度,设计了自适应控制器,并研究了消除扰动影响的方法。针对现有遥操纵系统所存在的前述问题,介绍了一种位置差-力差型双向伺服控制策略,分析了策略的稳定性和透明性。
Because of the difficulty in developing Intelligent Robot, which can Indepen -dently works in bad dangerous mutative or unknown environment, the research of Telemanipulator System(TS) becomes more practical. The dynamic reciprocity between robot and operated object can be felt by TS on account of the telepresence, which can make the operator accomplish exact and complicated operation. Vision telepresence can provide most information for teleoperation, but when the robot is contacted with the environment and only has vision telepresence system, operators cannot acquire the real sense. Experiments on teleoperation systems indicate that force telepresence can provide great help for teleoperation systems, and it can greatly enhance manipulation performance.
The existing force-feedback manipulate devices have been mostly adopted electrical torque-motor as the drive component, they are too huge but cannot provide force to meet the needs, force-feedback effect unconspicuous and Dead Zone is too big. Solving this problem, a 6-DOF force-feedback device based on electro-hydraulic servo control , which makes machine Drives control detection multi-functions in one, is put forward and developed.by the Industrial Robot Lab of JLU. The object of the study is the Bilateral Servo Control(BSC) System of the telerobot. This Dissertation studied and designed the Electro-hydraulic Servo
Control(EHSC) System and BSCS, as follows are the main contents:
1. Builded the math model of EHSCS of the TS. By analysing the structure principle and working features of the Twin Flapper-nozzel Electro-hydraulic Servo valve detailedly, builded the math model of EHSCS, obtained values of the Parameters.
2. Simplified the high-order math model of the system to a lower order. The method, which is not to retain the dominant poles of the system, has been used to reducing the order of system. Simulation indicated that the precision of this approach was very high.
3. Designed a Linear Quadratic(LQ) controller for EHSC system. To meet the need of the EHSC, designed a LQ optimal contoller, system has good dynamic and stastic character; To solve the problem that the acceleration feedback and speed feedback are difficultly actualized, designed a output-feedback LQ controller and realized the state feedback control by design of a Redused-order Observer.
4. Model Reference Adaptive Controllers were designed to debase the degree of sensitivity of the parameters changes(i.e. robust).
5. Studied ways to eliminate the fluence of the disturbances in the EHSC. At first introduced a kind of state observer to follow the disturbances, this can solve the difference of 6 Cylinders’output positions; And then design a more complicated robust dynamic compensator, the simulation indicated that this compensator could compensate many kinds of disturbances, and has a capability to adapt changes of parameters.
6. Introduced and analyzed the new Bilateral Control tactic. The existing force BSC tactics has some disadvantages, such as too violent impact of force feedback and bad performance when slavert is following movements. The new BSC tactic can improve the above condition. Then followed the way of two-port-network model., which based on the electro-circuit network theory, analyzing the stability and the transparency of the BC tactic. Thereinto, during the study of transparency, used a more suited define, which could better evaluate the performance of the TS.
The EHSC system, which is designed in this Dissertation, has a great control object parameters adaptability and conquer the influence of disturbances; The new type of BSC tactic, which is used in the Dissertation, can to a certain extent improve the efficiency of teleoperations, debate the force feedback impact, has some practical significance.
引文
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[8] Feeling is Believing: History of Telerobotics Technology in:The Robot in the Garden Telepistomology and the Internet Robot, K. Goldberg, editor, MIT Press.
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[16] [王庆鹏, 谈大龙, 陈宁. 基于 Internet 的机器人控制中网络时延测试及分析. 机器人, 2001, 23(4): 316~321
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[22] 马振海 给予力觉反馈的两自由度液压伺服手控器主从遥操作机器人系统研究 吉林大学硕士学位论文
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