机械臂系统的网络远程控制研究与实现
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摘要
网络远程控制是计算机技术、通信技术和控制技术相结合的产物，已经在诸多领域得到了广泛应用，具有重要的实践意义与理论价值。网络中数据传输的不确定延时是网络远程控制所面临的主要问题，它降低了控制系统的运行性能，甚至会导致系统不稳定。本论文即是围绕着远程控制系统中的网络延时及其控制补偿策略，从理论和实验两个方面对其进行了研究，主要内容可归纳如下：
(1)在单包传输、单回路且不考虑数据包丢失的网络远程控制系统中，针对在整数倍的采样周期与其后的一个采样周期之间随机出现的延时，基于传感器采用时间驱动、控制器和执行器分别采用时间驱动或事件驱动的各种情况，推导了系统状态方程的一般表达形式，分析了不同节点驱动方式对被控系统性能的不同影响，比较了各种节点驱动方式的特点，总结出如何针对不同的系统要求和延时范围来对系统中节点的驱动方式作出合理的选择，并在不同的延时范围下进行了各种节点驱动方式的对比仿真实验。
(2)对网络远程控制系统的确定性控制进行了研究，通过引入接收缓冲区，将随机时变的延时转化为固定延时，进而针对固定延时来设计控制器。介绍了确定性控制中三种主要的方法即状态预测控制、分步变换控制和Smith预估控制的基本思想，通过相应的状态转换，探讨了三种方法之间的关系，并利用仿真实验对理论结果进行了证明。
(3)描述了远程实验的被控对象，即一个具备绘图能力的二自由度串联机械臂系统的硬件组成、软件结构和工作原理，提出了为实现运动的高速高精度而进行的本地控制补偿方案。以远程控制器作为客户机，连接机械臂系统的本地主机作为服务器，使用Winsock API、以软件底层控制和UDP连接的C-S方式搭建了二自由度机械臂网络远程控制平台。
(4)使用自行编制的测量软件获取了实验过程中的网络延时，并为实现远程控制在任务完成时间上和本地控制相一致的控制目标，在机械臂系统运行的点位控制方式下分别设计了离线与在线的延时补偿策略，对比分析了补偿前后的实验结果。为克服点位控制方式应用于远程控制中的局限性，提出将连续轨迹控制方式引入串联机械臂远程控制系统，通过对任务时序图的分析，给出了保证机械臂连续运动时系统参数需满足的条件，并实现了远程控制下连续的轨迹跟踪。
Network-based remote control is a multidisciplinary filed which involves computing, communication and control. Although such a technology has been widely applied in various areas, the uncertain network-introduced delay remains as a nuisance, which can deteriorate the performance of control systems and even destabilize the systems. In this thesis, we studied the time delay and its compensation strategy from both aspects of theory and practice. Our main work is as following:
Firstly, in the networked control system with a simple-packet and simple-loop transmission and without data packet dropout, the general formulas of system model are deduced for different cases, in which the sensor adopts time-driven mode, with the controller and the actuator using either time-driven or event-driven mode. The effects of different driven modes for network nodes on the system performance are analyzed and compared. The issue about how to select suitable driven modes for nodes is discussed with regard to different system requirements and delay ranges. The simulation experiments are carried out to confirm the theoretical analysis.
Secondly, the deterministic control for networked control system is studied, in which a receiving buffer is introduced to change the time-varying delay into a fixed value. Three main methods of the deterministic control, including state predictive control, staged transformation control and Smith predictive control, are compared. The relationships among the three methods are discussed through state transition and a simulation example is presented to prove the theoretical results.
Thirdly, a controlled object, namely a 2-dof serial robot arm system with the drawing capacity, is described, including its hardware environment, software structure and work principle. A local control scheme is proposed to improve precision and speed of actual motion. With a remote controller and a local computer connected with the robot arm system assigned to act as the client and the server, respectively, and using the C-S mode with Winsock API, software bottom control and UDP connection, a network-based robot arm remote control system platform is built to study the delay.
Fourthly, a monitoring-software is developed to obtain the time delay in the remote control experiment. An offline and an online delay compensation strategy are designed respectively under the default point-to-point control mode in order to make up for the delay of task-finished time from the remote control. After comparing the experiment result between before and after the compensation, a continuous path control strategy on the joint-coordinate-space-based serial robot remote control system is introduced to overcome the limitations of the point-to-point control mode. The condition needed by system parameters is presented to guarantee the continuous motion of the robot arm. The remote control system based on continuous path control mode is implemented, and its experimental results are compared with that of remote control system with point-to-point control.
(1)在单包传输、单回路且不考虑数据包丢失的网络远程控制系统中，针对在整数倍的采样周期与其后的一个采样周期之间随机出现的延时，基于传感器采用时间驱动、控制器和执行器分别采用时间驱动或事件驱动的各种情况，推导了系统状态方程的一般表达形式，分析了不同节点驱动方式对被控系统性能的不同影响，比较了各种节点驱动方式的特点，总结出如何针对不同的系统要求和延时范围来对系统中节点的驱动方式作出合理的选择，并在不同的延时范围下进行了各种节点驱动方式的对比仿真实验。
(2)对网络远程控制系统的确定性控制进行了研究，通过引入接收缓冲区，将随机时变的延时转化为固定延时，进而针对固定延时来设计控制器。介绍了确定性控制中三种主要的方法即状态预测控制、分步变换控制和Smith预估控制的基本思想，通过相应的状态转换，探讨了三种方法之间的关系，并利用仿真实验对理论结果进行了证明。
(3)描述了远程实验的被控对象，即一个具备绘图能力的二自由度串联机械臂系统的硬件组成、软件结构和工作原理，提出了为实现运动的高速高精度而进行的本地控制补偿方案。以远程控制器作为客户机，连接机械臂系统的本地主机作为服务器，使用Winsock API、以软件底层控制和UDP连接的C-S方式搭建了二自由度机械臂网络远程控制平台。
(4)使用自行编制的测量软件获取了实验过程中的网络延时，并为实现远程控制在任务完成时间上和本地控制相一致的控制目标，在机械臂系统运行的点位控制方式下分别设计了离线与在线的延时补偿策略，对比分析了补偿前后的实验结果。为克服点位控制方式应用于远程控制中的局限性，提出将连续轨迹控制方式引入串联机械臂远程控制系统，通过对任务时序图的分析，给出了保证机械臂连续运动时系统参数需满足的条件，并实现了远程控制下连续的轨迹跟踪。
Network-based remote control is a multidisciplinary filed which involves computing, communication and control. Although such a technology has been widely applied in various areas, the uncertain network-introduced delay remains as a nuisance, which can deteriorate the performance of control systems and even destabilize the systems. In this thesis, we studied the time delay and its compensation strategy from both aspects of theory and practice. Our main work is as following:
Firstly, in the networked control system with a simple-packet and simple-loop transmission and without data packet dropout, the general formulas of system model are deduced for different cases, in which the sensor adopts time-driven mode, with the controller and the actuator using either time-driven or event-driven mode. The effects of different driven modes for network nodes on the system performance are analyzed and compared. The issue about how to select suitable driven modes for nodes is discussed with regard to different system requirements and delay ranges. The simulation experiments are carried out to confirm the theoretical analysis.
Secondly, the deterministic control for networked control system is studied, in which a receiving buffer is introduced to change the time-varying delay into a fixed value. Three main methods of the deterministic control, including state predictive control, staged transformation control and Smith predictive control, are compared. The relationships among the three methods are discussed through state transition and a simulation example is presented to prove the theoretical results.
Thirdly, a controlled object, namely a 2-dof serial robot arm system with the drawing capacity, is described, including its hardware environment, software structure and work principle. A local control scheme is proposed to improve precision and speed of actual motion. With a remote controller and a local computer connected with the robot arm system assigned to act as the client and the server, respectively, and using the C-S mode with Winsock API, software bottom control and UDP connection, a network-based robot arm remote control system platform is built to study the delay.
Fourthly, a monitoring-software is developed to obtain the time delay in the remote control experiment. An offline and an online delay compensation strategy are designed respectively under the default point-to-point control mode in order to make up for the delay of task-finished time from the remote control. After comparing the experiment result between before and after the compensation, a continuous path control strategy on the joint-coordinate-space-based serial robot remote control system is introduced to overcome the limitations of the point-to-point control mode. The condition needed by system parameters is presented to guarantee the continuous motion of the robot arm. The remote control system based on continuous path control mode is implemented, and its experimental results are compared with that of remote control system with point-to-point control.
引文
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