基于波变量补偿的阻抗匹配时延双边遥操作

Impedance Matching Time-delay Bilateral Teleoperation With Wave Variable Compensation

摘要:

通信时延是遥操作系统中固有的问题,它会严重影响遥操作的性能,降低系统的稳定性和跟踪性。基于无源理论的波变量法可以保证遥操作系统在任意时延下稳定,是解决时延问题的一个重要方法。然而,波变量法带来的波反射会阻扰有用信号的传输,降低了主从端信号的跟踪性,严重时甚至会导致整个系统振荡。针对这一问题,提出了一种基于波变量补偿的阻抗匹配双边遥操作系统结构,旨在减少波反射,提高操作者的临场感和系统的跟踪性。通过仿真实验,结果表明所提方法能够保证固定时延条件下遥操作系统的稳定性,并具有较好的跟踪性。

Abstract:

Communication time-delay is an inherent problem in teleoperation system, which will seriously affect the performance of the teleoperation system and reduce the stability and tracking performance of the system. The wave variable method based on passivity theory can guarantee the stability of the teleoperation system in any time-delay, and it is an important method to solve the delay problem. However, wave reflections caused by wave variable method will obstruct the useful signal transmission and reduce the master and slave signal tracking, seriously even lead to oscillations of the whole system. In this paper, a new impedance matching system based on wave variable compensation is proposed to reduce the wave reflections and enhance the operator's sense of presence and the tracking of the system. Through simulation experiments, the results show that the proposed method can guarantee the stability of the teleoperation system with fixed time-delay and has good tracking performance.