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网络遥操作系统的随机时延给控制器设计带来巨大挑战,严重时破坏系统的稳定性。首先对遥操作无源理论及其波变量控制方法做了简单综述,然后提出直接无源散射变换方法,它将无源双边控制方法推广到具有随机时延的网络遥操作系统中去,保证网络遥操作系统在任何不对称随机网络时延情况下稳定。最后基于此变换方法设计了一个虚拟主从手双边移动机器人网络遥操作方案,并进行了仿真验证,结果表明结出的设计方法能满足系统性能要求。
The random delay of the network teleoperation system poses a great challenge to the controller design, and seriously damages the stability of the system. First of all, the teleoperation passive theory and its wave-variable control method are briefly reviewed. Then a direct passive scattering transform method is proposed, which extends the passive bilateral control method to a network remote operation system with random delay to ensure that the network The teleoperation system is stable with any asymmetric random network delay. Finally, based on this transformation method, a teleoperation scheme of virtual master-slave hand-mobile robot network is designed and simulated. The simulation results show that the design method can meet the system performance requirements.