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Semi-closed loop control system of bilateral

Author: LiFeng
Tutor: WeiQing
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Teleoperation Bilateral control Semi-closed loop Lyapunov stability Phase Transition Delay
CLC: TP242.6
Type: Master's thesis
Year: 2009
Downloads: 31
Quote: 2
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Abstract


With deep space exploration, remote operation technologies will be more extensive. Bilateral control is a very important remote operation, it can be applied from the end of unstructured and unknown environment. Delay force feedback in bilateral control system, according to the master terminal operator to get feedback force in different ways, will be divided into bilateral closed loop control mode and semi-closed loop mode. In this paper, space-orbit monitoring mission requirements, the use of semi-closed loop control system to build bilateral force feedback. In previous studies, the time delay of bilateral force feedback control system performance indicators are summarized as stability, transparency and traceability. Since transparency and traceability is borrowed from the impedance of the circuit theory definition of the concept, the lack of intuitive, quantitative measure is also more difficult, therefore proposes a new performance indicator - phase indicator, which is characterized by easy to understand, simple and practical. Simulation results demonstrate the practicality of phase indicator. In the new framework of performance indicators, on the delay of bilateral force feedback control system research. Established a semi-closed loop force feedback bilateral control system model ensures stability of the system based on Lyapunov stability parameter constraint equations bilateral controller design, respectively, in unilateral delay 0.5,1.5,3,5 seconds were simulated, phase index analysis using the experimental results, get the system delay the impact on system performance rules for the big delay in case of bilateral controller designed to provide guidance. In ensuring the stability of the system on the basis of further study the system performance. Input frequency of the system, the system delay and phase relationship between. Studied the system input frequency on system performance were investigated to find a reasonable input frequency limit to guide operator actions; study the system delay on system performance were investigated, which could delay the unknown in the system the case of the phase difference derived by the current system time delay; studied the system delay and the relationship between the input frequency of the system delay increases, the input frequency must be reduced in order to ensure good phase indicator, the system operating performance is good. Build a semi-physical simulation system were unilateral delay in the system in the case of 1,3,5 second experiment designed to verify the stability of the bilateral PD controller. By analyzing the experimental curves under different delay, delay variation on the system validation phase indicators studied. For project delays encountered in practice hopping situation simulated by the program delay transition process, the experimental results show that the delay by a one second jump to 3 seconds, the bilateral control system to maintain stable, good performance.

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