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Network telerobot system fuzzy variable structure control study

Author: ZhouJun
Tutor: XieChengXiang
School: Jiangsu University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Telerobot Two-port network Sliding Mode Control Fuzzy Control
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 58
Quote: 0
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Teleoperation robot system in the human manipulation of some distant distance, for harmful or operation difficulty inaccessible environment to complete more complex, fine operation of a remote operating system. Especially with the rapid development of computer network technology, the integration of control theory, robotics and communications technology networks telerobot system, you can achieve remote operation of the remote robot, which expand the working space of the human in telemedicine have broad application prospects in the field of space exploration, deep-sea exploration and industrial co-production. In this paper, for the telerobot system stability and performance, as well as delay affect several studies hope to improve the performance of the system can ensure that the system is stable under the premise, to achieve the position Ratiometric tracking and force ratio. Sliding mode variable structure control and fuzzy control both the advantages of fuzzy variable structure control method applied to the proportion of position proportional tracking and force tracking teleoperation system. The specific content of the study are as follows: First, this paper introduces the research background and significance of the away Micromanipulator system, as well as the status quo at home and abroad, and various control strategies were analyzed and compared telerobot system. Secondly, network remote micro operation robot system structure and working principle, and a representative of the single degree of freedom telerobot system dynamics modeling, and then studied based on the two-port network model away from the micro-operation robot system stability and ideal performance and stability of the ideal performance implementation issues. Then, sliding mode variable structure control algorithm away Micromanipulator system, the design of a new discrete sliding mode variable structure control scheme and simulation for both delay and fixed delay. Then, combined with remote control requirements of the operating system and sliding mode variable structure control features to effectively reduce the chattering in sliding mode control, the introduction of fuzzy control theory, design a novel fuzzy variable structure control scheme, the scheme fuzzy rules of the fuzzy control system based on the equivalent control and switching. Simulation results show that the program has met away from the main operating system from the end position between the proportion of tracking and force ratio tracking, and better solve the chattering problem, to achieve the design goal. Finally, to build a set of single degree of freedom telerobot system to verify the effect of a single degree of freedom telerobot system controller stability and control, and to achieve the position and force tracking control. The theoretical analysis and simulation results show that: In this paper, the design of new fuzzy variable structure control scheme can meet the system performance and stability requirements, and laid the foundation for the realization of the operation of the network away from the latter part of the experiment, and the next step random delay .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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