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将波变量法与预测技术及四通道遥操作系统结构相结合,在保证时延系统稳定性的基础上提高其透明性.根据理想透明性条件分析了四通道结构的参数选择方法.为了将波变量方法应用于四通道结构,通过合理的力/速度信息组合将四通道结构分割成二端口网络并对其输入输出信息进行了波变换.在主端的波域加上预测器,并设计能量综合器来保证预测器的无源性.分析了所提方法的透明性和稳定性.仿真实验表明,在一定条件下所提方法能够保证时延系统的稳定性,并具有较好的透明性.
The combination of wave-variable method and prediction technology and the structure of four-channel teleoperation system are used to improve the transparency of the system based on the stability of the time-delay system.According to the ideal transparency conditions, the parameter selection method of four- The variable method is applied to the four-channel structure, and the four-channel structure is divided into two-port network by the reasonable combination of force / velocity information and its input and output information is transformed by wave. Predictor is added to the wave field of the main end and the energy synthesis To ensure the predictor’s passiveness.The transparency and stability of the proposed method are analyzed.The simulation results show that the proposed method can guarantee the stability of the delay system and has better transparency under certain conditions.