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面向复杂操控任务的多人/机遥操作技术是未来空间遥操作的发展趋势之一。在综述目前双主单从的遥操作控制模式的基础上,提出一种面向空间遥操作的非对称双人共享控制方法。首先,通过分析理想双主单从遥操作系统模型,并对优势因子进行区分,建立了时延影响下的非对称双主单从共享控制系统模型;然后,利用传递阻抗、可达阻抗范围、性能表现距离和传递阻抗比等函数对系统的性能指标进行评价分析,并给出优势因子、控制阻抗和环境阻抗等参数对系统运动学性能的影响;最后,对所提出的方法进行仿真和实验验证,结果表明相比于传统控制方法,非对称双人共享控制具有较好的透明性和抗时延影响特性。
Multi-person / machine teleoperation technology for complex control tasks is one of the trends in future space teleoperation. Based on the overview of the teleoperation control mode of dual master and single slave, an asymmetric double shared control method for space teleoperation is proposed. First of all, by analyzing the ideal dual-master-slave teleoperation system model and differentiating the dominant factors, an asymmetric double-master-slave shared control system model is built under the influence of delay. Then, by using the transfer impedance, Performance performance and transmission impedance ratio of the system performance evaluation and analysis of the system, and gives the dominance factor, control impedance and environmental impedance and other parameters of the system kinematics performance; Finally, the proposed method for simulation and experiment The results show that compared with the traditional control methods, asymmetric double shared control has better transparency and anti-delay effect.