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为了解决大时变时延遥操作系统的预测显示问题,提出了一种基于时延预测的预测显示算法,该算法把时变时延在时间维度上对主从控制信号的拉伸和压缩作用看作是系统扰动,并利用时延在线预测结果对该扰动进行前馈补偿.首先,对基于预测显示的遥操作系统进行动力学建模,并计算出了包含时延扰动的预测显示机器人的期望控制量.然后,以时延组成最为复杂的空间遥操作系统为例,分析了遥操作系统通讯时延的产生机理,并根据其产生机理、模型和统计规律对通讯时延进行在线预测.最后,本文在理论上分析了利用时延预测结果对上述扰动进行补偿的可行性和有效性,并在理论验证遥操作平台上进行了对比实验.实验结果表明,在大时变时延下该算法的速度预测相对误差和接触力预测相对误差在误差峰值处分别比无时延预测的预测显示方法降低了30.9%和56%.
In order to solve the problem of predictive display of teleoperation system with large time-varying delay, a predictive display algorithm based on time-delay prediction is proposed. The algorithm predicts the stretching and compressing of the master-slave control signal in the time dimension As a system disturbance and feedforward compensation for the disturbance using the online prediction results of the time delay.First, the dynamics of the teleoperation system based on the prediction display is modeled and the prediction of the robot including the delay disturbance is calculated Then, taking the most complicated space telecontrol system with time delay as an example, this paper analyzes the mechanism of teleoperation delay, and predicts the communication delay on the basis of its production mechanism, model and statistics. Finally, this paper analyzes the feasibility and effectiveness of using the delay prediction results to compensate the above disturbances theoretically, and carries out comparative experiments on the theory verification telecontrol platform.The experimental results show that under the condition of large time-varying delay The relative error of the velocity prediction and the relative error of the contact force prediction are respectively 30.9% and 56% lower than those predicted by the non-delay prediction at the error peak.