网络遥操作机器人系统.doc
约75页DOC格式手机打开展开
网络遥操作机器人系统,摘要遥操作机器人系统是指在人的操纵下对一些距离遥远、对人体有害或操作有难度等人难以接近的环境中完成比较复杂、精细操作的一种远距离操作系统。尤其是随着计算机网络技术的飞速发展，融合了控制理论、机器人学和通信技术的网络遥操作机器人系统，可以实现对远端机器人的远程操作，它拓展了人类的作业空间，在远程医疗、空间探索、深海探测和...
内容介绍
此文档由会员 违规屏蔽12 发布
摘要
遥操作机器人系统是指在人的操纵下对一些距离遥远、对人体有害或操作有难度等人难以接近的环境中完成比较复杂、精细操作的一种远距离操作系统。尤其是随着计算机网络技术的飞速发展，融合了控制理论、机器人学和通信技术的网络遥操作机器人系统，可以实现对远端机器人的远程操作，它拓展了人类的作业空间，在远程医疗、空间探索、深海探测和工业合作生产等领域都有着广泛的应用前景。
本文主要针对遥操作机器人系统的稳定性和性能以及时延影响几个问题进行研究，希望能在保证系统稳定的前提下提高系统的性能,实现位置比例跟踪和力比例跟踪。结合滑模变结构控制和模糊控制二者的优势，把模糊变结构控制方法应用到具有位置比例跟踪和力比例跟踪的遥操作系统。具体的研究内容如下：
首先，本文介绍了遥微操作机器人系统的研究背景和意义，以及目前国内外的研究现状，并对遥操作机器人系统各种控制策略进行了分析比较。
其次，介绍了网络遥微操作机器人系统结构及工作原理，并对具有代表性的单自由度遥操作机器人系统进行了动力学建模，然后研究了基于二端口网络模型的遥微操作机器人系统的稳定性和理想性能及稳定性与理想性能的实现问题。
然后，研究了滑模变结构控制算法在遥微操作机器人系统中的应用，设计了一种新型的离散滑模变结构控制方案并针对无时延和固定时延两种情况进行了仿真。
接着，结合遥操作系统的控制要求及滑模变结构的控制特点，为有效地降低滑模控制中存在的抖振，引入模糊控制理论，设计了一种新颖的模糊变结构控制方案，该方案利用模糊规则建立了基于等效控制和切换控制的模糊系统。仿真实验表明，该方案实现了遥操作系统主从端之间的位置比例跟踪和力比例跟踪，并更好的解决了抖振问题，达到了设计目标。
最后，构建一套单自由度遥操作机器人系统，验证了单自由度遥操作机器人系统控制器的稳定性和控制效果，并实现了位置和力的跟踪控制。
理论分析与仿真实验结果表明：本文设计的新型模糊变结构控制方案可以很好地满足系统的性能指标和稳定性要求，为后期的实验和下一步随机时延下网络遥操作的实现打下了基础。
关键词 遥操作机器人；二端口网络；滑模变结构控制；模糊控制
Abstract
The tele-manipulation robot system refers to a long-distant operating system which is to finish the comparably complex and fine operation under the manipulation of human beings in the inaccessible environment. Such environment is of long-distance, harmful to human beings or with difficulty in manipulation. The tele-manipulation robot that is based on control theory, robotics and communication technology could make the remote operation on distal robot possible. It expands the human homework space and enjoys broad application prospect in such areas as in remote telemedicine, space homework, industrial cooperative production areas etc.
This article mainly aimed at the research on tele-manipulationg robot system’s stability,transparency and influence of time delay and design a controller which not only can ensure the system’s stability but also have a good performance, and realize scale position tracking and force tracking.Fuzzy variable structure control which have merits of variable structure control and fuzzy control is applied on tele-manipulationg robot system who is characterized by scale position tracking and force tracking. Specific research contents as follows:
Firstly, this paper introduced research background and significance of teleoperation robot system and the research situations home and abroad . Various kinds control strategy of tele-manipulation robot system are analyzed and compared.
Secondly, it introduced the structure and operational principle of network teleoperation robot system and made dynamics modeling to the representative single-degree-freedom tele-manipulation robot system. Then, it made a research to the stability and ideal performance and their realization of tele-manipulation robot system which is based on two-port network models.
Thirdly, it examined the application of discrete sliding-mode variable structure control in tele-manipulation robot system and designed a new scheme of sliding-mode variable structure control and emulated it according to two situations of no delay and constant delay.
Fourthly, it introduced fuzzy control theory according to the requirement of tele-manipulation robot system and control features of sliding-mode variable structure control and proposed a new scheme for fuzzy variable structure control to effective reduce chattering which is inherent in variable strueture control. Using a fuzzy rule, this scheme constructed fuzzy system based on equivalent control and switch control. The simulation indicated that the scheme realized trace according to place and power proportion of primary and secondary point of teleoperation robot system and better solved buffet problem and reached the design goal.
Lastly, it constructed a set of single-degree-freedom tele-manipulation robot system, proved the stability and control effect of it and realized tracing control of place and power.
Theoretical analysis and emulation experiment showed: the new scheme of fuzzy variable structure control examined in the paper could well satisfy performance index of the system and its requirement of stability. This was able to lay the foundations for later exper..
遥操作机器人系统是指在人的操纵下对一些距离遥远、对人体有害或操作有难度等人难以接近的环境中完成比较复杂、精细操作的一种远距离操作系统。尤其是随着计算机网络技术的飞速发展，融合了控制理论、机器人学和通信技术的网络遥操作机器人系统，可以实现对远端机器人的远程操作，它拓展了人类的作业空间，在远程医疗、空间探索、深海探测和工业合作生产等领域都有着广泛的应用前景。
本文主要针对遥操作机器人系统的稳定性和性能以及时延影响几个问题进行研究，希望能在保证系统稳定的前提下提高系统的性能,实现位置比例跟踪和力比例跟踪。结合滑模变结构控制和模糊控制二者的优势，把模糊变结构控制方法应用到具有位置比例跟踪和力比例跟踪的遥操作系统。具体的研究内容如下：
首先，本文介绍了遥微操作机器人系统的研究背景和意义，以及目前国内外的研究现状，并对遥操作机器人系统各种控制策略进行了分析比较。
其次，介绍了网络遥微操作机器人系统结构及工作原理，并对具有代表性的单自由度遥操作机器人系统进行了动力学建模，然后研究了基于二端口网络模型的遥微操作机器人系统的稳定性和理想性能及稳定性与理想性能的实现问题。
然后，研究了滑模变结构控制算法在遥微操作机器人系统中的应用，设计了一种新型的离散滑模变结构控制方案并针对无时延和固定时延两种情况进行了仿真。
接着，结合遥操作系统的控制要求及滑模变结构的控制特点，为有效地降低滑模控制中存在的抖振，引入模糊控制理论，设计了一种新颖的模糊变结构控制方案，该方案利用模糊规则建立了基于等效控制和切换控制的模糊系统。仿真实验表明，该方案实现了遥操作系统主从端之间的位置比例跟踪和力比例跟踪，并更好的解决了抖振问题，达到了设计目标。
最后，构建一套单自由度遥操作机器人系统，验证了单自由度遥操作机器人系统控制器的稳定性和控制效果，并实现了位置和力的跟踪控制。
理论分析与仿真实验结果表明：本文设计的新型模糊变结构控制方案可以很好地满足系统的性能指标和稳定性要求，为后期的实验和下一步随机时延下网络遥操作的实现打下了基础。
关键词 遥操作机器人；二端口网络；滑模变结构控制；模糊控制
Abstract
The tele-manipulation robot system refers to a long-distant operating system which is to finish the comparably complex and fine operation under the manipulation of human beings in the inaccessible environment. Such environment is of long-distance, harmful to human beings or with difficulty in manipulation. The tele-manipulation robot that is based on control theory, robotics and communication technology could make the remote operation on distal robot possible. It expands the human homework space and enjoys broad application prospect in such areas as in remote telemedicine, space homework, industrial cooperative production areas etc.
This article mainly aimed at the research on tele-manipulationg robot system’s stability,transparency and influence of time delay and design a controller which not only can ensure the system’s stability but also have a good performance, and realize scale position tracking and force tracking.Fuzzy variable structure control which have merits of variable structure control and fuzzy control is applied on tele-manipulationg robot system who is characterized by scale position tracking and force tracking. Specific research contents as follows:
Firstly, this paper introduced research background and significance of teleoperation robot system and the research situations home and abroad . Various kinds control strategy of tele-manipulation robot system are analyzed and compared.
Secondly, it introduced the structure and operational principle of network teleoperation robot system and made dynamics modeling to the representative single-degree-freedom tele-manipulation robot system. Then, it made a research to the stability and ideal performance and their realization of tele-manipulation robot system which is based on two-port network models.
Thirdly, it examined the application of discrete sliding-mode variable structure control in tele-manipulation robot system and designed a new scheme of sliding-mode variable structure control and emulated it according to two situations of no delay and constant delay.
Fourthly, it introduced fuzzy control theory according to the requirement of tele-manipulation robot system and control features of sliding-mode variable structure control and proposed a new scheme for fuzzy variable structure control to effective reduce chattering which is inherent in variable strueture control. Using a fuzzy rule, this scheme constructed fuzzy system based on equivalent control and switch control. The simulation indicated that the scheme realized trace according to place and power proportion of primary and secondary point of teleoperation robot system and better solved buffet problem and reached the design goal.
Lastly, it constructed a set of single-degree-freedom tele-manipulation robot system, proved the stability and control effect of it and realized tracing control of place and power.
Theoretical analysis and emulation experiment showed: the new scheme of fuzzy variable structure control examined in the paper could well satisfy performance index of the system and its requirement of stability. This was able to lay the foundations for later exper..
