基于网络的遥操作康复机器.doc
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基于网络的遥操作康复机器,摘 要遥操作康复机器人是指应用计算机技术、自动控制技术、传感器应用技术和测试技术，以网络遥操作机器人技术为基础，不仅能为偏远地区的残障患者提供远程康复训练与评估，还能促使患者更灵活、主动、积极地参与康复治疗。本文主要针对遥操作康复机器人系统的稳定性、透明性、跟踪效果、时延影响几个问题进行研究，所设计的鲁棒控制器能够较好...
内容介绍
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摘 要
遥操作康复机器人是指应用计算机技术、自动控制技术、传感器应用技术和测试技术，以网络遥操作机器人技术为基础，不仅能为偏远地区的残障患者提供远程康复训练与评估，还能促使患者更灵活、主动、积极地参与康复治疗。
本文主要针对遥操作康复机器人系统的稳定性、透明性、跟踪效果、时延影响几个问题进行研究，所设计的鲁棒控制器能够较好地减少时延和外界干扰对系统性能的影响，使系统对参数鲁棒渐进稳定，并且具有良好的透明性。具体的研究内容如下：
首先，本文介绍了基于网络的遥操作康复机器人系统的研究背景及意义，国内外研究状况及发展趋势。
其次，阐述了常规的遥操作机器人系统的动力学模型和二端口网络模型，进而对所要研究的遥操作康复机器人系统进行动力学建模，并给出其等效的二端口网络模型。
然后，针对遥操作康复机器人系统通信时延引起系统不稳定以及性能下降等问题，将系统描述成一个具有时延的状态方程，通过构造适当的李雅普诺夫函数，分析了时延下系统处于约束运动状态下的稳定性，并得到系统的稳定性条件。此外，通过建立系统的等效电路，研究了一种采用阻抗匹配方法分析系统在有时延和无时延情况下透明性的新方法。仿真实验结果表明该方法的有效性，时延下的系统在保证稳定的基础上实现了良好的透明性。
接着，针对基于网络的遥操作康复机器人系统主从端之间的时延和外界干扰对系统性能的影响，通过选择适当的加权函数将系统的干扰问题转化为 鲁棒控制问题，采用基于 混合灵敏度和 综合的方法设计了一种主从手的鲁棒控制器。受限运动情况下的仿真实验表明，所设计的控制器达到了设计目标。
最后，完善了一套单自由度遥操作机器人实验系统，根据本文设计的鲁棒控制器，在LabVIEW环境下实现所设计的鲁棒控制器，并在该系统上验证了单自由度遥操作康复机器人系统控制器的稳定性和控制效果，实现了主从手位置和力的跟踪控制。
实验结果表明：本文设计的 鲁棒控制器具有良好的稳定性和跟踪性能，为遥操作康复机器人新型控制技术的研究奠定了一定基础。
关键词 遥操作康复机器人； 鲁棒控制；时延；LabVIEW
Abstract
Tele-rehabilitation system based on teleoperation techniques and applied with computer technology, automatic control theory, sensor technology and testing techniques. The system can not only provide remote training and rehabilitation assessment for disabled people in remote areas, but also can encourage patient to participate in rehabilitation therapy more flexibly and actively.
This article mainly aimed at the research on the stability, transparency, tracking performance and time delay of tele-rehabilitation system. The designed robust controller can reduce influence of time delay and external disturbances existing in the system. That can also ensure system has good robust stability and tracking performance even in the case of disturbances. Specific research contents are as follows:
Firstly, this paper introduced the research background and significance of Internet- based tele-rehabilitation system and the research situations of domestic and abroad.
Secondly, it introduced the conventional dynamics model and two-port network model of teleoperation system. Furthermore, the dynamics modeling and equivalent two-port network model of tele-rehabilitation system are given.
Thirdly, in order to eliminate the effect of communication time delay which usually causes instability and bad performance of the system. Consequently, the whole system is described as a state equation with time delay. Then we adopted appropriate Lyapunov function to analyze system’s stability and obtained the stability conditions at constrained motion with time delay. In addition, we established the equivalent circuit of the system and studied a novel method of impedance matching to analyze the system's transparency with time delay or not. The simulation results illustrated the validity of the proposed method and the system has good stability and transparency.
Then, for the problem of time delay and external disturbances existing in the Internet-based tele-rehabilitation system, we turned the disturbances problem into the robust control problem by selecting the appropriate weighting function. The master and slave controller based on mixed-sensitivity control theory and -synthesis method is designed. The experimental results in the constrained motion showed that the designed controller achieved the project objective.
Finally, 1-DOF teleoperation experimental system is improved. The robust controller which was designed in this paper has realized in the LabVIEW environment. Furthermore, it demonstrated the stability and control effect of system and carried out the tracking control of force and position.
The result of research showed that the designed controller has good robust stability and tracking performance, which laid the foundations for further study of new control technology.
Key Words tele-rehabilitation system; robust control; time-delay; LabVIEW
目 录
摘要 I
Abstract III
第1章 绪论 1
1.1 课题研究背景及意义 1-b..
遥操作康复机器人是指应用计算机技术、自动控制技术、传感器应用技术和测试技术，以网络遥操作机器人技术为基础，不仅能为偏远地区的残障患者提供远程康复训练与评估，还能促使患者更灵活、主动、积极地参与康复治疗。
本文主要针对遥操作康复机器人系统的稳定性、透明性、跟踪效果、时延影响几个问题进行研究，所设计的鲁棒控制器能够较好地减少时延和外界干扰对系统性能的影响，使系统对参数鲁棒渐进稳定，并且具有良好的透明性。具体的研究内容如下：
首先，本文介绍了基于网络的遥操作康复机器人系统的研究背景及意义，国内外研究状况及发展趋势。
其次，阐述了常规的遥操作机器人系统的动力学模型和二端口网络模型，进而对所要研究的遥操作康复机器人系统进行动力学建模，并给出其等效的二端口网络模型。
然后，针对遥操作康复机器人系统通信时延引起系统不稳定以及性能下降等问题，将系统描述成一个具有时延的状态方程，通过构造适当的李雅普诺夫函数，分析了时延下系统处于约束运动状态下的稳定性，并得到系统的稳定性条件。此外，通过建立系统的等效电路，研究了一种采用阻抗匹配方法分析系统在有时延和无时延情况下透明性的新方法。仿真实验结果表明该方法的有效性，时延下的系统在保证稳定的基础上实现了良好的透明性。
接着，针对基于网络的遥操作康复机器人系统主从端之间的时延和外界干扰对系统性能的影响，通过选择适当的加权函数将系统的干扰问题转化为 鲁棒控制问题，采用基于 混合灵敏度和 综合的方法设计了一种主从手的鲁棒控制器。受限运动情况下的仿真实验表明，所设计的控制器达到了设计目标。
最后，完善了一套单自由度遥操作机器人实验系统，根据本文设计的鲁棒控制器，在LabVIEW环境下实现所设计的鲁棒控制器，并在该系统上验证了单自由度遥操作康复机器人系统控制器的稳定性和控制效果，实现了主从手位置和力的跟踪控制。
实验结果表明：本文设计的 鲁棒控制器具有良好的稳定性和跟踪性能，为遥操作康复机器人新型控制技术的研究奠定了一定基础。
关键词 遥操作康复机器人； 鲁棒控制；时延；LabVIEW
Abstract
Tele-rehabilitation system based on teleoperation techniques and applied with computer technology, automatic control theory, sensor technology and testing techniques. The system can not only provide remote training and rehabilitation assessment for disabled people in remote areas, but also can encourage patient to participate in rehabilitation therapy more flexibly and actively.
This article mainly aimed at the research on the stability, transparency, tracking performance and time delay of tele-rehabilitation system. The designed robust controller can reduce influence of time delay and external disturbances existing in the system. That can also ensure system has good robust stability and tracking performance even in the case of disturbances. Specific research contents are as follows:
Firstly, this paper introduced the research background and significance of Internet- based tele-rehabilitation system and the research situations of domestic and abroad.
Secondly, it introduced the conventional dynamics model and two-port network model of teleoperation system. Furthermore, the dynamics modeling and equivalent two-port network model of tele-rehabilitation system are given.
Thirdly, in order to eliminate the effect of communication time delay which usually causes instability and bad performance of the system. Consequently, the whole system is described as a state equation with time delay. Then we adopted appropriate Lyapunov function to analyze system’s stability and obtained the stability conditions at constrained motion with time delay. In addition, we established the equivalent circuit of the system and studied a novel method of impedance matching to analyze the system's transparency with time delay or not. The simulation results illustrated the validity of the proposed method and the system has good stability and transparency.
Then, for the problem of time delay and external disturbances existing in the Internet-based tele-rehabilitation system, we turned the disturbances problem into the robust control problem by selecting the appropriate weighting function. The master and slave controller based on mixed-sensitivity control theory and -synthesis method is designed. The experimental results in the constrained motion showed that the designed controller achieved the project objective.
Finally, 1-DOF teleoperation experimental system is improved. The robust controller which was designed in this paper has realized in the LabVIEW environment. Furthermore, it demonstrated the stability and control effect of system and carried out the tracking control of force and position.
The result of research showed that the designed controller has good robust stability and tracking performance, which laid the foundations for further study of new control technology.
Key Words tele-rehabilitation system; robust control; time-delay; LabVIEW
目 录
摘要 I
Abstract III
第1章 绪论 1
1.1 课题研究背景及意义 1-b..
