| 引用本文: | 王裕基,孙富春,刘华平,闵海波.无环境力反馈的四通道双边控制[J].控制理论与应用,2011,28(3):315~320.[点击复制] |
| WANG Yu-ji,SUN Fu-chun,LIU Hua-ping,Min haibo.Four-channel bilateral control without environmental force feedback[J].Control Theory and Technology,2011,28(3):315~320.[点击复制] |
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| 无环境力反馈的四通道双边控制 |
| Four-channel bilateral control without environmental force feedback |
| 摘要点击 2538 全文点击 1405 投稿时间：2009-10-11 修订日期：2010-06-22 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.3.CCTA091283 |
| 2011,28(3):315-320 |
| 中文关键词 四通道 双边控制 力反馈 |
| 英文关键词 four-channel bilateral control force feedback |
| 基金项目 国家自然科学基金资助项目(60625304, 90716021); 国家“973”计划资助项目(G2007CB311003, 2009CB724002). |
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| 中文摘要 |
| 传统的四通道双边控制方法需要大量的力传感器, 用以检测遥操作系统受到的环境力, 在实际工程中不易推广应用. 本文提出了一种无环境力反馈的四通道双边控制策略, 分析了无时延和有时延两种情况下遥操作系统的透明性. 并采用无源的双边控制律, 设计了大时延情形下的系统控制结构. 仿真结果表明, 存在大时延时, 提出的控制系统在自由运动和接触运动中都具有良好的性能. |
| 英文摘要 |
| In the project of traditional four-channel bilateral remote control systems, there needs a great number of force sensors for measuring the environmental forces. This requirement prevents the project from widely accepted in applications. In this paper, a strategy of four-channel bilateral control without environmental force feedback is proposed; and the transparencies of the remote control with or without time-delays are investigated in details. Furthermore, the stable control configuration in the presence of large time-delay is proposed according to passive bilateral control law. Simulations validate the performance of the proposed control system in free motion and contact motion. |
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