水下机械手主从遥操作双边控制策略 -- 西北工业大学学报,2016,34(1):53-59
论文:2016,Vol:34,Issue(1):53-59
引用本文:
刘卫东, 张建军, 高立娥, 程瑞锋. 水下机械手主从遥操作双边控制策略[J]. 西北工业大学学报
Liu Weidong, Zhang Jianjun, Gao Li'e, Cheng Ruifeng. The Bilateral Control Strategy in Underwater Robot's Master-Slave Teleoperation System[J]. Northwestern polytechnical university

水下机械手主从遥操作双边控制策略
刘卫东1,2, 张建军1, 高立娥1,2, 程瑞锋1
1. 西北工业大学 航海学院, 陕西 西安 710072;
2. 西北工业大学 水下信息与控制重点实验室, 陕西 西安 710072
摘要:
水下机械手在操作过程中存在抓取对象未知、临场性差的问题,深水环境下较低的能见度限制了机械手的作业。针对此问题提出了带力觉感知的主从式遥操作双边控制系统。主手采用模糊自适应阻抗控制方法,从手采用积分滑模变结构控制方法。通过Liewellyn绝对稳定性准则分析了整体系统的稳定性。搭建了单自由度双边遥操作系统平台,在Matlab Simulink下进行了相关仿真。仿真表明:主手控制提高了透明性以及系统鲁棒性;从手控制克服了外界干扰及消除了滑模控制的抖振问题,从手具有很好的力/位移跟踪主手的能力;整体系统具有很好的稳定性和可行性。
关键词:    遥操作控制    滑模控制    模糊规则    数学模型    MATLAB    位置跟踪    稳定性   
The Bilateral Control Strategy in Underwater Robot's Master-Slave Teleoperation System
Liu Weidong1,2, Zhang Jianjun1, Gao Li'e1,2, Cheng Ruifeng1
1. College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China;
2. Science and Technology on Underwater Information and Control Laboratory, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
The robot was an important equipment for the underwater vehicle's exploration,the unknown objects and poor feeling property was in the manipulation,and the robot's work was limited by low visibility under the deepwater environment.The bilateral teleportation system based on haptic perception was proposed for these problems. The fuzzy adaptive impedance control was applied to the master hand,and the integral sliding mode control strategy was applied to the slave hand. The saturation function was used to remove the chatter during the sliding mode control. The absolute stability criteria was applied for the analysis of the stability condition of bilateral control. The single degree of freedom platform was set up for the bilateral force feedback remote operating system,the relevant simulink was carried out in the Matlab Simulink.It was shown that:the robustness of the master hand and the feeling from the environment was improved,the external interference was overcomed and the chattering in sliding mode control was eliminated,the position tracking and the interaction with the environment of slave hand obtained guarantee, the whole system had a good feasibility and stability.
Key words:    remote control    sliding module control    fuzzy rules    mathematical modules    MATLAB    position tracking    stability   
收稿日期: 2015-09-29     修回日期:
DOI:
基金项目: 国家自然科学基金(61473224)资助
通讯作者:     Email:
作者简介: 刘卫东(1962-),西北工业大学教授、博士生导师,主要从事水下航行器控制与仿真的研究。
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