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。
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.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2016年第1期53-59,共7页
Journal of Northwestern Polytechnical University
基金
国家自然科学基金(61473224)资助
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
remote control, sliding module control, fuzzy rules, mathematical modules, MATLAB, positiontracking, stability
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。
