【作者】 陈亭；

【导师】 叶秀芬；

【作者基本信息】 哈尔滨工程大学 ， 模式识别与智能系统， 2013， 博士

【摘要】 随着网络的发展普及，网络遥操作系统的应用越来越多，比如用在远程医疗方面和远程爆破方面等等。本课题针对当前情况，对基于网络遥操作系统的远程实时性进行研究与设计，旨在减少网络数据传输过程中时变时延、数据丢包等现象对系统的影响，提高系统的整体稳定性和透明性，保证系统稳定性的同时加强远程触觉逼真度。许多学者进行了网络控制系统的鲁棒性研究，提出了多种减少时延和丢包影响的预估计算法，取得了很多成果，但是目前仍然存在一些问题有待于解决。为此，论文首先介绍了课题的背景和意义，并对网络控制系统进行了研究，通过分析、比较各项技术的特点，确定研究方案。本文主要进行了如下研究：利用系统采样时间和时延时间之间的关系，针对网络传输系统往往采用离散方式发送和接收数据，提出了网络离散数据传输过程系统的模型。该模型为设计基于非线性离散数据网络传输系统的自适应预估计算法的研究提供理论支持。针对具有相似结构子系统的网络遥操作模型，利用小增益定理，给出了系统整体输入输出稳定的条件，并证明了该条件的有效性。该条件的提出进一步使设计的预估计算法能够保证系统输入输出稳定。在采用机械臂的力-位置模型的基础上，针对常用的多自由度机械臂提出了一种保证这类非线性系统鲁棒性的反馈控制器的设计方法。通过对设计的反馈控制器进行仿真实验，给出了反馈控制器中各个参数选取的基本调试原则。利用该方法不仅能保证系统的稳定性，参数设定和调节也相对方便。论文针对有效减少时变时延和丢包影响的预估计算法进行了重点研究。目前时变时延影响等网络弊端与系统采样时间共同作用对网络遥操作数据延迟和丢包影响的研究还并不太多。另外，网络数据传输往往都是离散数据，离散数据在网络中传输的变化规律，目前也研究得很少。因此，针对这一状况研究了经过网络传输的数据变化基本原理，分析了系统的采样时间、网络时延时间、数据发送次序和接收次序及网络传输数据之间的关系。根据这些参数的关系设计了一种新型具有自适应功能的预估计算法，并证明了利用该算法的非线性离散遥操作系统的稳定性，给出采用该算法的非线性离散系统的稳定条件。利用仿真实验和实际测试实验证明了该算法的有效性，并根据仿真实验探讨了该算法的改进方向。综合实验结果，进一步证明该算法不仅能够保证网络传输非线性离散系统的稳定性，还能很好地提高系统的透明度。本论文进行了网络遥操作系统的控制和研究，设计方案满足了要求，也达到了项目的预期效果。更多还原

【Abstract】 With development and popularization of the network, teleoperation system is now moreand more applied, such as application in telemedicine and remote blasting and so on. In thispaper, it is researched and designed that the remote authenticity based on teleoperation systemto reduce influence of time-varying delay and packet loss in network, increase transparency ofsystem, ensure stability of the teleoperation system and strengthen remote authenticity. Inrecent years, many scholars have conducted more thorough research on robustness study ofthe teleoperation control system and puting forward a variety of pre-estimated method forreducing effect of delay and packet loss, having yielded many results. But there still exist afew issues to be solved. Therefore, the paper first introduced topic background andsignificance, investigated the teleoperation control system and determined research schemethrough analysis and comparison of technical characteristics. The primary work andachievements in this paper are as follows:The system model of the process of discrete data transmission is proposed accord to therelations of sampling time and delay time based on discrete form of sending and receivingdata in the teleoperation system. The model provides the theory support in study ofpreestimated algorithm with adaptive function based on nonlinear discrete-time transmissionsystem in the network. In view of the subsystem with similar structure in teleoperation system,this paper gives the input and output stable condition of teleoperation system by the smallgain theorem, and it is proved that the validity of the conditions. The conditions can ensurethe system input output stability when the preestimated algorithm has been adopted inteleoperation system.Based on the model of force-position mechanical arm, a feedback controller has beendesigned to ensure robustness of the nonlinear system with mechanical arm of themultiple-degree of freedom. Through simulation experiment of the feedback controller, thebasic debugging principles of parameters have been given. The method can not onlyguarantee the stability of the system, but also make setting and adjustment of parametersrelatively easy.Main study for the preestimated algorithm to effectively reduce the influence of variabletime delay and packet loss is performed. At present, there is not too much research in effect ofdisadvantage of network transmission and system sample time on data in the teleoperationsystem and the change trend of the discrete data transmission in network. Therefore, it isinvestigated that the basic principle of process of data change which were transmitted in the network and analysed that the relation of data transmitted in the network, sample time ofsystem, variable time delay and orders of sending and receiving data. According to therelation of the above parameters, it has been devised that a new preestimated algorithm withself-adaptive ability by which the stabilization of the teleopertion system which is nonlinearand discrete was proved and the stabilization condition was proposed. By simulation test andexperiment, it was proved that this new algorithm is effective, and the improvement directionsof the algorithm were proposed according to the simulation experiment. Comprehensiveexperimental results, it further proves that the algorithm can not only guarantee stability of theteleoperation system which is nonlinear and discrete, but also improve the transparency of thesystem.In this paper, it is discussed that control and investigation of the teleoperation system andthe design proposal has satisfied with request, so it achieves the expectation effect of thepaper.更多还原