【作者】 于常青；

【导师】 崔平远； 居鹤华；

【作者基本信息】 北京工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 本文以北京工业大学BH2月球车原理样机为研究对象,以大时延条件下的月球车控制技术为研究重点,针对月地通讯时延对遥操作系统可操作性及稳定性的影响,提出了综合运用预测显示及双边无源控制的方法,并围绕增强现实遥操作环境的构建问题与无源控制技术展开研究。具体来说,主要成果有:1)设计了一套基于预测显示及双边无源控制的月球车遥操作系统方案。通过在地面控制站构建一个与月面环境一致的增强现实遥操作环境,在地面控制站形成一个闭环控制回路,操作员通过力反馈器在增强现实遥操作环境中对虚拟月球车进行控制,获取实时的视觉反馈,避免了通信时延对系统可操作性的影响;双边无源控制方法的运用则通过在遥操作主从端设置控制器,保证了系统的稳定性,并实现了主从端速度和航向角控制量的跟踪。2)实现了增强现实遥操作环境。通过采用实验室自主研制的激光立体识别系统对地形信息进行采集,得到了精确的地形模型。另外,ODE的采用则实现了对月面微重力环境的模拟。两者共同保证了增强现实遥操作环境与月面环境的一致性。3)为保证操作员在时延条件下对月球车的有效控制,通过使用拉格朗日方法,建立了遥操作主从端力反馈器和月球车的动力学模型,在此基础上,讨论了双边无源控制方法。4)搭建了基于预测显示及双边无源控制的月球车遥操作控制仿真系统。队列缓冲模拟了月地通信时延。通过在10s仿真时延条件下对该系统的性能进行研究,验证了方案的可行性。更多还原

【Abstract】 In this paper, we took BH2 lunar rover prototype in Beijing University as the object of study, with the control technology for lunar vehicle under the condition of large time delay as the focus. In order to weaken the impact of communication delays on the operability and stability of the control system, we proposed a comprehensive use of forecasts and bilateral passive control, and did some in-depth investigations on the development of teleoperation environment based on augmented reality and passive control technology. Key results are as follow,Firstly, a novel teleoperation framework based on forecast and passive control was designed for lunar rover. By establishing an augmented reality environment consistency with the lunar environment, a closed loop control circuit on the ground station was formed, the operator got real-time visual feedback by controlling the virtual lunar rover in the augmented reality environment, which can avoid time delays in the communication channel and enhance the operability of the control system; By setting controllers on each side of the teleoperation system, passive control achieved stability of the control system and the coordination of speed and position.Secondly, an augmented reality teleoperation environment was established. Accurate modeling for the lunar terrain was achieved with self-made laser scanning system and ODE was used to simulate the microgravity environment on the lunar surface, which ensures the consistency of the augmented reality environment with the lunar surface.Thirdly, the dynamics models of phantom omni and lunar rover were derivated according to Lagrange method, on which passive control was discussed to ensure the effective control of lunar rover.Finally, simulation system based on forecast and passive control for teleoperation control of lunar rover was established. Queue buffer was used to simulate the communication delay between earth and lunar. The performance of the framework was studied with the simulation system under 10s time delay. Experimental results demonstrate the feasibility.更多还原