طراحي كنترل‌كننده معكوس تطبيقي براي سيستم‌هاي حركت از راه دور
محورهای موضوعی : مهندسی برق و کامپیوترمختار شاصادقی 1 , حمیدرضا مؤمنی 2 , رامین امیری‌فر 3 , سهیل گنجه‌فر 4
1 - دانشگاه صنعتی شیراز
2 - دانشگاه تربیت مدرس
3 - دانشگاه تربیت مدرس
4 - دانشگاه بوعلی سینا همدان
کلید واژه: پيش‌بين اسميتتأخير زمانيسيستم‌هاي حركت از راه دوركنترل امپدانسكنترل معكوس تطبيقي,
چکیده مقاله :
در اين مقاله، روشي براي كنترل مقاوم سيستم‌هاي حركت از راه دور ارائه مي‌شود. در اين روش، با استفاده از ايده پيش‌بين اسميت، يك كنترل‌كننده امپدانس براي ربات فرمانده و يك كنترل‌كننده معكوس تطبيقي براي ربات فرمانبر به گونه‌اي طراحي مي‌شوند كه تأثير حاصل از تأخير زماني كانال‌هاي مخابراتي بر روي پايداري و كارآيي سيستم حلقه بسته حذف شود. همچنين، شرايطي به منظور حصول پايداري عملي سيستم بر اساس نظریه كنترل مقاوم به دست آورده مي‌شوند. ويژگي‌هاي مطلوب در پاسخ گذراي سيستم نيز با استفاده از روش چندجمله‌اي‌هاي مشخصه استاندارد در طراحي گنجانده مي‌شوند. از مزيت‌هاي روش پيشنهادي مي‌توان به تعديل‌نمودن محدوديت‌هاي حاكم بر پيش‌بين اسميت، عدم ضرورت اطلاع دقيق از مدل سيستم فرمانده و حصول كارآيي سيستم حلقه بسته در تعقيب موقعيت اشاره كرد. همچنين، روش پيشنهادي با روش غيرخطي مود لغزشی مقايسه مي‌شود. نتايج حاصل از شبيه‌سازي نشان مي‌دهند كه روش پيشنهادي از بازدهي خوبي برخوردار است.
This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. In this approach, using the Smith predictor idea, an impedance controller and an adaptive inverse controller are designed, respectively, for the master and slave robots such that the stability and performance of the closed-loop system are achieved in the presence of communication channels varying time delay. Also, based on robust control theory, two sufficient conditions for the stability of overall system are derived. The time domain desired specifications are contained in the design problem using the standard characteristic polynomials. Also, the proposed approach is compared with the sliding mode control. The simulation results show the proposed approach successfully compensates the position drift although time delay is randomly varying.
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