宇航学报

宇航学报 ›› 2011, Vol. 32 ›› Issue (4): 823-828.doi: 10.3873/j.issn.1000-1328.2011.04.018

• 制导、导航与控制 • 上一篇    下一篇

双边遥操作系统操作性能度量频域指标

侯志林1, 韦庆1, 韩大鹏2, 安宏雷1   

  1. 1. 国防科技大学机电工程与自动化学院，长沙  410073；2. 国防科技大学航天与材料工程学院，长沙  410073
  • 收稿日期:2010-03-08 修回日期:2010-06-13 出版日期:2011-04-15 发布日期:2011-04-26
  • 基金资助:
    收稿日期：20100308;
    \ 修回日期：20100613

A Frequency Measurement Index of Operation Performance for the Bilateral Teleoperation System

HOU Zhi-lin1, WEI Qing1, HAN Da-peng2, AN Hong-lei1   

  1. 1.Mechatronic and Automation School, National University of Defense Technology, Changsha 410073, China; 2.College of Aerospace and Material Engineering, National University of Defense Technology, Changsha 410073, China
  • Received:2010-03-08 Revised:2010-06-13 Online:2011-04-15 Published:2011-04-26

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摘要： 在双边遥操作控制系统的设计中，如何分析和评价遥操作系统的操作性能是一个至关重要的问题。利用频域分析方法，引入了一种新的遥操作系统操作性能度量指标，运用该指标分析了Anderson无源性遥操作系统的操作性能，并针对单边时延条件下的双边控制系统，获得了系统透明性与系统单边时延以及系统跟踪性与系统单边时延之间的关系曲线，解释了Anderson方法为什么只适用于时延不大于1s的系统，并验证了所提度量指标的合理性和有效性。

关键词: 双边遥操作, 频域, 透明性, 跟踪性, Anderson算法

Abstract: In designing a bilateral teleoperation control system, it is of great important to analyze and evaluate the operation performance of teleoperation. A new performance index for teleoperation system is proposed in this paper based on a frequency domain analysis. The performance of Anderson passive teleoperation system is analyzed by utilizing the new performance index. Hereafter, the relation curve of the system’s transparency and the time delay, together with the relation curve of the tracking performance and the time delay is acquired for a bilateral control system with unilateral time delay. In this way, it is properly explained why the Anderson teleoperation system is only suitable for systems with a time delay of no more than 1 second, and testifies the rationality and the validity of the proposed performance index are demonstrated.

Key words: Bilateral teleoperation, Frequency domain, Transparency, Track ability, Anderson algorithm

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