| 基于Smith预测控制的空间机器人遥操作研究 |
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| 引用本文： | 基于Smith预测控制的空间机器人遥操作研究.基于Smith预测控制的空间机器人遥操作研究[J].空间控制技术与应用,2015,41(5):19. |
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| 作者姓名： | 基于Smith预测控制的空间机器人遥操作研究 |
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| 摘 要： | 基于无源性理论分析机器人时延双向遥操作不稳定的原因.为保证系统稳定，提出一个结合Smith预测控制与在线修正环境参数的控制策略.针对机器人接触性操作任务中环境模型参数的辨识，通过拉弹簧试验给出了在线辨识方法，并对提出控制策略的稳定性和透明性进行仿真分析.完成了机器人在时延条件下拉弹簧遥操作试验，结果表明在结构化环境中所提出的方法可以提供操作者较好的透明性.
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| 关 键 词： | 空间机器人 在轨服务 双向遥操作 预测控制 在线辨识 |
Space Manipulator Based on Smith Predictive Control |
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| LIU Dong-Yu,LIU Hong,HUANG Long-Fei.Space Manipulator Based on Smith Predictive Control[J].Aerospace Contrd and Application,2015,41(5):19. |
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| Authors: | LIU Dong-Yu LIU Hong HUANG Long-Fei |
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| Abstract: | The reason of the instability of bilateral teleoperation under time delay is analyzed. To guarantee the system stabilization，a control strategy is proposed based on Smith predictor controller and environment parameter online identification. Aiming at parameter identification in contacting operation， a parameter identification method is given combined with drawing spring experiments. The stability of control strategy and transparency of the teleoperation system are simulated. Finally, the drawing spring experiment is tested with time delay， and the validity of the control strategy is proved by the results. |
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| Keywords: | space manipulator on orbit servicing bilateral teleoperation predict control on line identification |
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