摘要
遙操作機(jī)器人系統(tǒng)是指在人的操縱下對(duì)一些距離遙遠(yuǎn)、對(duì)人體有害或操作有難度等人難以接近的環(huán)境中完成比較復(fù)雜、精細(xì)操作的一種遠(yuǎn)距離操作系統(tǒng)。尤其是隨著計(jì)算機(jī)網(wǎng)絡(luò)技術(shù)的飛速發(fā)展，融合了控制理論、機(jī)器人學(xué)和通信技術(shù)的網(wǎng)絡(luò)遙操作機(jī)器人系統(tǒng)，可以實(shí)現(xiàn)對(duì)遠(yuǎn)端機(jī)器人的遠(yuǎn)程操作，它拓展了人類的作業(yè)空間，在遠(yuǎn)程醫(yī)療、空間探索、深海探測(cè)和工業(yè)合作生產(chǎn)等領(lǐng)域都有著廣泛的應(yīng)用前景。
本文主要針對(duì)遙操作機(jī)器人系統(tǒng)的穩(wěn)定性和性能以及時(shí)延影響幾個(gè)問題進(jìn)行研究，希望能在保證系統(tǒng)穩(wěn)定的前提下提高系統(tǒng)的性能,實(shí)現(xiàn)位置比例跟蹤和力比例跟蹤。結(jié)合滑模變結(jié)構(gòu)控制和模糊控制二者的優(yōu)勢(shì)，把模糊變結(jié)構(gòu)控制方法應(yīng)用到具有位置比例跟蹤和力比例跟蹤的遙操作系統(tǒng)。具體的研究內(nèi)容如下：
首先，本文介紹了遙微操作機(jī)器人系統(tǒng)的研究背景和意義，以及目前國內(nèi)外的研究現(xiàn)狀，并對(duì)遙操作機(jī)器人系統(tǒng)各種控制策略進(jìn)行了分析比較。
其次，介紹了網(wǎng)絡(luò)遙微操作機(jī)器人系統(tǒng)結(jié)構(gòu)及工作原理，并對(duì)具有代表性的單自由度遙操作機(jī)器人系統(tǒng)進(jìn)行了動(dòng)力學(xué)建模，然后研究了基于二端口網(wǎng)絡(luò)模型的遙微操作機(jī)器人系統(tǒng)的穩(wěn)定性和理想性能及穩(wěn)定性與理想性能的實(shí)現(xiàn)問題。
然后，研究了滑模變結(jié)構(gòu)控制算法在遙微操作機(jī)器人系統(tǒng)中的應(yīng)用，設(shè)計(jì)了一種新型的離散滑模變結(jié)構(gòu)控制方案并針對(duì)無時(shí)延和固定時(shí)延兩種情況進(jìn)行了仿真。
接著，結(jié)合遙操作系統(tǒng)的控制要求及滑模變結(jié)構(gòu)的控制特點(diǎn)，為有效地降低滑?？刂浦写嬖诘亩墩瘢肽：刂评碚?，設(shè)計(jì)了一種新穎的模糊變結(jié)構(gòu)控制方案，該方案利用模糊規(guī)則建立了基于等效控制和切換控制的模糊系統(tǒng)。仿真實(shí)驗(yàn)表明，該方案實(shí)現(xiàn)了遙操作系統(tǒng)主從端之間的位置比例跟蹤和力比例跟蹤，并更好的解決了抖振問題，達(dá)到了設(shè)計(jì)目標(biāo)。
最后，構(gòu)建一套單自由度遙操作機(jī)器人系統(tǒng)，驗(yàn)證了單自由度遙操作機(jī)器人系統(tǒng)控制器的穩(wěn)定性和控制效果，并實(shí)現(xiàn)了位置和力的跟蹤控制。
理論分析與仿真實(shí)驗(yàn)結(jié)果表明：本文設(shè)計(jì)的新型模糊變結(jié)構(gòu)控制方案可以很好地滿足系統(tǒng)的性能指標(biāo)和穩(wěn)定性要求，為后期的實(shí)驗(yàn)和下一步隨機(jī)時(shí)延下網(wǎng)絡(luò)遙操作的實(shí)現(xiàn)打下了基礎(chǔ)。

關(guān)鍵詞 遙操作機(jī)器人；二端口網(wǎng)絡(luò)；滑模變結(jié)構(gòu)控制；模糊控制



Abstract
The tele-manipulation robot system refers to a long-distant operating system which is to finish the comparably complex and fine operation under the manipulation of human beings in the inaccessible environment. Such environment is of long-distance, harmful to human beings or with difficulty in manipulation. The tele-manipulation robot that is based on control theory, robotics and communication technology could make the remote operation on distal robot possible. It expands the human homework space and enjoys broad application prospect in such areas as in remote telemedicine, space homework, industrial cooperative production areas etc.
This article mainly aimed at the research on tele-manipulationg robot system’s stability,transparency and influence of time delay and design a controller which not only can ensure the system’s stability but also have a good performance, and realize scale position tracking and force tracking.Fuzzy variable structure control which have merits of variable structure control and fuzzy control is applied on tele-manipulationg robot system who is characterized by scale position tracking and force tracking. Specific research contents as follows:
Firstly, this paper introduced research background and significance of teleoperation robot system and the research situations home and abroad . Various kinds control strategy of tele-manipulation robot system are analyzed and compared.
Secondly, it introduced the structure and operational principle of network teleoperation robot system and made dynamics modeling to the representative single-degree-freedom tele-manipulation robot system. Then, it made a research to the stability and ideal performance and their realization of tele-manipulation robot system which is based on two-port network models.
Thirdly, it examined the application of discrete sliding-mode variable structure control in tele-manipulation robot system and designed a new scheme of sliding-mode variable structure control and emulated it according to two situations of no delay and constant delay.
Fourthly, it introduced fuzzy control theory according to the requirement of tele-manipulation robot system and control features of sliding-mode variable structure control and proposed a new scheme for fuzzy variable structure control to effective reduce chattering which is inherent in variable strueture control. Using a fuzzy rule, this scheme constructed fuzzy system based on equivalent control and switch control. The simulation indicated that the scheme realized trace according to place and power proportion of primary and secondary point of teleoperation robot system and better solved buffet problem and reached the design goal.
Lastly, it constructed a set of single-degree-freedom tele-manipulation robot system, proved the stability and control effect of it and realized tracing control of place and power.
Theoretical analysis and emulation experiment showed: the new scheme of fuzzy variable structure control examined in the paper could well satisfy performance index of the system and its requirement of stability. This was able to lay the foundations for later exper..