基于广义波变换的透明遥操作-国家科技图书文献中心.pdf

基于广义波变换的透明遥操作* 1,2 1 张永林 ，宋爱国 (1. 东南大学仪器科学与工程学院，江苏 南京 210096; 2. 江苏科技大学电子信息学院，江苏 镇江 212003) 摘要：本文分析了基于广义波变换的力反馈遥操作系统的透明性，推导了实现系统透明遥操作的最小波反射准则和严格 阻抗匹配准则。理论分析和数字仿真均表明：广义波变换遥操作系统的透明性是一个与输入频率相关的特性；同一组参数在 不同的输入频率下，系统的透明性不同；当系统输入频率增高时，透明降低。严格阻抗匹配的波变量遥操作系统在相应的输 入频率下，透明度高于最小波反射的波变量遥操作系统；而后者对输入频率的敏感程度则低于前者。 关键字：遥操作；时延；广义波变换；透明性 中图分类号：TP24 ；TP18 文献标识码：B Transparent Teleoperation Based on Generalized Wave Transformat ion Zhang Yong-lin1,2, Song Ai-guo1 (1. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; 2. School of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China) Abstract: This paper developed an analytical framework for investigating transparency of a force feedback teleoperation system with large time delay based on generalized wave variables and derived two criteria for optimum transpiration: the minimum wave reflection coefficient criterion and the strict impedance matching criterion. Both theoretical analysis and numerical simulation results show that transparency is a frequency-dependent performance, i.e. at different input frequencies; the wave-based teleoperation system shows different transparency behavior. When the input frequency increases, the system transparency decreases. The transparency of a strict-impedance-match wave-based teleoperation system at a specific input frequency is higher than that of a minimum-wave-reflection one, but the latter’s sensitivity is lower the former’s. Key Words: teleoperation; time delay; generalized wave transformation; transpar