基于Internet的遥操作机器人系统时延控制器的设计与仿真-控制理论与控制工程专业论文.docxVIP

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基于Internet的遥操作机器人系统时延控制器的设计与仿真-控制理论与控制工程专业论文.docx

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基于Internet的遥操作机器人系统时延控制器的设计与仿真-控制理论与控制工程专业论文

武汉理1入学硕士学位论文ABSTRACT 武汉理1入学硕士学位论文 ABSTRACT Intemet-bascd teleoperation robot system is a complex delay-time system,which e11able slave track masters movement in order to carrying out task in dangerous environments such as in the sky,under the sea and in the radiating situations etc． Teleoperation robotic technology is catching much attention from researchers all OVer the world．In this dissertaion,firstly,the time-delay of Internet will be analyzed and tested，whats mom,stability of teleoperation robot system is researched via Riccati and LMI jn the end,delay-time controller of Internet-based tdeoperation robot system is designed，The main work ofthis dissertaion arc as follows： Through research of characteristics about Internet·based tdcoperation robot system network delay-time,communication modes and communication protocol of teleoperation robot system are analyzed,the network delay-time simplified model is ∞nstIⅥcl甜。On the foundation of these research,delay test within the campus network based 011 different transmission protocol is achieved．According to the analysis of the delay-time test results，and We draw the conclusion that a controller focusing delay-time is essential to stability ofsystem． Basic components of the teleoperation robot system is analyzed,according to the basic principles of rigid moch,mlic8)the simplified model of single-freedom manipulator is constructed，state．space model，which reflect the actual working state of teleoporation robot system,is derived by introducing ILqCOrtain parameters and reasonable paformance evaluation signal． Robust controller algorithm of tdcoperation robot system is discussed,the memorial position velocity and foreefeedback control methods is presented， Combining the equation ofstate space models,feedback parameters solving plans vis Ricatti equations and LMI are compared,this dissertaion finds their respective advantages through analysis，In the end,based Oil factual demand of the system controller。a T-suboptimal H。discr