变时延巡检小车遥操作仿人智能预估控制

针对目前解决遥操作系统网络变时延问题的控制方案存在稳定性与操作性间的矛盾、过于依赖被控对象模型精度和抗干扰性差等不足,提出了一种HSIC-Smith控制算法.首先,根据巡检小车典型的动态响应误差曲线,确定能恰当描述系统动态特性的特征模型；其次,在Smith预估原理的基础上,应用仿人智能控制算法对巡检小车不同的运动状态,采用开、闭环相结合的控制模式来减小Smith预估误差带来的影响,从而改善网络时延变化对巡检小车遥操作系统动态性能；最后,将该方案与常规的PID-Smith预估算法进行对比实验.实验结果表明:在存在网络变时延的条件下,谊方案能对巡检小车系统迅速、准确地遥操作控制,且对网络时延变化具有较强的适应性.

HSIC Predictive Control of Inspection Vehicle Teleoperation with Variable Time

Regarding to some deficiency such as conflicts between stability and operability,excessive dependence on the precision of mathematical model,bad interference immunity,and the complexity of controller design,which exists in the teleoperation system of solving the problem of network delay,a control algorithm of HSIC-Smith is presented.Firstly,to describe the system dynamics,the model appropriate features model is selected according to the error curve of dynamic despondence.Secondly,the algorithm,in which different motion state is controlled by respective modal of the HSIC based on Smith principle,is employed to reduce or eliminate the influence of network delays and to enhance the stability of the system.Finally,the algorithm is compared with PID-Smith predictor algorithm by experiments.The results show that the proposed algorithm can realize quick and accurate control of the teleoperation system of inspection vehicle,and adapt to the variance of delays.