Research On Predictive Control Of Teleoperation Robot System Via The Internet

Teleoperation robot Technology is a research hotspot in the field of robotics,computer and communication,and control field.Teleoperation robot system can be said to be the extension of human perception and ability,so that operators do not have to visit the site personally and tasks can be done through the remote operation of the robot system and remote invironment interaction.At present,teleoperation robot technology plays a great role in many fields.In this paper,the problem of variable time delay control for network Teleoperation robot system is studied deeply.This paper discusses the system model analysis,time delay modeling prediction,delay control method and so on,designs the generalized predictive control scheme of the network Teleoperation robot system based on delay Markov model prediction,and proves that the scheme control effect is good by experiment.First,the Euler-Lagrange dynamic model of the master-slave-end manipulator is established(one degree of freedom is equivalent to the spring-damping model),the model of environmental dynamics is established at the same time.In particular,this paper gives a representative equivalent two-port model of a single freedom network teleoperation manipulator,based on which the passive theory and the master-slave operational impedance concept are introduced.The influence of network variable time delay on the performance of two aspects of system stability and transparency is analyzed.Secondly,the network delay hidden Markov model is established.Based on the analysis of network delay,it is concluded that the nentwork delay can be expressed by this model.Based on the actual Internet time delay data obtained by the test,the hidden Markov modeling parameters are optimized by the Baum-Welch iterative algorithm to establish the model.To making future state prediction of the model,the Viterbi algorithm is used to predict the network delay,and the accuracy of the prediction model is validated by experiment,which lays the foundation for the realization of the system time delay predictive control method.Finally,the generalized predictive control structure of delay control of teleoperation robot system is proposed.Aiming at the improvement of generalized predictive control method in Network Teleoperation robot system,a new generalized predictive control application scheme is proposed based on hidden Markov model delay prediction.Then,the MATLAB simulation experiment is carried out,firstly,the control performance of local subsystem proportional-differential controller is simulated,and then the time delay control method of the whole system is tested,and the hidden Markov model based generalized predictive control structure is better than the traditional generalized predictive control method.In the experiment,further optimization experiments are made to the control scheme,which proves the feasibility and effectiveness of the scheme.