Design of Two-Channel Bilateral Control Systems by a Transfer-Function-Based Approach
Design of Two-Channel Bilateral Control Systems by a Transfer-Function-Based Approach
复制标题
基于传递函数的方法设计双通道双边控制系统
DOI：
10.1109/tie.2017.2750621
复制
发表时间：
2018
影响因子：
7.7
通讯作者：
Y. Fujimoto
中科院分区：
文献类型：
--
作者：
Masahiro Tajiri;P. Lopez;Y. Fujimoto
本文提出了一种基于传递函数的双通道双向控制系统的设计方法。这种控制系统的结构可以通过设计互补灵敏度函数来实现。与传统的四通道双向控制相比，该系统具有更好的控制性能，并且需要较少的通信通道。所提出的方案可以扩展到微观/宏观双边控制，改变主从系统的缩放比。所提出的双边控制可以通过使用简单的控制器来简单地实现。为了比较所提出的方法和传统的四通道双边控制的性能，普通的双边控制和微观/宏观双边控制进行了一个简单的实验机与一个自由度的机构。通过比较两种方法的透明性和可操作性，讨论了每种方法的特点。
In this paper, we propose a design method of a two-channel bilateral control system using an approach based on transfer function. The configuration of such a control system can be realized by designing a complementary sensitivity function. Compared with the conventional four-channel bilateral control, our system has better control performance and requires fewer communication channels. The proposed scheme can be extended to micro/macro bilateral control that changes the scaling ratio of the master to slave systems. The proposed bilateral control can be realized simply by using a simple controller. In order to compare performances of the proposed method and the conventional four-channel bilateral control, ordinary bilateral control and micro/macro bilateral control are performed by a simple experimental machine with a one-degree-of-freedom mechanism. We discuss the features of each method by comparing the transparency and operability of both methods.