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遥控机器人在太空、深海、原子能等高技术领域内有着重要的应用价值。遥控机器人研究中一个重要内容是双向力反馈控制系统的分析和设计,目前已有多种形式的双向力反馈控制系统.本文提出了一种新型的双向力反馈控制系统统一形式,同已有的双向力反馈控制系统统一形式相比更具普遍性和一般性,并基于算子无源性理论建立了双向力反馈控制系统稳定性分析的一般方法。本文提出的统一形式及稳定性分析方法对于遥控机器人双向力反馈控制系统的分析和设计具有重要的指导意义。
Remote control robots in space, deep sea, atomic energy and other high-tech fields have important application value. An important part of the research on remote control robots is the analysis and design of bi-directional force feedback control system, and there are many kinds of bi-directional force feedback control systems.This paper presents a new unified form of bi-directional force feedback control system, The general form of bi-directional force feedback control system is more general and general than that of bi-directional force feedback control system. Based on the theory of operator passiveness, a general method of stability analysis of bi-directional force feedback control system is established. The unified form and stability analysis method proposed in this paper is of great guiding significance for the analysis and design of two-way force feedback control system for remote control robots.