基于粒子群优化的远程手术系统内模控制研究

摘要

With the rapid advances in robotics and information technology, the robot assisted telesurgery system has acquired the long-term development, which plays an important role in the reasonable allocation of medical resources and remote medical treatment. The inevitable existence of network time delay, however, leads to the lower stability of the entire system. Therefore, in view of the adverse factors of variable time delay, a new type of internal model control strategy is presented based on PID controller plus feedback loop, and using the modified particle swarm optimization algorithm for parameters optimization. Finally, the simulation experiment was carried out using the measured network time delay value. The experimental results show that the new type of internal model controller can significantly improve the robustness of the system, and the parameter adjusting lfexibility, quickness and the anti-interference ability of system is superior to classical internal model controller, which can meet the control requirements of remote surgery system.%随着机器人技术和信息技术的日新月异，机器人辅助远程手术系统获得了长足发展，在合理配置医疗资源和远程救治方面发挥着不可替代的巨大作用。但是，远程手术不可避免的存在网络时延，导致整个系统的稳定性降低。为此，本文针对变时延这一不利影响因素，提出了基于PID加反馈环节的新型内模控制策略，并利用改进型粒子群算法对参数进行优化。最后，利用实测的网络时延值进行仿真研究。结果表明，新型内模控制器能够显著提高系统的鲁棒性，并且在参数调节的灵活性、系统响应的快速性和抗干扰能力方面均优于经典内模控制器，能够满足远程手术系统的实际控制要求。