针对空间机器人遥操作过程中的通讯时延问题,提出一种改进的PD双边力反馈遥操作控制系统.首先从理论上推导该控制系统绝对稳定的条件.在保证系统稳定的前提下,进一步研究提高系统透明性的方法并给出控制参数的约束条件.通过与标准PD双边控制方法的对比实验以及固定时延与变时延2种不同条件下的仿真实验,验证该改进方法具有显著提高遥操作系统透明性和跟踪性能的作用.研究结果表明:所推导的稳定性条件和透明性分析结论进一步完善了该PD双边控制方法,可对复杂遥操作系统中应用该方法提供参考.%In order to handle communication time delay problem in space robot teleoperation, an improved proportion and differentiation (PD) bilateral force feedback method for teleoperation control system was proposed. The absolute stability condition was theoretically deduced at first. On the premise of stable conditions, the transparency was further studied and the constraint conditions of control parameters that guarantee the best transparency were derived. Two simulation experiments were conducted to verify the significant effect of the proposed method that improved the teleoperation system's transparency and tracking performance. One was a comparison experiment between standard PD bilateral control method and the improved PD bilateral control method, and the other was performance analysis of stability and transparency during fixed time delay and variable time delay. The derived stability and transparency conditions were supported by the simulation results. They are able to improve the PD bilateral force feedback control method and provide reference to its application in complex teleoperation systems.
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