Modeling and Forecasting of Time Delay about the Space Robot Teleoperation System

摘要

Time delay is the biggest barrier in improving the control property for teleoperation system, especially for space robot teleoperation system (SRTS) that faces the most complex and serious case being composed of three parts: 1) transport time delay between the ground control-center and base-station; 2) transmission time delay between the ground and space base-stations; 3) processing time delay among all information loops. To solve time delay problem for SRTS, modeling and forecasting methods concerning time delay are studied in this paper, which are the foundation of well controlling SRTS. As the round trip time delay often is the form in measuring and processing, it is more advisable to design a method which can simultaneously disposal those three parts time delay, but not process different parts time delay separately with different methods. Then, based on topological structure and statistics character analysis of those three parts time delay, a modified Spared-based Multivariate Linear Regression (SMLR) model is proposed to simultaneously solve them in this paper. Based on the aforementioned work, time delay can be forecasted precisely implying that time delay is definite and known in advance, which is beneficial to the improvement of control properties for SRTS. In final, simulations are given to illustrate the effectiveness of the proposed methods.