具有力―位补偿的触感装置控制体系结构*

作者：古军保1，O今天1，董旭2，李坤1 日期：2009-11-16/span> 浏览：3781 查看PDF文档

具有力—位补偿的触感装置控制体系结构*

古军保1，O今天1，董旭2，李坤1
(1.天津工业大学 机械电子学院 天津 300160； 2.北华航天工业学院 机械工程系，河北 廊坊 065000)

摘要：针对为改善系统透明性所遇到的由触感装置的力—位耦合特性所造成的两个主要问题，首先，介绍了双端口网络方法描述触感装置的系统特征；接着，阐述了四通道双向控制体系结构，并讨论在此体系结构下演化出的两种控制方法：位置误差控制和直接力反馈控制；最后，提出了一种模型参考力—位补偿策略，将力—位单元嵌入到直接力反馈控制体系结构中。研究结果表明，该控制体系结构可以实现触感装置的精确位置控制和真实力觉感知。
关键词：触感装置；双端口网络；透明性；力—位补偿；控制体系结构
中图分类号：TP24文献标识码：A文章编号：1001-4551(2009)09-0073-04

Control architecture for a haptic interface with forceposition compensation
GU Junbao, YUN Jintian, DONG Xu, LI Kun
(1. College of Mechanical and Electronic Engineering, Tianjin Polytechnic University, Tianjin 300160, China;
2. Department of Mechanical Engineering, North China Institute of Aerospace Engineering, Langfang 065000, China)
Abstract: Aiming at two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface, the twoport network theory for describing the characteristics of the haptic interface was firstly presented; Then the fourchannel bilateral control architecture was introduced, and two methods named positionerrorbased control and direct force reflection control (PEBC & DFRC) were also presented; Lastly, a modelbased forceposition compensation strategy was proposed, by the compensation unit embedded into the DFRC. The results indicate that the DFRC with forceposition compensation can provide the haptic interface with precise position control and highfidelity force feedback.
Key words: haptic interface; twoport network; transparency; forceposition compensation; control architecture
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