具有力—位补偿的触感装置控制体系结构  

Control architecture for a haptic interface with force-position compensation

作　　者：古军保[1] 贠今天[1] 董旭[2] 李坤[1] 

机构地区：[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

出　　处：《机电工程》2009年第9期73-76,共4页Journal of Mechanical & Electrical Engineering

基　　金：天津市高等学校科技发展基金计划资助项目(2006ZY09)

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。Aiming at two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface, the two-port network theory for describing the characteristics of the haptic interface was firstly presented; Then the four-channel bilateral control architecture was introduced, and two methods named position-error-based control and direct force reflection control （PEBC ＆ DFRC） were also presented; Lastly, a model-based force-position compensation strategy was proposed, by the compensation unit embedded into the DFRC. The results indicate that the DFRC with force-position compensation can provide the haptic interface with precise position control and high-fidelity force feedback.

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 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]