医疗机器人力感觉装置控制系统研究及仿真分析  

The Study of Haptic Devices Control System of Medical Robot and Simulation Analysis

作　　者：宁祎[1] 高枫[1] 马万军[1] 

机构地区：[1]河南工业大学机器人研究所,河南郑州450007

出　　处：《机电工程技术》2011年第3期35-38,110,共4页Mechanical & Electrical Engineering Technology

摘　　要：根据医疗机器人力反馈系统的特性,对无刷直流电机堵转转矩控制进行了理论分析,提出在电机堵转状态下,采用调节电机端电压的方式对输出转矩进行控制的方法。并对控制系统的伺服频率与无刷直流电机的电气常数之间的关系进行了理论分析。通过理论分析建立力反馈装置转矩控制系统的数学模型,并通过仿真验证了所提算法的可行性和有效性。According to the characteristics of force feedback system of the medical robot,we made the theoretical analysis to the locked rotor torque control of the brushless DC motor.Proposed that controlled the torque output by adjusting the terminal voltage of the motor when the motor worked in the locked rotor condition.And we did the theoretical analysis to the relationship between the servo frequency of the control system and the electrical constants of the brushless DC motor.Through the theoretical analysis,we established the torque control system model of the force feedback device.And simulations were executed to verify the feasibility and the effectiveness of the proposed algorithm.

关 键 词：转矩控制 无刷直流电机 力反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]