遥操作系统力觉接口的无源性设计  

Passivity design of a haptic interface for the remote servo manipulator

作　　者：刘彦文[1] 李佳[1] 何朕[2] 王广雄[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2011年第7期994-998,共5页Control Theory & Applications

基　　金：中央高校基本科研业务费专项资金资助项目(HEUCF110412);黑龙江省博士后科研启动金资助项目(LBH-Q09126);黑龙江省自然科学基金资助项目(F2008003)

摘　　要：力觉接口是指人和遥操作机械手之间的接口,用来给操作人员提供操作时的一种虚拟环境.无源性是这种接口系统设计的主要要求,但是前人得出的无源性条件过于保守.本文从采样控制系统的频率特性出发推导了一个没有保守性的接口系统无源性的条件.文中并指出无源性只是接口的一个属性,要正确设计还需考虑到伺服设计的一些基本要求,诸如系统的带宽、阻尼等.文中还结合例子给出了接口系统无源性设计的步骤.The haptic interface provides the virtual environment for the remote servo manipulator. Passivity is the main requirement of the interface design. However, the conditions of passivity given in existing work are too conservative. Based on the frequency response of a sampled-data control system, a non-conservative passivity condition for the interface system is derived. It is pointed out that passivity is just one of the properties of the interface. For a proper design, the basic requirements of a servo design must also be considered, such as the bandwidth of the system, the damping of the system. The passivity design procedure for the interface is illustrated by an example.

关 键 词：力觉接口 采样系统 无源性 虚拟环境 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]