电静液执行器双向远程控制的位置跟踪精度研究  

Positioning Accuracy Research on Bilateral Remote Control of Electro-Hydrostatic Actuators

作　　者：蔡衍[1] 周捷 陈杰[1] 宋锦春[1] CAI Yan;ZHOU Jie;CHEN Jie;SONG Jin-chun(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2020年第5期710-715,共6页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(51805074);中央高校基本科研业务费专项资金资助项目(N170303010).

摘　　要：电静液执行器(EHA)的位置跟踪精度常会受到系统中的不确定性影响.提出了一种基于定量反馈理论(QFT)的鲁棒位置控制器,能利用系统样本来描述操作者、主动机械手以及环境中存在的参数不确定性,以定量计算设计边界,可视化地调节系统稳定性和透明度,从而改善了EHA双向远程控制的位置跟踪精度.应用该控制器,基于EHA实验台和触觉力反馈设备,针对四种常用双向控制方案进行与软硬环境的接触实验,结果表明四种方案中FR方案结构简单兼具良好透明度,最适于EHA的远程控制.For an electro-hydrostatic actuator(EHA),the positioning accuracy is generally affected by uncertainties existing in the system.A robust position controller based on quantitative feedback theory(QFT)is proposed,which can describe the parametric uncertainties of human operators,master manipulator and environment in the templates for quantitative computation of the bounds and visualized adjustment between system stability and transparency,thus to improve the positioning accuracy of the bilateral-controlled EHA.Using this controller,four commonly used bilateral control schemes were tested based on an EHA test rig and a haptic device with force feedback.The verification experiments were performed in contact with soft and hard environments,which finally proved that the FR scheme was the most suitable for EHA remote control among the four due to its simple structure and excellent transparency.

关 键 词：双向控制 电静液执行器 定量反馈理论 不确定性 鲁棒位置控制 

分 类 号：TH137[机械工程—机械制造及自动化]