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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。对于力觉接口来说,无源性是系统设计的基础,而良好的透明度是其主要性能要求。首先对系统的性能要求进行了分析,定义了一个离散的偏差函数来描述系统的透明度,将透明度问题转化为系统的灵敏度设计问题。接下来,从采样系统的频率特性出发推导了力觉系统的无源性条件,通过对比和分析,指出了前人文献所给无源性条件的保守性,并提出了一种近似无源的设计方案。最后通过例子对不同控制器参数组合时的设计结果进行了仿真,在综合考虑透明度和时域响应特性要求后,给出了一组合理的控制器参数。仿真结果表明,系统是近似无源的,而且具有良好的性能,体现了所给设计方案的可行性和有效性。
Force interface is the interface between human and teleoperation manipulator, used to provide operators with a virtual environment when operating. Passiveness is the foundation of the system design for a force-feel interface, and good transparency is its primary performance requirement. Firstly, the performance requirements of the system are analyzed, a discrete deviation function is defined to describe the transparency of the system, and the transparency problem is transformed into the sensitivity design problem of the system. Next, based on the frequency characteristics of the sampling system, the passive conditions of the force-sensing system are deduced. By comparing and analyzing, the author points out the conservativeness of the passive conditions given by the predecessors and proposes an approximate passive Design. Finally, an example is given to simulate the design results of different controller parameters. After considering the requirements of transparency and time-domain response, a set of reasonable controller parameters are given. Simulation results show that the system is nearly passive, and has good performance, which shows the feasibility and effectiveness of the proposed design.