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液压二自由度力反馈操纵杆设计 被引量：2

Design of hydraulic two-DOF force feedback joystick
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摘要 开发了一种用于遥操作双向伺服系统力反馈工作的液压二自由度力反馈操纵杆.该操纵杆采用PID控制器控制的电液伺服系统进行驱动,可以有效地解决一般电机型力反馈操纵杆在刚度和响应速度方面不足的问题.介绍了系统的软硬件构成,并通过对系统运动性能的分析,设计了用于该系统的力反射型力反馈算法,最后通过实验验证了该算法的有效性.实验证明,该操纵杆具有较好的力反馈操作特性,能够满足遥操作系统力反馈工作的需要. A two-DOF force feed back joystick was developed to deal with a bilateral master-slave system. This joystick is driven by electro-hydraulic servo-system and controlled by PID controller to effectively solve the drawbacks in rigidity and response speed of ordinary motor-type force feedback joystick. The composition of software and hardware of this system was introduced and through analyzing the moving performance of this system, a force-reflection force feedback algorithm was developed for this joystick, which could meet the requirements of force feedback for remote operation system.
作者 侯敬巍 赵丁选 倪涛
机构地区 吉林大学机械科学与工程学院 歧阜大学工学研究科
出处 《工程设计学报》 CSCD 北大核心 2008年第2期90-93,共4页 Chinese Journal of Engineering Design
基金 国家自然科学基金资助项目(05475011)
关键词 电液伺服系统 PID控制 力反馈 遥操作 双向控制 hydraulic servo-system PID control force feedback remote operation bilateral control
分类号 TH137.3 [机械工程—机械制造及自动化]
  • 相关文献

参考文献8

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二级参考文献9

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共引文献24

同被引文献26

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工程设计学报
2008年 第2期

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