具有力—位补偿的触感装置控制体系结构

Control architecture for a haptic interface with force-position compensation

针对为改善系统透明性所遇到的由触感装置的力—位耦合特性所造成的两个主要问题,首先,介绍了双端口网络方法描述触感装置的系统特征;接着,阐述了四通道双向控制体系结构,并讨论在此体系结构下演化出的两种控制方法:位置误差控制和直接力反馈控制;最后,提出了一种模型参考力—位补偿策略,将力—位单元嵌入到直接力反馈控制体系结构中。研究结果表明,该控制体系结构可以实现触感装置的精确位置控制和真实力觉感知。

Aiming at two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface, the two-port network theory for describing the characteristics of the haptic interface was firstly presented; Then the four-channel bilateral control architecture was introduced, and two methods named position-error-based control and direct force reflection control （PEBC ＆ DFRC） were also presented; Lastly, a model-based force-position compensation strategy was proposed, by the compensation unit embedded into the DFRC. The results indicate that the DFRC with force-position compensation can provide the haptic interface with precise position control and high-fidelity force feedback.