基于磁流变液被动力觉驱动器的简化逆动力学模型

A simplified inverse dynamics model for a passive force feedback actuator based on magneto-rheological fluid

针对磁流变液被动力觉驱动器因高度非线性带来的控制难度大的问题，提出了一种简化逆动力学模型。在简单介绍磁流变液力觉驱动器的原理、结构和动力学模型的基础上，分析了驱动器输出力的约束条件，研究了转子转速反馈算法并推导了输出力反馈算法，最后，利用研制的驱动器原型构建了力觉交互实验系统，并应用所提的简化逆动力学模型进行了黏滞性物体的压力释放力跟踪实验、刚体碰撞力觉跟踪实验和阶跃响应实验。实验结果表明，基于简化逆动力学模型的控制算法是正确有效的，能够较好地实现对磁流变液力觉驱动器输出力的控制，促进磁流变液器件在力觉交互技术中得到广泛应用。

A simplified inverse dynamics model for passive force actuators was proposed to solve the problem that a passive magneto-rheological fluid actuator is difficult to control due to its highly nonlinear characteristic. Based on the analyses of the actuator＇ s principle, structure, dynamics model, and constrains of output force, the speed feedback algorithm for the rotator was studied and the output force feedback algorithm for the actuator was deduced. Finally, an experimental system of force interaction was set up by using the prototype developed for the actuator, and the viscous body stress relaxation force feedback experiment, the rigid body collision force feedback experiment as well as the step response experiment were done based on the simplified inverse dynamics model. The experimental results show that the control algorithm based on the simplified inverse dynamics model is valid and can effectively control the output force of magneto-rheological fluid actuators, and will promote the applications of magneto-rheological fluid devices in the field of haptic interaction.