力反馈双向伺服系统控制研究

Research on control of force feedback double direction servo system

针对主从力反馈双向伺服系统存在力反馈冲击大问题,采用力直接反馈-位置型控制策略,对力反馈双向伺服进行建模,分析位置干扰,设计参数自整定FUZZY-PID控制器。通过MATLAB/Simulink软件平台仿真,仿真结果表明:采用PID控制时,调整时间约为0.2s,超调并且振荡较为剧烈。用参数自整定PID控制时,其超调为零,稳误差几乎为零,调整时间约为0.1s,同时解决了力反馈双向伺服力反馈冲击过大问题。其FUZZY-PID控制器参数整定过程简单、快速,力反馈双向伺服系统的动态、稳态性能良好。

For the master-slave force feedback two-way servo system there is a large force feedback impact problem, the force direct feedback-position control strategy is adopted, the force feedback bi-directional servo is modeled. Analysis of position interference. Design parameter Self-tuning FUZZY-PID controller, through MATLAB/Simulink software platform simulation, the Simulation results show ：Analysis of position interference, When using PID control,Adjustment time is about 0. 2s, Overshoot and oscillation is more intense, Parameter self-tuning PID control, The overshoot is zero, stable error is almost zero Adjustment time is about 0. 1 s, Which solves the problem that the force feedback two-way servo force feedback impact is too big. at the same time, The FUZZY-PID controller parameter setting process is simple and fast, the dynamic and steady state performance of the force feedback bi-directional servo system is good.