温度触觉复现装置抗干扰算法研究

利用热网络模型方法对帕尔贴系统进行建模。在实际应用中,帕尔贴系统常受到模型参数不确定性、外部扰动等未知干扰的影响,影响系统性能。为了使系统具有更好的扰动抑制效果,首先,前馈控制环节,在存在参数摄动和外部扰动的情况下,针对帕尔贴温度控制系统设计了广义比例积分扰动观测器以估计扰动数值;然后,反馈环节,基于反馈线性化技术,利用输出设计反馈控制器;最后将前馈环节的扰动估计值补偿给反馈环节,设计复合控制器。通过严格的实验分析,验证了设计的复合控制器能够提升系统的扰动抑制能力。

This paper focuses on this application domain of thermal tactile displays.A thermal network method based on an equivalent circuit is proposed for the thermal modeling.In order to improve the disturbance rejection property of the thermal system,a composite controller is presented.First,a generalized proportional integral(GPI) observer is introduced to estimate the system disturbances,which generally include model uncertainties and external disturbances.Second,a feedback control is designed by using feedback linearization control technique in this paper.