摘要
借鉴电机驱动主从随动控制系统的研究方法,并根据液压系统的特殊性,对电液伺服遥操作主从机械人的力觉临场感进行分析。综合对称型双向伺服控制系统和力直接反馈型双向伺服控制系统的优点,以从端受力形成力反馈控制量的增益,位置误差和位置误差的变化率形成力反馈控制量,提出改进的对称型控制算法,即力-位置综合型双向伺服控制算法。实验结果验证了该方法的有效性和实用性。
Referring to the researching methods of master-slave control system of electromotor drive, considering the particularity of hydraulic system, the force telepresence of master-slave robot with electro-hydraulic servo remote operation was analyzed. After in- tegrating the advantages of symmetric master-slave servo control system and force feedback directly master-slave control system, the improved symmetric control algorithm, named force-position integrated master-slave servo control algorithm was developed, in which the gain of force-feedback signal was formulated by slave force and force-feedback signal was formed by position error and its difference. The experimental results verify the method is efficient and practical.
出处
《机床与液压》
北大核心
2011年第1期83-85,共3页
Machine Tool & Hydraulics
关键词
电液伺服
双向伺服控制
力觉反馈
Electro-hydraulic servo
Master-slave servo control
Force-feedback
