中国机械工程2011，Vol.22Issue(22)：2717-2722,6.
H∞控制的主从遥操作力觉双向伺服控制系统研究
Research on Master-slave Tele-operated Force Sense Bilateral Servo Control System by H∞ Control
摘要
Abstract
Aiming to the problem about big impact feedback force and bad position tracking of parallel force feedback bilateral hydraulic servo control system, a novel force sense bilateral servo control strategy was presented, which regarded the force errors between the master＇s manipulative force and the slave＇s resistance as command signals, the position errors and force errors were fed back for driving movement of the master~ combined the master-slave control characteristics of tele-operated construction robot. Based on characteristics of tele-operated construction, through carrying on H∞ control with state observer compensated to hydraulic servo control force feedback joystick system, dynamic characteristic difference of hydraulic motor was improved, and experimentation of force sense bilateral servo control were carried on. Experimental results show that the strategy improves manipulative capability of masterslave control system, manipulator can obtain true ＂force sense＂ tele-existence, and takes on characteristic of control briefness, constringency rate rapidness, real--time well.关键词
遥操作机器人/力反馈/双向液压伺服控制/控制策略Key words
tele-operated robot/force feedback/bilateral hydraulic servo control/control strategy分类
信息技术与安全科学引用本文复制引用
文广,巩明德,张红彦..H∞控制的主从遥操作力觉双向伺服控制系统研究[J].中国机械工程,2011,22(22):2717-2722,6.基金项目
国家自然科学基金资助项目（50975118) （）
