摘要
在基于触觉引导的虚拟训练系统中,操作者作为系统负载的不确定性会影响位置-力控制的稳定。通过分析力反馈系统的负载,设计了一种增益调整型模糊PID控制器。模糊控制器根据系统负载变化,在线整定PID增益参数,确保该力反馈训练系统向操作者输出合适的引导作用力。实验表明,该控制器可以输出引导力指导用户按照既定轨迹运动,完成训练目的,同时也有效抑制了训练过程中力反馈设备的抖动。可以广泛应用于康复训练、技能训练,需要操作者按照既定轨迹进行训练的力反馈训练系统中等。
In virtual training system with haptic guidance,user acting as system load,its dynamic uncertainty reduces the stability of position-force control.In this article,a gain-scheduling fuzzy proportional-integral-derivative(PID) controller is proposed,based on the analysis of the load in the force feedback system.The gains of PID controller are tuned by the fuzzy controller according to the difference of system load,in order to ensure that the force feedback training system outputs a proper guiding force to the user.The experiment result showed that,users can perform the training through moving along the pre-designed trajectories under the guidance of haptic feedback,while the jitter of the force feedback device was also effectively suppressed during the training process.Thus,it is suggested that this proposed fuzzy-PID controller might be widely used in the force feedback training systems,such as rehabilitation robot and skill training system in which the users have to maintain a proper moving path.
出处
《控制工程》
CSCD
北大核心
2013年第S1期30-34,38,共6页
Control Engineering of China
基金
国家自然科学基金(50805140)
关键词
虚拟现实
力反馈
位置-力控制
模糊控制
virtual reality
force feedback
position-force control
fuzzy control
