CAJ | 학술논문

针对力反馈双向液压伺服控制中存在的反馈力冲击大及位置跟随特性差的问题，提出了一种以主／从动机械手之间的力偏差为从动端控制信号，由位置偏差和力偏差形成主动机械手控制量的新型力觉反馈控制策略。结合遥操作工程机器人主从控制的特点，通过对液控操纵杆系统进行H∞控制的状态观测器补偿，改善了液压马达的动态特性差异。进行了力觉双向伺服控制实验，实验结果表明，该控制策略明显改善了主一从控制系统的操纵性能，操作者能够获得真实的力觉临场感，同时该控制策略具有控制简单、收敛速度快、实时性好等特点。
침대력반궤쌍향액압사복공제중존재적반궤력충격대급위치근수특성차적문제，제출료일충이주／종동궤계수지간적력편차위종동단공제신호，유위치편차화력편차형성주동궤계수공제량적신형력각반궤공제책략。결합요조작공정궤기인주종공제적특점，통과대액공조종간계통진행H∞공제적상태관측기보상，개선료액압마체적동태특성차이。진행료력각쌍향사복공제실험，실험결과표명，해공제책략명현개선료주일종공제계통적조종성능，조작자능구획득진실적력각림장감，동시해공제책략구유공제간단、수렴속도쾌、실시성호등특점。
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.