基于被动力反馈的遥操作电液控制系统

针对遥操作机器人现有的力反馈冲击、反馈力震荡等问题,提出了一种新型的遥操作电液控制系统。主操作端选用电液比例控制系统以实现力反馈效果,从动端选用电液伺服控制系统以实现位移跟踪效果,并建立了电液控制系统的数学模型,选用算法简单、跟踪性能较好的力反射型控制策略,对整个系统进行了Matlab/Simulink仿真,结果表明,新型遥操作电液控制系统具有较好的位移跟踪及力反馈效果。

A Type of Teleoperated Electro hydraulic Control System Based on Passive Force Feedback

In view of the teleoperated robot force feedback impact, shock and other issues, a type of new teleoperated electro-hydraulic control system is put forward. The main operating hand uses electro-hydraulic proportional control system to get force feedback effect; the slave hand uses electro-hydraulic servo control system to achieve displacement tracking and establish the mathematical model of the electro-hydraulic control system; force reflect control strategy with the simple algorithm and better tracking performance is chosen. The whole system is simulated with Matlab/Simulink, and the results show that the displacement tracking and force feedback effect of the new type of teleoperated electro-hydraulic control system is satisfactory