基于被动力反馈的遥操作电液控制系统

摘要

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。%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 u-ses electro hydraulic proportional control system to get force feedback effect;the slave hand uses e-lectro hydraulic servo control system to achieve displacement tracking and establish the mathemati-cal model of the electro hydraulic control system;force reflect control strategy with the simple algo-rithm and better tracking performance is chosen. The whole system is simulated with Matlab/Simu-link,and the results show that the displacement tracking and force feedback effect of the new type of teleoperated electro hydraulic control system is satisfactory.