虚拟匹配单元对力觉交互系统性能影响分析

讨论虚拟现实力觉交互系统中,阻抗再现方式下虚拟匹配单元对系统稳定性和透明性的影响.对不同的虚拟环境,根据弹簧单元和阻尼单元的不同物理性质,将其与虚拟环境串联或并联,作为连接操作端与虚拟端的双端口系统;对于单自由度力觉交互系统,当虚拟环境驱动点为弹簧元素时,以串联弹簧单元和串联阻尼单元为例,通过对附加虚拟匹配单元后的系统性能评价,及与原系统的比较,分析了虚拟匹配单元对系统性能尤其是稳定性的影响,仿真和分析结果吻合较好.在力觉交互控制系统设计中,可根据需要选择不同的虚拟匹配单元以提高系统的稳定性.

Effect of virtual coupling cell to the haptic system

The influence of virtual coupling cell on the stability and transparence of force interaction system was discussed, under the information flowing mode of impedance display. According to their special physical character, individual spring or damping cell is in series or in parallel connection with different virtual environment. Concerning a 1 DOF force interaction system, when the driving point element of the environment is spring, the spring and damping cell is respectively in series connection with the environment as example. Through comparing with the original system, the influence of virtual coupling cell on the system stability and transparence was derived. The simulation results meet well with the analysis. In control design of force interaction system, reasonable choice of virtual coupling cell can effectively improve the system stability.