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Modeling and Stability Issues in Force Feedback System Based on Virtual Reality

Author: DuRongHui
Tutor: ChenWeiDong
School: Yanshan University
Course: Circuits and Systems
Keywords: Virtual Reality Force feedback Stability Passivity Energy compensation Adaptive output limit
CLC: TP391.9
Type: Master's thesis
Year: 2011
Downloads: 112
Quote: 1
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Abstract


Force feedback technology , human-computer interaction as an emerging technology , allows the operator can sense and manipulate virtual objects , thereby enhancing the realism of the virtual reality system , broaden the application of virtual reality systems in medical , military and industrial fields . Stability has been a virtual reality force feedback system must require its conduct research has important theoretical and practical significance . First, in order to study the impact of the virtual environment model and force-feedback device parameters on system stability , based on the mathematical model of the different properties of the virtual environment and force feedback device , the establishment of the open-loop control system model does not include the operator , including , according to Rolls - Hurwitz stability criterion is obtained in the system stability necessary conditions and gives the results of MATLAB simulation . Second, never derived theory , design a force feedback control based on energy compensation . This method to the continuous time ideal force feedback system as the reference, the use of energy compensation controller calculates a compensation data sampling force feedback system within each sampling period due to the \The contrast experiment of three force feedback virtual wall system , and verify energy compensation method can effectively improve system stability . Finally, the instability of the system under the environment of uncertainty and stiffness of the virtual environment impedance type , based on the passivity theory and dual-port network model , design an output adaptive control algorithm . The algorithm is keeping the system by adjusting the maximum allowable output force and passive controller only care about the mapping of the size of the force , and without regard to the calculation of the force model , adapted to the various virtual environment , impedance , admittance -type and multi- free The degree of force feedback system . Finally, the large stiffness environment system experiment , the experimental results show that the algorithm can effectively inhibit the system shock .

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