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Observer-based stability analysis method for time-delay haptic interface system

A technology of interface system and analysis method, which is applied in the field of stability analysis of time-delay force sense interface system, and can solve the problems of obtaining observer gain and high conditional conservativeness.

Inactive Publication Date: 2018-10-02
HARBIN ENG UNIV
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Problems solved by technology

Although the literature uses an observer, the state estimation error is not included in the construction of the L-K function, and the gain of the observer cannot be obtained by solving the stability condition based on LMI, and the obtained condition is relatively conservative

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  • Observer-based stability analysis method for time-delay haptic interface system
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  • Observer-based stability analysis method for time-delay haptic interface system

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Embodiment Construction

[0081] The present invention will be described in more detail below in conjunction with accompanying drawing:

[0082] to combine figure 1 , 2 , 3, the present invention specifically comprises the following steps:

[0083] Step 1: According to the physical model of each link of the single-degree-of-freedom force-sensing interface system, establish the mathematical model of each part, and finally give the structural model of the entire closed-loop system. The system is a typical force feedback system, in which the virtual environment is equivalent to the controller part of the system, which is a discrete model realized by computer, while the object part—the force sensory device is continuous, and the system is a typical sampling control system . The virtual environment used here is a virtual wall, and the system also includes time-delay characteristics, zero-order holders and sampling switches. to combine figure 2 , mainly including the analysis and modeling of the force-...

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Abstract

The invention aims at providing an observer-based stability analysis method for a time-delay haptic interface system. The method comprises: step one, establishing a mathematical model of each part ofa single-degree-of-freedom haptic interface system; step two, combining a haptic device with a retaining device, a sampling switch, and a time-delay characteristic and carrying out discretizing processing to obtain a discretized state space model of the haptic device with input delay; step three, designing a discrete state observer to estimate the state of the discrete haptic interface device andcalculating a feedback force according to a virtual environment model by using the estimated state as an input signal of a virtual environment; and step four, establishing a Lyapunov-Kolasovsky L-K function by using a time-delay segmentation idea, providing a time-delay-dependent asymptotic stability condition of the haptic interface system based on linear matrix inequality (LMI), acquiring a gainmatrix Ld of the observer and a parameter matrix Kd of a virtual wall as well as an allowable maximum time lag taum based on the stability condition.

Description

technical field [0001] The invention belongs to the technical field of force-sense interaction, and in particular relates to a stability analysis method of an observer-based time-delay force-sense interface system. Background technique [0002] In recent years, force-sensing interaction technology has been widely used in various fields, such as: virtual reality, remote surgery, medical training, virtual assembly, computer-aided design CAD, teleoperation robot, virtual prototype and so on. The force-sense interaction system consists of three parts: the operator, the force-sense interface, and the virtual or remote environment. Among them, the force sense interface realizes the two-way interaction between the operator and the environment, through which the operator can touch, perceive and manipulate the virtual or remote environment. The force feedback control system composed of force-sense interface equipment and environment is also called force-sense interface system. [0...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘彦文梁利华綦志刚张松涛关博文张书浩周昌盛谢涛
Owner HARBIN ENG UNIV
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