Force Feedback Calibration for Accurate Electromagnetic Output Force
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing force feedback apparatuses based on electromagnetic direct drive suffer from discrepancies between the actual and expected outward output forces due to the superimposition of electromagnetic and single-body characteristic forces, leading to poor feedback effects.
Innovation Solution
A calibration method that measures the correspondence between single-body characteristic forces and travel when the apparatus is not powered, and between electromagnetic forces and travel when powered, to determine a target driving mode that aligns the actual and expected output forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If electromagnetic force is used as the basis for controlling outward output force, then the force feedback apparatus can generate force sensation feedback, but the actual outward output force differs from the expected output force due to superimposition with single-body characteristic forces
Solution Approach 1:
The patent applies preliminary action by pre-calibrating the single-body characteristic forces of the force feedback apparatus before actual operation. The system measures and stores the relationship between motor current and single-body characteristic forces in advance, then uses this pre-acquired data to compensate for discrepancies during force feedback operations, eliminating the need to deal with these forces during real-time control.
Solution Approach 2:
The patent implements feedback by measuring the actual outward output force using a force sensor and comparing it with the expected electromagnetic force. The system uses this feedback information to calculate and compensate for the single-body characteristic forces, then adjusts the motor current accordingly to achieve accurate force feedback control.
2Reliability
If the force feedback apparatus operates without calibration, then the structure remains simple, but the force feedback effect is poor due to unaccounted single-body characteristic forces
Solution Approach 1:
The patent applies preliminary action by performing calibration once during the setup phase to establish the relationship between motor current and single-body characteristic forces. This pre-calibration data is stored and reused during subsequent force feedback operations, avoiding the need for repeated complex calibration processes while maintaining accurate force feedback.
Solution Approach 2:
The patent implements self-service by enabling the force feedback apparatus to automatically compensate for its own single-body characteristic forces using the pre-calibrated data. The system uses its own operational parameters (motor current, position) and the stored calibration data to calculate and adjust for its characteristic forces, making the calibration process self-contained and eliminating the need for external intervention during normal operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method reduces the discrepancy between actual and expected output forces, thereby enhancing the force feedback effect by using the measured correspondences to control the outward output force accurately.
Implementation Method 1
A force feedback apparatus based on the principle of electromagnetic direct drive, utilizing the electromagnetic force exerted on energized coils located at the stator end within a magnetic field, applies an equal and opposite reaction force to the mover, thereby generating an outward output force
Data Source
AI summary
The disclosure includes a calibration method and a driving method for a force feedback apparatus, devices therefor, and storage media. The calibration method includes: when the force feedback apparatus is not powered on, adjusting a travel of a mover of the force feedback apparatus and measuring an outward output force of the force feedback apparatus, to measure a first correspondence between single-body characteristic forces and the travel of the force feedback apparatus; when the force feedback apparatus is driven according to a preset driving mode, adjusting the travel of the mover and measuring the outward output force of the force feedback apparatus, to measure a second correspondence between an electromagnetic force and the travel of the force feedback apparatus under the preset driving mode; and outputting the first correspondence and the second correspondence; to drive the force feedback apparatus.