.png){kind=icon}
返回
Haptic Performance Using Voltage-Mode Motor Control
.png){kind=icon}
PRE
AI
DOI：10.1109/TIE.2019.2899552.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Haptic devices driven by dc motors are usually controlled in current mode due to the direct relationship between current and torque. This paper analyzes the performance of voltage-mode controllers whose main drawback is that the torque of the actuator depends on its electrical dynamics. However, the electrical dynamics of the motor add the viscosity generated by the back electromotive force. Since the motor damping seen from the handle of the interface is increased by the square of the transmission ratio, the physical damping of the mechanism can be very high, maintaining low inertia. As a result, very high performance in terms of critical stiffness can be achieved, even using cost-effective electronics. There is a tradeoff between the achievable virtual stiffness during the haptic interaction and the backdrivability in free movement, if the damping is set too high. To investigate the benefits of this motor control strategy, CEIT's haptic gearshift is used as a testbed. The experimental results confirm that a very high critical stiffness can be achieved using this strategy.
Keyword:
Control system analysis
force control
haptic interfaces
mechanical variables control
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
7.2
论文数:
1.8W
被引数:
9.8W
机构
引用论文
.png){kind=icon}
分享收藏
查看更多内容