Design of hydraulic two-DOF force feedback joystick

Chinese Journal of Engineering Design

2008, Vol. 15

Issue (2): 90-93 DOI:

Design of hydraulic two-DOF force feedback joystick

HOU Jing-Wei¹, ZHAO Ding-Xuan¹, NI Tao²

1.College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China；
2.Faculty of Engineering,Gifu University,1-1, Yanagido, Gifu 501-1193, Japan

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Abstract A two-DOF force feed back joystick was developed to deal with a bilateral master-slave system. This joystick is driven by electro-hydraulic servo-system and controlled by PID controller to effectively solve the drawbacks in rigidity and response speed of ordinary motor-type force feedback joystick. The composition of software and hardware of this system was introduced and through analyzing the moving performance of this system, a force-reflection force feedback algorithm was developed for this joystick, which could meet the requirements of force feedback for remote operation system．

Key words： hydraulic servo-system PID control force feedback remote operation bilateral control

Published: 28 April 2008

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	HOU Jing-Wei
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Cite this article:

HOU Jing-Wei, ZHAO Ding-Xuan, NI Tao. Design of hydraulic two-DOF force feedback joystick. Chinese Journal of Engineering Design, 2008, 15(2): 90-93.

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https://www.zjujournals.com/gcsjxb/ OR https://www.zjujournals.com/gcsjxb/Y2008/V15/I2/90

液压二自由度力反馈操纵杆设计

开发了一种用于遥操作双向伺服系统力反馈工作的液压二自由度力反馈操纵杆.该操纵杆采用PID控制器控制的电液伺服系统进行驱动,可以有效地解决一般电机型力反馈操纵杆在刚度和响应速度方面不足的问题.介绍了系统的软硬件构成,并通过对系统运动性能的分析,设计了用于该系统的力反射型力反馈算法,最后通过实验验证了该算法的有效性.实验证明,该操纵杆具有较好的力反馈操作特性,能够满足遥操作系统力反馈工作的需要.

关键词： 电液伺服系统, PID控制, 力反馈, 遥操作, 双向控制

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