(毕业论文)二自由度力反馈操纵手液压系统设计.doc

二自由度力反馈操纵手液压系统设计 摘要 有关于力反馈的一些系统被广泛应用在军事上和民用上。通过建立和设计出的力反馈模拟系统在军事上应用的非常完美，但受经济和地理等相关的因素制约着军事上的一些现代化军事演练，随着这种力反馈系统的出现，使一些演练变成了现实，通过应用这种系统可以真实的反映出真实的实地演练效果。不仅在军事上，在民用上，这种相关系统用在游戏中，模拟游戏中的真实效果，是玩家有更真实的游戏感觉。为此，二自由度力反馈操纵手系统的设计应用了PID的控制算法，其中采用了干扰观测器减小了冲击力的程度，使主副操纵手的反馈更加精准。为了完成一些实验室相关的力反馈的实验，增加了液压控制系统，作为二自由度力反馈系统的执行元件。为了更加准确，在执行元件中添加了传感器等。这样为老师同学及相关的实验人员获取比较可靠的实验数据，同时也可以应用在一些简单的游戏模拟当中,使游戏也增添一些真实的感觉。 关键词：力反馈 液压系统 PID控制 二自由度 Abstract Recently some systems and facilities about force- feedback are used in military and society field. scalely.The construction and designment of the system of simulation about force-feedback is employed in modern military practices perfertly，but some factors like economy 、environment and other related elements restricted some modern military practices .But as the system coming into being,it make some military exercises came true.Though employment of this system of simulation ,the true resultant would reflect the effects of realistic military practices.Not in military field,it is also used in society,such as in games,like this system can bring the people more real feelings,making them very crazy.So the designment of the force feed-back system about hand controlment of two free-degree consists of three parts like mechanical part、controlment part、and hydraulic part employed PID control algotithm.using the interference inspection equiment can reduce the degree of impulsive force，making the lord manipulate hand and the vice manipulate hand operate correctly.For achieveing some exercises about force feed-back,add the hydraulic controlment system to the two degree equipment of force feed-back as operator of the equipment.Hoping more corret,the sensors also are used in the system.Thus teachers and students will get more corret results of experiments,at the same time,the computer games players also feel more reality. Key words: force feed-back hydraulic system PID arithmatic controlment two degree manipulate hand Abstract 2 第一章 引言 5 1.1选题背景 5 1.2