Research on a Novel Parallel Hydraulic Haptic Master Servo Control System

doi:10.3969/j.issn.1000-1093.2012.10.013

Abstract

Abstract: Using a parallel hydraulic Stewart-6-DOF platform as a force reflecting haptic master, the force based model is deduced and the general predictive control (GPC) theory is used for the design of the controller to control the 6-DOF parallel hydraulic force reflecting haptic master. The servo control system test bench has been set up by using a piece of the 6-DOF master. The test results show that the control system overcomes the model error and uncertainty and gain better both dynamic and static respondence. It is of certain significance for parallel hydraulic haptic master control system design.

Key words: automatic control technology, parallel hydraulic haptic master, force reflect, servo control, general predictive control

CLC Number:

TP24

FENG Shi-zhu, XU Ming, ZHAO Ding-xuan, SU Bo. Research on a Novel Parallel Hydraulic Haptic Master Servo Control System[J]. Acta Armamentarii, 2012, 33(10): 1237-1242.

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Research on a Novel Parallel Hydraulic Haptic Master Servo Control System

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