基于H2理论的力觉接口系统的稳定性与透明性优化研究

项目名称： 基于H2理论的力觉接口系统的稳定性与透明性优化研究

项目编号： No.61304076

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 刘彦文

作者单位： 哈尔滨工程大学

项目金额： 26万元

中文摘要： 对于力觉接口来说，稳定性是系统设计的基础，而良好的透明性是其主要性能要求，因此对于力觉接口系统控制问题的研究应更多立足于保证系统的稳定性，以及在稳定性前提下如何提高系统的性能。无源性设计和绝对稳定设计都可以保证稳定的力觉交互，但和透明性之间存在设计冲突，需要进行折衷设计。 本项目将对前人文献的一些结论进行校验和进一步推导，证明其存在的问题和保守性，然后从力觉接口系统的真实特性出发，对力觉接口系统进行无源性设计，推导出一个真实的无源性条件。考虑到无源性相对于稳定交互的要求来说，存在一定的保守性，本项目又提出了另一种控制方案--绝对稳定控制方案对力觉接口系统进行设计，在保证绝对稳定的前提下，综合透明性要求，系统的带宽、阻尼比等要求，结合具体的虚拟环境模型，通过定义一定的H2性能优化指标，设计出一个具有优化性能的稳定的力觉交互系统。

中文关键词： 力觉接口；无源性；透明性；绝对稳定；

英文摘要： For the haptic interface, stability is the basis of system design, and well transparency is its main performance requirement. Thus during the control problems study of the haptic interface, more attention should be paid to how to ensure the system stability and how to improve the performance under the stability precondition of the system. Both the passivity design and unconditionally stable design can ensure stable haptic interaction, but since there is a conflict between stability and transparency, a compromise design is needed here. The main conclusions in previous literatures are checked and further derived in this project, and the problems and conservativeness are proved. Then based on the real frequency response of the haptic interface system, the passivity design is made and the real passivity condition is obtained. Allowing for the conservativeness of the passivity design with respect to the stable interaction, an alternative unconditionally stable control approach is proposed in the project. On the premise of the unconditionally stable, the transparency requirement is involed together with damping ratio and bandwidth requirements. Then by combining the concrete virtual environment model, a stable haptic interface system with optimal performance is obtained based on the given H2 performance index.

英文关键词： haptic interface；passivity；transparency；unconditionally stable；