【摘要】 从理论上分析了基于位置控制的液压操纵负荷系统的力感模拟原理,阐明了力感模拟效果的影响因素为位置控制回路的带宽、综合刚度及操纵力引起的位置扰动。在理论分析的基础上,借助计算机仿真方法,阐述了根据模拟对象的特性和仿真精度确定位置控制回路的带宽和综合刚度的方法,并提出了设计原则。指出位置控制回路的带宽应等于10倍仿真模型的转折频率,在满足二自由度系统模拟单自由度系统的模拟精度要求下,综合刚度应取3～10倍的液压弹簧刚度。通过时域和频域的计算机仿真证明了本文设计方法的可行性,仿真结果也证明了理论分析的结果是正确的。更多还原

【Abstract】 The force feel simulation principle of hydraulic control loading system based on position control was analyzed,which indicates that the fidelity of force feel simulation depends on the band width of the position control loop,total linkage stiffness and position disturbance caused by the control force.The design the of band width and total linkage stiffness according to simulation fidelity requirement and the characteristics of the simulated object is discussed based on theoretical analysis with the help of computer simulation.The design principles are that the band width of the position control loop is supposed to equal 10 times the value of the natural frequency of the simulated object, and the total linkage stiffness is supposed to equal 3 to 10 times the value of hydraulic spring stiffness. Finally,the design method of the hydraulic control loading system based on the position control loop was developed and proved feasible by computer simulation in the frequency and time domains.更多还原