Performance Optimization Design And Stability Research Of Haptic Interface System

With the development of virtual reality technology and its application in medicine,entertainment,arts and education,military and industrial manufacturing and other fields.The state is also increasing its emphasis on research in the leading-edge technology,and the study is included in the "National long-term Scientific and Technological Development(2006-2020)." As an important part of virtual reality,haptic technology(force sense),as well as vision,hearing,is an important way to the reality of information transfer,.The application of haptic interface system for improving natural and immersive experience has important theoretical and practical effect.In the study of this subject,through the study of a single degree of freedom haptic interface system and the analyze of the stability and transparency of systems,the operator,haptic interface device model environment are established.Use MATLAB/SIMULINK to study the impact of model parameters on the system and analyzes the impact of physical damping haptic interface device models on the system stability region.The operator can promote the stability of the system,so the analysis of haptic interface system ignore the impedance characteristics of the operator,which is equivalent to an input signal,in order to simplify the analysis and difficulty.Use Rolls-Hurwitz stability criterion to solve the stable region of the system.By comparing the simulation results,it can be concluded that the passive design has great conservative and reduces the transparency of the system.In order to improve the transparency of the system,absolute stability design is proposed,while the coupling link,so the system can remain stable for any passive operator and virtual environments.The haptic interface system is equivalent to two-port network structure of the system.With the Llewellyn criteria,the system of absolute stability conditions are given.To quantitative analyze the performance of the system,the definition of a concept,Z-width is introduced.Z-width.The impact of virtual coupling link and different parameters for Z-width is compared and analyzed.A comparison of the simulation results with virtual coupling links in different domains of stable system performance is conducted.Meanwhile,according to theory,an index function based on absolutely stable performanceoptimization is designed,which can be used to solve the optimal parameters of the virtual coupling to allow the system to achieve its optimal performance.Finally,simulation is conducted to analysis the effect of operators and the virtual coupling to the stability of the system.