Design And Research Of Engineering Vehicle Remote Control Based On Force Feedback

In the dangerous environment,the remote control system adds force feedback to enable the operator to feel the true manipulation feeling,realize the sense of presence on the spot,grasp the motion state of the controlled object in real time,and make timely adjustments to control instructions to ensure that the accused is controlled,ensure the object can operate accurately and reliably under remote control,which can greatly reduce the casualties and increase the operator's comfort.Therefore,it is of great practical significance to study the remote control system of engineering vehicles based on force feedback.By analyzing the research status of the remote control system based on force feedback and combining with the actual engineering needs of the system,we design and research the remote control system of the engineering vehicle based on force feedback.This paper analysis of the overall remote control system,the system mainly includes the console part,the controlled object part and the data communication part,and the controlled object part is not in the scope of the study.Analyze the advantages and disadvantages of the remote control method and control structure,and select the remote control method and control structure suitable for the system.The paper designs the force feedback structure of the steering system,pedal system and shifting system of the console in detail,and performs kinematic analysis and mathematical model establishment for some systems.Details of the sensor,data acquisition system,motion control system,data transmission system and industrial control computer system hardware equipment selection,and the use of LabVIEW software as a tool for software development of the control system,the design of each function module subroutine,satisfy the real-time display and data transmission and receiving requirements of the system to the vehicle running state.The current and torque double-loop PID control strategy for steering motor torque motors is studied.through the simulation verify the validity of the control method,ensure the accuracy of the steering force feedback,Provide reliable road information for the operator.At the same time,functional tests are performed on data transmission and position tracking modules.Verify the rationality of each module's program design,ensure the accuracy of data transmission,position tracking,and data display,and realize the coordination and unification of remote control system hardware and software.Eventually the system realizes accurate force feedback,enhances the effectiveness of remote vehicle control,and satisfies the established requirements of remote control systems based on force feedback.