Simulation Investigations of Electrohydraulic Drive Controlled by Haptic Joystick∗∗
نویسندگان
چکیده
In the paper a control of electrohydraulic drive made by human operator which uses a special haptic joystick is presented. On the basis of main equations describing electrohydraulic drive, its simulation model is proposed. To this model a simplified model of human operator is added. The paper presents the system stability problem which can occur when in communication with operator, force feedback joystick with magnethoreological fluid brake is used. The chosen simulation results are presented and discussed. These results show that when the operator decreases his force as a result of drive movement resistance increase, the stability problem may occur. The advantages and disadvantages of described communication and control methods are shortly demonstrated.
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Haptic Joystick in Admittance Control of Electrohydraulic Drive
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