Design And Feedback Force Control Of Magnetorheological Damper Based Force Feedback Data Glove

This thesis focus on a force-feedback data glove based on magnetorheological fluid(MRF).Its mechanical structure design,current controller simulation analysis,force feedback control strategy and experiment were studied.The main work accomplished in this thesis is summarized as follow:1.This thesis design a force-feedback data glove based on MRF,and its drive system and transmission system are described in detail.Firstly,the biological structure and coupling motion law of human fingers are introduced,and the finger angle measuring of force-feedback data glove is designed.ANSYS simulation software is used to analyze the magnetic field of the MR damper to ensure that it can generate sufficient force as a driver.2.The current controller of force-feedback data glove based on MRF is studied in this thesis.Firstly,the hardware of the current controller was designed and the BUCK circuit was introduced in detail.Then the state-space averaging method was used to analyze the BUCK circuit.Finally,the simulation platform was built in SIMULINK.By comparing the simulation results,it can be seen that the state-space averaging method can well represent the working state of BUCK circuit.3.The system identification toolbox of MATLAB is used to identify the parameters of the MR damper,and the theoretical model of force control of the data glove is obtained.The force control strategy of data glove based on PID control and adaptive fuzzy PID control is designed.The simulation models of the two controllers are established in SIMULINK,and the simulation results of the two controllers are compared.The results show that the adaptive fuzzy PID controller is better.4.This thesis has established an experimental platform for force feedback data glove.Firstly,the calibration experiment of the pressure sensor is carried out.The results show that there is a certain error in the measurement during the loading and unloading process,but it still presents a good linear relationship.Secondly,the performance of damper is measured.The results show that the damper has good controllability,and the results agree with the simulation results.Finally,the grasping experiment is carried out.The results show that the force is stable within the range of human hand,the limiting grip angle of data glove also proves the correctness of the angle measuring mechanism.