P. Bachman

MR haptic joystick in control of virtual servo drive

In the paper the one-axis haptic joystick is proposed and described. This joystick utilizes a magnethoreological (MR) brake in order to obtain operator movement opposite force which creates feedback force. The MR brake investigations results are shown. The designed and built joystick was then connected to the computer, and used to control of prepared in Matlab/Simulink software, virtual model of electrohydraulic drive. The main equations describing this drive were shortly described. Finally the investigations stand and some results are presented.

Safety Improvement of Industrial Drives Manual Control by Application of Haptic Joystick

This paper presents the research results related to the use of the haptic joystick to control the electrohydraulic and electric linear drives. The main aim of this study is to examine the extent to which the use of haptic interface with force feedback and the corresponding control algorithms can contribute to improving the quality and safety of manual control of these drives. In the research several control algorithms have been proposed and validated. The investigations were performed in simulation and on a test station, using a PC with the input/output card and Simulink software. At first, the simulation model of the hydraulic and DC drive was built and connected with real haptic joystick, which enabled the control algorithm development. Then the same joystick was used in experimental investigations. The obtained results showed that the haptic interface can greatly improve the safety of the control of hydraulic and electric drives.

Investigation of Electrohydraulic Drive Control System with the Haptic Joystick

Abstract The term haptic is used to indicate the presence of force feedback from the manipulated object to the operator. One of the most commonly used haptic devices are joysticks. Such joysticks can be successfully applied also in communication with drive system, giving the human operator a feel of the output force. In the paper one axis joystick with force feedback used to control the electrohydraulic drive is proposed. In this joystick, a controlled brake with magnetorheological fluid and a small DC motor are applied. A beam with a strain gauge is used in a joystick arm, enabling the measurement of the force. In the joystick axis also a potentiometer is assembled, which measured the current arm position. In order to develop the control algorithms an electrohydraulic drive simulation and virtual model is worked out and then a haptic joystick is connected to it. The simulation results that have been obtained, enabled to design and test impedance and admittance control strategies for the system composed of haptic joystick and a real electrohydraulic drive. Finally the whole system is built, implemented and investigated in a laboratory environment. Investigations are conducted in conditions similar to real ones, in a situation where hydraulic piston touches an obstacle and the operator cannot observe this piston very accurately. Fifteen operators have been tested this way. The outcomes indicate that haptic control can improve the human feeling of forces between electrohydraulic drive and an obstacle and, thanks to this, the manual control is more accurate and safer.

The controllability and behavior analysis of piezoelectric bending actuator assembly

In this paper the characteristics of PL112.10 plate piezo-bender are analyzed. Simple numeric model of piezo element was created and compared with real data. The system of accurate position control of piezo element was designed and its features were discussed in context with piezo-bender`s hysteresis and sampling frequency. The achieved results are presented along with the description of used methods and equipment including the description of constructed testing appliance.

ZASTOSOWANIE PROGRAMU PSPICE W BADANIU OBWODÓW ELEKTRYCZNYCH ORAZ W SYMULACJI UKŁADÓW AUTOMATYKI

W artykule opisano mozliwości zastosowania programu PSpice w badaniach obwodow elektrycznych i symulacjach ukladow automatyki. Pokazano tez przyklady zadan z elektrotechniki, elektroniki i automatyki oraz ich rozwiązania w PSpice. Koncowa cześc artykulu zawiera krotki opis innych zadan, jakie mozna wykonac w PSpice.