Three-coil attitude-adjustable electromagnetic force feedback device and attitude calculating and current intelligent control method thereof

Abstract

The invention discloses a three-coil attitude-adjustable electromagnetic force feedback device and a coil attitude calculating and coil current intelligent control method thereof. According to the technical scheme of the invention, a probability description-based interactive application demand model is established for different electromagnetic forces varied in magnitude and direction in different space ranges, and a coil attitude calculating method for reducing the power dissipation of different interactive applications is designed based on the above demand model. Meanwhile, an integrated current intelligent control method is provided. The method comprises a coil current control interface circuit based on an ARM Cortex-M3 embedded microcontroller and an H-bridge driver, wherein one or more sampling resistors connected in parallel are sampled by a current sensor according to the requirements of different interactive application demands on the feedback force range and the precision. In this way, the high-precision current-sampling technique capable of improving the current sampling precision and lowering the power consumption is realized. Meanwhile, on the basis that the coil current is sampled by the above technique, the intelligent adjustment of the coil current based on the self-adaptive fuzzy PID algorithm is realized.

Description

technical field [0001] The invention relates to the field of human-computer interaction, in particular to an electromagnetic force feedback device with adjustable three-coil posture and a posture calculation and current intelligent control method thereof. Background technique [0002] In the 1990s, Berkelman et al. had conducted research on electromagnetic force feedback technology, but the equipment they designed was very primitive and bulky, the handle was constrained in the frame, and the range of motion was small [1][2]. Salcudean[3] and Brink[4] et al. conducted research on the method of simulating the touch of solid walls and friction through electromagnetic force feedback, but Brink only studied the case of a single coil, and Salcudean made a large device . [0003] In recent years, the two teams of Berkelman and Hu respectively published new results in electromagnetic force feedback. Berkelman perfected the linear model of the current and electromagnetic force of t...

AI Technical Summary

Problems solved by technology

[0015] Aiming at the problem that the coils of the electromagnetic force feedback equipment are not rigorously placed in the past, the present invention introduces the concept that the position of the coils is related to the requirements of the interactive application, establishes a model describing the electromagnetic field requirements of the interactive application, and gives the requirements according to the interactive application requirements. Method for Computing Coil Pose

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