Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System

摘要

We have conducted experiments of operating a force operating joystick to the sound. Test subjects listen to white noise with square envelope in a semi anechoic room and joystick operating force is measured. We have seen that time waveform of operating force varies among experiments. Variation in operating force depends on day, test subject, etc. And, we have established an acoustic control system that feedbacks operating force for realizing target value of joystick operating force. We conducted a constant-value control experiment using PI control in which each control parameters' effects are studied. As a result, among three existing control parameter tuning methods, Cohen-Coon's control parameter tuning method is the most appropriate for our system.