| 摘要 |
PURPOSE: A VR(visual reality) system is provided to increase a VR feeling by reproducing a VR through a human interface with a VR exercise reproducer controlling by a joystick, and excel in an external disturbance and a modeling error. CONSTITUTION: A system for reproducing a VR exercise comprises a VR exercise reproducer(500), a joystick(300), an image and voice generator(410), a state data processor(420), a ratio differential controller(440), and an optimal controller(520). The VR exercise reproducer(500) generates an image and voice to increase the virtual actual feeling, driving corresponding to the generation. The state data processor(420) outputs a standard signal of the reproducer(500) by processing the VR exercise reproducer(500) as a coordinate value through an input of the state data output from the image and voice generator(410). The ratio differential controller(440) outputs a control of the reproducer generated to the VR reproducer(500), through a ratio differential control by inputting an error signal, which subtracts a position signal of the reproducer depend on a drive of the VR exercise reproducer(500) from the standard signal of the reproducer output from the state data processor(420). The optimal controller(520) outputs to the joystick(300) by generating a control of the feedback joystick, excelling in an external disturbance and a modeling error, through minimum of a function index number in a frequency band.
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