针对主从力反馈双向伺服系统存在力反馈冲击大问题,采用力直接反馈-位置型控制策略,对力反馈双向伺服进行建模,分析位置干扰,设计参数自整定FUZZY-PID控制器。通过MATLAB/Simulink软件平台仿真,仿真结果表明:采用PID控制时,调整时间约为0.2s,超调并且振荡较为剧烈。用参数自整定PID控制时,其超调为零,稳误差几乎为零,调整时间约为0.1s,同时解决了力反馈双向伺服力反馈冲击过大问题。其FUZZY-PID控制器参数整定过程简单、快速,力反馈双向伺服系统的动态、稳态性能良好。 In order to solve the problem of force feedback and impact in two-way servo system with master-slave force feedback, a force direct feedback-position control strategy is used to model the force feedback bi-directional servo system. The position disturbance and the design parameters self-tuning FUZZY-PID controller are analyzed. Through the MATLAB / Simulink software platform simulation, the simulation results show that: when using PID control, the adjustment time is about 0.2s, overshoot and the oscillation is more intense. Self-tuning PID control parameters, the overshoot to zero, the steady error is almost zero, the adjustment time is about 0.1s, while addressing the force feedback bi-directional servo feedback impact too large. Its FUZZY-PID controller parameter setting process is simple, fast, force feedback bi-directional servo system dynamic, steady-state performance is good.