CN107320980B - Eight-axis traction three-dimensional multi-attitude aircraft and control method - Google Patents
Eight-axis traction three-dimensional multi-attitude aircraft and control method Download PDFInfo
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- CN107320980B CN107320980B CN201710680219.4A CN201710680219A CN107320980B CN 107320980 B CN107320980 B CN 107320980B CN 201710680219 A CN201710680219 A CN 201710680219A CN 107320980 B CN107320980 B CN 107320980B
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- 230000001133 acceleration Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 5
- 230000006386 memory function Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 5
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- 241001050985 Disco Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J1/00—Stage arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J5/00—Auxiliaries for producing special effects on stages, or in circuses or arenas
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J5/00—Auxiliaries for producing special effects on stages, or in circuses or arenas
- A63J5/02—Arrangements for making stage effects; Auxiliary stage appliances
Abstract
The invention relates to the field of stage machinery, in particular to an eight-axis traction three-dimensional multi-pose aircraft and a control method. The frame overall structure is a three-dimensional frame, four corners above the three-dimensional frame comprise four upper swing pulleys, a suspended carpet flying plate is arranged in the middle of the frame, the four corners of the carpet flying plate respectively comprise an edge triangular structure, the edge triangular structure comprises an upper lock catch and a lower lock catch, the four upper lock catches and the four lower lock catches are respectively connected with a steel wire rope, each steel wire rope is from a driving machine and can tension the carpet flying plate, the four upper swing pulleys are respectively arranged on pulley mounting frames, one side of each pulley mounting frame can rotate around a rotating shaft, the rotating shaft is positioned on a rotating shaft fixing frame, the rotating shafts are vertically arranged, and the pulley mounting frames are fixed on the frame. The patent reserves the 3d translational movement in the X, Y, Z direction of the original system and increases the tilting and deflection functions along different axes; the safety and reliability of the system are ensured at any time.
Description
Technical Field
The invention relates to the field of stage machinery, in particular to an eight-axis traction three-dimensional multi-pose aircraft and a control method.
Background
In modern performance, in order to increase artistic effect, improve the degree of freedom of actors when carrying out artistic performance, especially in order to adapt to acrobatics, special effect performance needs, realize stage and spectator's interaction, generally can dispose three-dimensional flying man mechanism in stage or spectator's room sky, this flying man mechanism adopts 4 point drive modes of flexible cable, servo speed governing, can make the hoisting point make three-dimensional motion in stage or spectator's room sky certain regional scope. The device can be used as an active carrier for special performances such as acrobatics and the like, and can be used for performing in cooperation with a corresponding single-point crane, so that the performance effect is improved.
The 3d four-axis flying man mechanism is used as stage equipment for realizing three-dimensional movement of a single lifting point, and consists of four single-point cranes and related rope-discharging pulleys, and the three-dimensional movement is perfectly realized through organic coordination of a control system. The 3d four-axis steel wire rope flying mechanism breaks through the defect that the existing equipment (track flying mechanism) cannot flexibly adapt to the performance requirement, and realizes the three-dimensional movement of the hanging point through the different rope winding and unwinding speeds of the four-point steel wire rope (flexible rope parallel connection).
In the early 80 s, the National Institute of Standards and Technology (NIST) began to apply the parallel mechanism principle to solve the problem of swinging of the crane, and studied 6 flexible cable suspended work tables as novel cranes. The parallel flexible cable driving is to replace a rigid connecting rod driving element by a flexible steel wire rope, inherits the advantage of a parallel structure, reduces the weight, reduces the cost, increases the bearing capacity and greatly improves the range of the working space compared with a rigid part. In recent years, the application of the flexible cable parallel robot is gradually increased, technical research staff in various industries are conducting research work on the field of industry, and various flexible cable parallel robots for lifting, detecting, processing, lifting port cargoes, salvaging seabed, sorting logistics, moving feed sources of ultra-large caliber radio telescope and the like are developed.
Because the flexible cable can only apply unidirectional tension, the suspension point force can be closed only by redundant force, the mechanical model is similar to the condition of friction-free point contact grabbing, and n+1 flexible cables are required to be used as driving elements for realizing the movement of n degrees of freedom.
The 3d four-axis flying man mechanism is a general name of the stage industry on the equipment, and in fact, as mentioned above, the product has a development history of nearly forty in the industrial field, and can fully reference the successful experience of the industrial field, consider the special service object of the stage mechanical industry, increase the safety and reliability, and expand a brand-new application field.
With the vigorous development of cultural industry, stage machinery at home and abroad is greatly progressed in variety and performance. In recent years, 3d four-axis flying man mechanisms on stages are often arranged in large and standard performance venues to match with the artistic creation of directors so as to achieve the visual effect of changing the moist.
However, the structure of the prior art cannot realize the change of complex bit states, has limited flexibility, and cannot realize automatic control and simulation.
Disclosure of Invention
The purpose of the invention is that: in order to provide an eight-axis traction three-dimensional multi-attitude aircraft with better effect and a control method, specific purposes are seen from a plurality of substantial technical effects of the specific implementation part.
In order to achieve the above purpose, the invention adopts the following technical scheme:
scheme one:
eight-axis traction three-dimensional multi-attitude aircraft, which is characterized by comprising a frame, the frame overall structure is a three-dimensional frame, four corners above the three-dimensional frame comprise four upper swing pulleys, a suspended carpet flying plate is arranged in the middle of the frame, four corners of the carpet flying plate respectively comprise an edge triangular structure, the edge triangular structure comprises upper lock catches and lower lock catches, the four upper lock catches and the four lower lock catches are respectively connected with a steel wire rope, each steel wire rope is from a driving machine and can tighten the carpet flying plate, the four upper swing pulleys are respectively arranged on a pulley mounting frame, one side of the pulley mounting frame can rotate around a rotating shaft, the rotating shaft is positioned on a rotating shaft fixing frame, the rotating shaft is vertically arranged, and the pulley mounting frame is fixed on the frame.
The pulley mounting frame further comprises a guide wheel, and the guide wheel is positioned on the side of the upper swing pulley.
The invention further adopts the technical scheme that the flying blanket board is provided with the flying blanket.
Scheme II:
the control method of the eight-axis traction three-dimensional multi-attitude aircraft is characterized by comprising the following steps of,
setting an operation route and an attitude of the fly carpet board, performing curve editing, and performing curve editing by adopting an algorithm for generating a smooth processing curve based on a cubic spline curve;
applying commands to eight different motors, and performing acceleration and deceleration control based on an acceleration and deceleration control algorithm of an s curve;
and (5) the steel wire is wound and unwound by a driving machine, so that the control and the position adjustment of the fly carpet board are performed.
The invention further adopts the technical scheme that the method also comprises the step of immediately identifying the state of the flying blanket, namely adopting a three-dimensional view control algorithm based on a track ball to carry out three-dimensional view drawing, and adopting a camera to carry out state condition expression, wherein the state comprises the inclination degree, the height and the horizontal position of the flying blanket.
The method is characterized by further comprising the step of track recording, wherein the track recording means that in a manual mode, the equipment can manually operate the equipment, the curve of the manually operated equipment is recorded, and the curve memory function of the equipment is completed.
The method and the device have the further technical scheme that the method and the device also comprise a track playback step, wherein the track playback step is that a user can select a recorded track to play back, so that a curve playback function is realized.
The invention further adopts the technical scheme that the editing mode is used for completing programming of the running curve of the equipment, the running track of the curve and the running time of each section of curve can be defined at will, the curve can be automatically smoothed after the key points are set in a CAD drawing mode, and meanwhile, the time can be independently programmed for each section of curve in a sectional time defining mode.
Compared with the prior art, the invention adopting the technical scheme has the following beneficial effects: the four-axis Weiya aircraft expands functions on the basis of the original four-axis Weiya aircraft, realizes the span from the free state of the Weiya center point to the controllable posture, reserves the 3d translational movement in the X, Y, Z direction of the original system, and increases the tilting and deflecting functions along different axes; the driving unit of the aircraft adopts a servo motor system capable of fast response, calculates the rope length corresponding to the position and gradient to be achieved by the central point in real time through an efficient algorithm of an upper industrial personal computer in a control system, and controls the running direction and the rotating speed of eight motors in real time, so that the safe boundary of the central point of the flying mechanism is ensured, and the aircraft runs fast according to a preset track to meet the accurate requirement of motion control; meanwhile, the safety and reliability of the system are ensured at any time through the tension measurement of the steel wire rope (through a winding drum and a torque sensor fed back to the inside of the motor by a speed reducer).
Drawings
For further explanation of the invention, reference is made to the following further description, taken in conjunction with the accompanying drawings:
FIG. 1 is a schematic diagram of a side implementation of the invention;
FIG. 2 is a schematic top view of the invention;
FIG. 3 is a schematic view of a side securing structure of a fly mat;
FIG. 4 is a diagram of the installation structure of the upper swing pulley;
description of the drawings: 1. a driving machine; 2. a drive machine shroud; 3. a driving machine mounting clamping plate; 4. an upper swing pulley; 51. a first steel wire rope; 52. a second steel wire rope; 53. a steel wire rope III; 54. a steel wire rope IV; 55. a steel wire rope V; 56. a steel wire rope six; 57. a wire rope seven; 58. a steel wire rope eight; 6. a fly carpet board; 7. a rotating shaft fixing frame; 9. a side triangular structure; 10. a lock catch is arranged; 11. a lower lock catch; 12. a fixed point; 13. a pulley mounting rack; 14. a frame; 15. a fixed structure; 16. a rotating shaft; 17. a bearing; 18. and a guide wheel.
The drawings are schematic views of the main components of the device, and do not represent the external dimensions, connection modes, assembly modes, positional relationships and the like of the device, and parts and the like are omitted from the drawings.
Detailed Description
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
Scheme one:
eight-axis traction three-dimensional multi-attitude aircraft is characterized by comprising a frame 14, the whole structure of the frame 14 is a three-dimensional frame, four corners above the three-dimensional frame comprise four upper swing pulleys 4, a suspended fly blanket plate 6 is arranged in the middle of the frame, the four corners of the fly blanket plate 6 respectively comprise an edge triangular structure 9, an upper lock catch 10 and a lower lock catch 11 are arranged on the edge triangular structure 9, the four upper lock catches and the four lower lock catches are respectively connected with a steel wire rope, each steel wire rope is from a driving machine 1, the fly blanket plate 6 can be tensioned, the four upper swing pulleys 4 are respectively arranged on a pulley mounting frame 13, one side of the pulley mounting frame 13 can rotate around a rotating shaft, the rotating shaft 16 is positioned on a rotating shaft fixing frame 8, the rotating shaft 16 is vertically arranged, and the pulley mounting frame 13 is fixed on the frame. The technical scheme has the substantial technical effects and the realization process as follows: the control is creatively carried out by adopting eight steel wire ropes, namely so-called eight-shaft traction, the flexibility is higher, when the device works, the servo driving motors comprise eight steel wire ropes, four steel wire ropes are used for providing power for the upper steel wire ropes, the four steel wire ropes are used for providing power for the lower steel wire ropes, the upper steel wire ropes pass through the guide pulleys and the upper swing pulleys and are connected with the upper lock catches, the lower steel wire ropes are connected to the lower lock catches, and of course, the device is a better implementation mode that the guide pulleys are arranged at the lower part of the frame, and the lower steel wire ropes pass through the guide pulleys arranged at the lower part and are connected with the lower lock catches; the eight servo driving motors are used for adjustment, so that more bit states can be realized, and the flexibility is higher.
The pulley mounting frame also comprises a guide wheel 18, and the guide wheel 18 is positioned at the side of the upper swing pulley 4.
And the flying blanket board is provided with a flying blanket.
Scheme II:
the control method of the eight-axis traction three-dimensional multi-attitude aircraft is characterized by comprising the following steps of,
setting an operation route and an attitude of the fly carpet board, performing curve editing, and performing curve editing by adopting an algorithm for generating a smooth processing curve based on a cubic spline curve;
applying commands to eight different motors, and performing acceleration and deceleration control based on an acceleration and deceleration control algorithm of an s curve;
and (5) the steel wire is wound and unwound by a driving machine, so that the control and the position adjustment of the fly carpet board are performed.
The invention further adopts the technical scheme that the method also comprises the step of immediately identifying the state of the flying blanket, namely adopting a three-dimensional view control algorithm based on a track ball to carry out three-dimensional view drawing, and adopting a camera to carry out state condition expression, wherein the state comprises the inclination degree, the height and the horizontal position of the flying blanket.
The method is characterized by further comprising the step of track recording, wherein the track recording means that in a manual mode, the equipment can manually operate the equipment, the curve of the manually operated equipment is recorded, and the curve memory function of the equipment is completed.
The method and the device have the further technical scheme that the method and the device also comprise a track playback step, wherein the track playback step is that a user can select a recorded track to play back, so that a curve playback function is realized.
The invention further adopts the technical scheme that the editing mode is used for completing programming of the running curve of the equipment, the running track of the curve and the running time of each section of curve can be defined at will, the curve can be automatically smoothed after the key points are set in a CAD drawing mode, and meanwhile, the time can be independently programmed for each section of curve in a sectional time defining mode.
Compared with the prior art: the four-axis Weiya aircraft expands functions on the basis of the original four-axis Weiya aircraft, realizes the span from the free state of the Weiya center point to the controllable posture, reserves the 3d translational movement in the X, Y, Z direction of the original system, and increases the tilting and deflecting functions along different axes; the inclination and the deflection are realized through the retraction and the release of four steel wire ropes at the same side; the driving unit of the aircraft adopts a servo motor system capable of fast response, calculates the rope length corresponding to the position and gradient to be achieved by the central point in real time through an efficient algorithm of an upper industrial personal computer in a control system, and controls the running direction and the rotating speed of eight motors in real time, so that the safe boundary of the central point of the flying mechanism is ensured, and the aircraft runs fast according to a preset track to meet the accurate requirement of motion control; meanwhile, the safety and reliability of the system are ensured at any time through the tension measurement of the steel wire rope (through a winding drum and a torque sensor fed back to the inside of the motor by a speed reducer).
The technical effect that above structure realized realizes clearly, if not considering additional technical scheme, this patent name can also be a multidimensional stage structure. Some details are not shown in the figures.
It should be noted that, the multiple schemes provided in this patent include the basic schemes of itself, are independent of each other and are not restricted to each other, but they can also be combined with each other under the condition of no conflict, so as to achieve multiple effects together.
The eight-axis traction three-dimensional multi-gesture aircraft control system consists of eight driving mechanisms and a matched control system. The system controls and coordinates the speeds and rotation positions of eight driving machines through various algorithms, and realizes free movement or tilting movement of actors in the stage effective three-dimensional space area according to different tracks required by director performance effects, thereby realizing satisfactory deduction effects.
Hardware configuration
I. Master control PLC:
the system adopts the German Beifu series PLC, and is stable and reliable:
1. the operation speed is high, for a conventional PLC, the scanning period of the system is generally more than 5ms, the operation speed of the PLC which is multiple times of the speed can be set to be shorter than 500us, the operation of the aircraft track is convenient, and the real-time performance is high.
2. The bus speed is high, the double-Fu PLC mainly adopts a double-Fu Ethercat bus, the bus speed can be controlled within 100us by scanning eight devices, the adjustment speed of bottom driving devices is high, and the response accuracy of the devices is high.
3. The application range is wide, the method is widely applied to industries needing motion control at present, and the latest disco and other show fields all adopt the control system.
Servo drive and servo motor
The servo drive and the servo motor adopt German Beifu products and have the following characteristics:
1. single or dual channel servo drive
2. High-speed EtherCAT communication
3. Various rated current types, maximum 170A
4. Motor type selection flexibility
5. Optimizing for multiaxial applications for positioning tasks with high dynamic and performance requirements
6. Three-phase permanent magnet brushless servo motor
Software for providing a plurality of applications
Advanced stage control software is written in a high-level language c#, the interface dynamic response speed is high, and the response speed is far superior to that of a control program written in configuration software.
The operation mode of the software is selected by a computer and is controlled by matching with a handle on an operation table, so that the operation is safe and reliable. By programming the computer software, the functions of track programming, recording, playback and the like can be easily realized. Eight groups of single-point cranes can be combined to form an eight-axis traction three-dimensional multi-attitude aircraft, and can also be detached to be used as a common single-point crane.
1. The operation mode is as follows: the operation modes of the system are flexible, such as an editing mode, a manual mode, an automatic mode and the like.
2. General curve editing: the editing mode is mainly used for completing programming of the running curve of the equipment, the running track of the curve and the running time of each section of curve can be defined at will, a CAD-like drawing mode is adopted, the curve can be automatically smoothed after key points are set, and meanwhile, a sectional time defining mode is adopted, so that independent programming of time can be carried out on each section of curve.
3. Editing a special curve: in a special curve editing mode, the system provides multiple curves for rapid programming, and the curves including straight lines, sine curves, cosine curves, spiral lines and the like are selected, so that a user can conveniently and rapidly demonstrate and use the system practically.
4. Track recording: in the manual mode, the equipment can be operated manually, the curve of the equipment operated manually is recorded, and the curve memory function of the equipment is completed.
5. Track playback: the user can select the recorded track for playback, and the curve playback function is realized.
6. And (3) device management: the device management can flexibly set the device parameters such as soft limit, zero clearing position, current position and the like of the device.
7. System state, device state: the system status and device status, including status information for each switch of the device, may be reviewed.
8. And (3) log management: information such as alarm logs, operation records and the like of the system can be checked.
Motion control algorithm
Algorithm design: in order to meet the requirements of the eight-axis traction three-dimensional multi-attitude aircraft in terms of control precision, speed, safety and the like, a large number of corresponding control algorithms, such as fault prediction and treatment, soft redundancy design, motion curve design, internal function design of a controller and the like, are required to be designed.
1. Curve editing, adopting algorithm for generating smooth processing curve based on cubic spline curve
2. Acceleration and deceleration control, acceleration and deceleration control algorithm based on s curve
3. Three-dimensional view, three-dimensional view control algorithm based on track ball
Innovations and advances
The system adopts a three-dimensional view to design, can easily realize a three-dimensional simulation function, and can realize functions of track programming, recording, playback and the like through programming of computer software. The system adopts various algorithms, a track generation algorithm based on spline curves, an acceleration and deceleration control algorithm based on S curves, a three-dimensional view control algorithm based on track ball control and the like.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, which have been described in the foregoing description merely illustrates the principles of the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (8)
1. Eight-axis traction three-dimensional multi-attitude aircraft is characterized in that the integral structure of a frame (14) is a three-dimensional frame, four corners above the three-dimensional frame comprise four upper swing pulleys (4), a suspended fly blanket plate (6) is arranged in the middle of the frame, the four corners of the fly blanket plate (6) respectively comprise an edge triangular structure (9), the edge triangular structure (9) comprises an upper lock catch (10) and a lower lock catch (11), the four upper lock catches and the four lower lock catches are respectively connected with a steel wire rope, each steel wire rope is from a driving machine (1), the fly blanket plate (6) can be tensioned, the four upper swing pulleys (4) are respectively arranged on pulley mounting frames (13), one side of each pulley mounting frame (13) can rotate around a rotating shaft, the rotating shaft (16) is positioned on a rotating shaft fixing frame (8), the rotating shaft (16) is vertically arranged, and the pulley mounting frames (13) are fixed on the frame.
2. The eight-axis towed three-dimensional multi-attitude aircraft according to claim 1, characterized in that said pulley mount further comprises a guide wheel (18), said guide wheel (18) being located on the side of the upper swing pulley (4).
3. Eight-axis towed three-dimensional multi-attitude aircraft according to claim 1, characterized in that said fly carpet tile (6) has fly carpets placed thereon.
4. A control method for an eight-axis towed three-dimensional multi-attitude aircraft, characterized in that the eight-axis towed three-dimensional multi-attitude aircraft according to any one of claims 1 to 3 is used, comprising the steps of,
setting an operation route and an attitude of the fly carpet board, performing curve editing, and performing curve editing by adopting an algorithm for generating a smooth processing curve based on a cubic spline curve;
applying commands to eight different motors, and performing acceleration and deceleration control based on an acceleration and deceleration control algorithm of an s curve;
and (5) the steel wire is wound and unwound by a driving machine, so that the control and the position adjustment of the fly carpet board are performed.
5. The method for controlling an eight-axis towed three-dimensional multi-attitude aircraft according to claim 4, further comprising the step of immediately identifying the state of a flying blanket, namely, carrying out three-dimensional view drawing by adopting a three-dimensional view control algorithm based on a track ball, and simultaneously carrying out state expression by adopting a camera, wherein the state comprises the inclination degree, the height and the horizontal position of the state.
6. The method of claim 4, further comprising the step of track recording, wherein the track recording means that in the manual mode, the device can manually operate the device, and the curve of the manually operated device is recorded, so as to complete the curve memory function of the device.
7. The method for controlling an eight-axis towed three-dimensional multi-attitude aircraft according to claim 4, further comprising the step of track playback, wherein the track playback is that a user can select a recorded track for playback, and a curve playback function is realized.
8. The control method of the eight-axis traction three-dimensional multi-attitude aircraft according to claim 4, wherein an editing mode is used for completing programming of equipment operation curves, the track of curve operation and the time of each section of curve operation can be defined arbitrarily, a CAD drawing mode is adopted, the curve can be automatically smoothed after key points are set, and meanwhile, a time-division time-definition mode is adopted, so that time-independent programming can be carried out for each section of curve.
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| CN112057883B (en) * | 2020-09-08 | 2021-11-02 | 北京北特圣迪科技发展有限公司 | Attitude control method for four-hoisting-point flexible cable performance suspension platform |
| CN114003054B (en) * | 2021-11-02 | 2024-02-27 | 浙江大丰实业股份有限公司 | Three-dimensional aircraft attitude control method, system and electronic equipment |
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| EP0722756A1 (en) * | 1995-01-20 | 1996-07-24 | Krupp Industrietechnik Gmbh | Method for moving an object hanging on a cable |
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