CN109696825A - The control response method, apparatus and steering engine of steering engine - Google Patents
The control response method, apparatus and steering engine of steering engine Download PDFInfo
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- CN109696825A CN109696825A CN201710991782.3A CN201710991782A CN109696825A CN 109696825 A CN109696825 A CN 109696825A CN 201710991782 A CN201710991782 A CN 201710991782A CN 109696825 A CN109696825 A CN 109696825A
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- 230000004044 response Effects 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000009471 action Effects 0.000 claims abstract description 80
- 241000208340 Araliaceae Species 0.000 claims 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 2
- 235000008434 ginseng Nutrition 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 46
- 230000008569 process Effects 0.000 description 23
- 230000006870 function Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000019491 signal transduction Effects 0.000 description 2
- 208000010138 Diastema Diseases 0.000 description 1
- 230000008649 adaptation response Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 210000000475 diastema Anatomy 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Abstract
The present invention is suitable for robotic technology field, provides the control response method, apparatus and steering engine of a kind of steering engine, comprising: obtains the action command that main control unit issues；The instruction control parameter of steering engine corresponding with the action command is obtained, and determines that there are multiple working hours of corresponding relationship with described instruction control parameter；Obtain the current runing time of steering engine；It determines the working hour where the runing time, and executes the response to the action command based on the working hour corresponding described instruction control parameter.Steering engine is enabled to adapt to its motion requirement in the different working hours of joint of robot through the invention, effectively guarantee quick response when steering engine starting, run smoothly and non-jitter when off-position, without overshoot, improve the effect of applicability and control response of the steering engine in actual items.
Description
Technical field
The invention belongs to robotic technology fields, are related to the control response method, apparatus and steering engine of a kind of steering engine.
Background technique
Robot whole body possesses many joints up and down, to keep the machine portrait mankind equally movable, in addition to write planning
Outside the program in its path, it is also necessary to control joint, wherein typically control equipment is steering engine.Steering engine early stage is applied to
Direction is controlled in model plane, but since its is small in size, weight is light, torque is big, precision is high, is just applied in robot gradually,
As the coupling part in each joint, the positioning and movement in each joint are completed.
In the traditional control response method in steering engine field, in order to keep control process easier, usually in robot motion
It is whole steering engine is all controlled using same control response method, i.e. steering engine is always consistent to the speed of response of instruction.But
It is that this control response method is that the operation of steering engine brings drawback, since robot is starting is initial, the operation phase, last
The motion state of stop phase is all different, and requires nature different the response efficiency of steering engine, such as, the mechanical structure of steering engine
There are certain structure diastema for itself, in the last stopping link of robot, if using traditional control response method, it can
Lead to steering engine overshoot shake.So existing steering engine control response method is not suitable with the actual use that steering engine carries out instruction response
Scene can reduce the service performance of steering engine.
Summary of the invention
In view of this, the embodiment of the invention provides the control response method, apparatus and steering engine of steering engine, to solve existing rudder
The control response method of machine is not suitable with the actual use scene that steering engine carries out instruction response, can be to the service performance for reducing steering engine
Problem.
The first aspect of the embodiment of the present invention provides a kind of control response method of steering engine, comprising:
Obtain the action command that main control unit issues；
The instruction control parameter of steering engine corresponding with the action command is obtained, and determining and described instruction control parameter exists
Multiple working hours of corresponding relationship；
Obtain the current runing time of steering engine；
It determines the working hour where the runing time, and is based on the working hour corresponding described instruction control
Parameter processed executes the response to the action command.
The second aspect of the embodiment of the present invention provides a kind of control response device of steering engine, comprising:
First acquisition unit, for obtaining the action command of main control unit sending；
Second acquisition unit, for obtaining the instruction control parameter of steering engine corresponding with the action command, and determining and institute
Stating instruction control parameter, there are multiple working hours of corresponding relationship；
Third acquiring unit, for obtaining the current runing time of steering engine；
Response unit for determining the working hour where the runing time, and is based on the working hour pair
The described instruction control parameter answered executes the response to the action command.
The third aspect of the embodiment of the present invention provides a kind of steering engine, including control circuit, and the control circuit executes such as
The step of control response method of the upper steering engine.
In embodiments of the present invention, the action command issued by obtaining main control unit, obtains and the action command pair
The instruction control parameter of steering engine is answered, and determining and described instruction control parameter is obtained there are multiple working hours of corresponding relationship
The current runing time of steering engine determines the working hour where the runing time, and corresponding based on the working hour
Described instruction control parameter execute response to the action command, enable steering engine in the different works of joint of robot
Adapt to its motion requirement as the period, effectively guarantee quick response when steering engine starting, run smoothly and non-jitter when off-position,
Without overshoot, the effect of applicability and control response of the steering engine in actual items is improved.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation flow chart of the control response method for the steering engine that the embodiment of the present invention one provides；
Fig. 2 is the implementation flow chart of the control response method of steering engine provided by Embodiment 2 of the present invention；
Fig. 3 is the implementation flow chart of the control response method for the steering engine that the embodiment of the present invention three provides；
Fig. 4 is the structural block diagram of the control response device for the steering engine that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
The embodiment of the present invention obtains the action command that main control unit issues；Obtain the finger of steering engine corresponding with the action command
Control parameter is enabled, and determines that there are multiple working hours of corresponding relationship with described instruction control parameter；It is current to obtain steering engine
Runing time；It determines the working hour where the runing time, and is based on the working hour corresponding described instruction
Control parameter executes the response to the action command.In order to illustrate technical solutions according to the invention, below by specific reality
Example is applied to be illustrated.
Fig. 1 shows the implementation process of the control response method of the steering engine of the offer of the embodiment of the present invention one, and details are as follows:
In S101, the action command that main control unit issues is obtained.
Steering engine will enter operating status, in addition to working in the inferior necessary condition of suitable supply voltage, it is also necessary to reception pair
The action command answered plans its path of motion.Above-mentioned action command is issued by the main control unit being connected with steering engine.In robot
In field, action command can be a kind of pulse-width signal, be generated by the controller being connected with steering engine control line, and pass through electricity
Signal transduction after the demodulation of steering engine, then is transmitted to specific driving circuit and is executed to steering engine.In this step, rudder
Machine obtains the action command that main control unit issues, and determines the action response path within a period of time later.
In S102, the instruction control parameter of steering engine corresponding with the action command, and determining and described instruction control are obtained
There are multiple working hours of corresponding relationship for parameter processed.
The motion process of steering engine needs to be limited with instruction control parameter, and the parameter of this quantization may be by one kind
Control method, control strategy determine, are not limited to a certain data format.Its feature can make steering engine during exercise to instruction
The speed of response changes, and parameter itself has controllability, can be suitably used for most of action situations of steering engine movement.By
The complexity of process is executed instruction in steering engine, steering engine might have multiple instruction control parameter, get above-mentioned multiple fingers
After enabling control parameter, according to ad hoc rules, the multiple working hours of steering engine from front to back can be determined.Wherein, ad hoc rules is
It may be the sequence of acquisition instruction control parameter, it is also possible to instruct in control parameter for distinguishing the rule of working hour
What is contained can be used to determine the part of working hour.
In actual project situation, the instruction control parameter situation identical there may be numerical value, for example, the operation of steering engine
For process using the middle time point of its whole process as separation, the instruction control parameter of first half and latter half is in mirror image pair
It answers.Due to being according to ad hoc rules acquisition instruction control parameter, so that different working hours is distinguished, so while certain fingers
It enables control parameter numerical value identical, also can determine that out correct multiple working hours.
In S103, the current runing time of steering engine is obtained.
Since the whole work process of steering engine is the response process to action command, and response process is by time conduct
Governing factor, so needing to obtain steering engine current after multiple working hours present in steering engine whole work process have been determined
Runing time, to determine that it makes action response to action command using any instruction control parameter.Usually, steering engine
Current runing time is to start timing after steering engine receives a new work order.In some special working conditions
Under, the current runing time of steering engine is also possible to count since powering on steering engine, exists using the steering engine that numerical value is handled
Receive the time after action command.
Preferably, step S103 is optimized, available following steps:
After receiving the action command, the timer of the steering engine starts timing, obtains current timing time and makees
For the runing time.
Main control unit is conducted action command to steering engine by electric signal, and when steering engine is ready to carry out the action command,
Steering engine can notify timer to start timing at once, and the timer can be the included clock of steering gear system, be also possible to steering engine
The external device that can carry out timing in port.In timing course, steering engine can obtain current timing time at any time, and make
The runing time of action command is executed for steering engine.
In S104, the working hour where the runing time is determined, and corresponding based on the working hour
Described instruction control parameter executes the response to the action command.
After the multiple working hours for determining steering engine, since the multiple working hour is the finger received in steering engine
It under the runing time of order, and is distinguished by instruction control parameter, so the case where there is no period overlappings.Getting rudder
It after the real time execution time of machine, can determine which working hour it belongs to by time point, it is corresponding to recall working hour
Instruction control parameter, steering engine carries out response to work order under the intervention control of corresponding instruction control parameter.
Through embodiment illustrated in fig. 1 it is found that in the embodiment of the present invention one, referred to by obtaining the movement that main control unit issues
It enables, obtains the instruction control parameter of steering engine corresponding with the action command, and determine that there are corresponding with described instruction control parameter
Multiple working hours of relationship obtain the current runing time of steering engine, determine the working hour where the runing time,
And the response to the action command is executed based on the working hour corresponding described instruction control parameter, so that steering engine is realized
The response of multisection type action command, can be when steering engine executes action command response, and different periods is dynamic during adaptive response
Make demand, improves service performance.
It is the flow chart of the control response method of steering engine provided by Embodiment 2 of the present invention, the control response side shown in Fig. 2
Method can be applied to robot steering engine, as shown, the control response method may comprise steps of:
In S201, the action command that main control unit issues is obtained.
Steering engine will enter operating status, in addition to working in the inferior necessary condition of suitable supply voltage, it is also necessary to reception pair
The action command answered plans its path of motion.Above-mentioned action command is issued by the main control unit being connected with steering engine, in robot
In field, action command can be a kind of pulse-width signal, be generated by the controller being connected with steering engine control line, and pass through electricity
Signal transduction after the demodulation of steering engine, then is transmitted to specific driving circuit and is executed to steering engine.In this step, rudder
Machine obtains the action command that main control unit issues, and determines the action response path within a period of time later.
In S202, instruction control parameter set corresponding with the action command, described instruction control parameter collection are obtained
Include one or more described instruction control parameters in conjunction, and determines that there are the multiple of corresponding relationship with described instruction control parameter
Working hour.
In certain specific projects, the instruction control parameter of the corresponding action command for instructing steering engine to make movement can
It can be not merely a kind of numerical value or factor, and may be the set of multiple instruction control parameter.For example, in the control response of steering engine
In method, it can usually use PID (proportional-integral-differential) control method and be controlled.In application PID control method, need
Three kinds of instruction control parameters are adjusted, including proportionality coefficient, integration time constant and derivative time constant.
Generally, scaling up coefficient can accelerate the response speed of system, but if proportionality coefficient is excessive, can make be
System generate overshoot, and generate oscillation or increase the number of oscillation, lengthen regulating time, and make system stability degenerate or make be
System becomes unstable, if proportionality coefficient is too small, and can make the slow movement of system；For integration time constant, increase
Integration time constant be conducive to reduce overshoot, reduce oscillation, keep system more stable, but to extend simultaneously system eliminate static difference when
Between, and integration time constant is too small, can reduce the stability of system, increases the number of oscillation of system；By adjusting differential control
Constant can improve the dynamic characteristic of system, such as reduce overshoot, shorten regulating time, after the control of the ratio of increasing, can make stable state
Error reduce, mention high control precision, adjust when, if derivative time constant is bigger than normal or less than normal, the overshoot of system still compared with
Greatly, regulating time is still longer, and only suitable derivative time constant could obtain satisfied transient process.
From the effect of three kinds of instruction control parameters of PID control method as can be seen that the variation of three kinds of instruction control parameters
The action command response effect that will have a direct impact on steering engine, so in embodiments of the present invention, obtaining and the action command pair
The instruction control parameter set answered can more meet the actual control response process of steering engine.
In S203, the current runing time of steering engine is obtained.
Since the whole work process of steering engine is the response process to action command, and response process is by time conduct
Governing factor, so needing to obtain steering engine current after multiple working hours present in steering engine whole work process have been determined
Runing time, to determine that it makes action response to action command using any instruction control parameter.Usually, steering engine
Current runing time is to start timing after steering engine receives a new work order.In some special working conditions
Under, the current runing time of steering engine is also possible to count since powering on steering engine, exists using the steering engine that numerical value is handled
Receive the time after action command.
In S204, the working hour where the runing time is determined, and corresponding based on the working hour
Described instruction control parameter executes the response to the action command.
After the multiple working hours for determining steering engine, since the multiple working hour is the finger received in steering engine
It under the runing time of order, and is distinguished by instruction control parameter, so the case where there is no period overlappings.Getting rudder
It after the real time execution time of machine, can determine which working hour it belongs to by time point, it is corresponding to recall working hour
Instruction control parameter, steering engine carries out response to work order under the influence control of corresponding instruction control parameter.
In the embodiment of the present invention two, by obtaining instruction control parameter set corresponding with the action command, so that
The control response process of steering engine more meets actual application scenario, promotes the applicability of the control response method of steering engine；Meanwhile it is logical
It crosses after being set in and receiving action command, the timer of steering engine starts timing, and as the runing time of instruction, improving the time is obtained
The accuracy taken.
In acquisition described above instruction control parameter corresponding with the action command, and determining and described instruction controls
There are multiple working hours of corresponding relationship for parameter, as shown in figure 3, can advanced optimize as another embodiment of the invention
Three, the program is accomplished by
In S301, obtain it is corresponding with the action command first instruction control parameter, second instruct control parameter and
Third instructs control parameter, and the determining and described first instruction control parameter, the second instruction control parameter and the third
Instruction control parameter is respectively present starting working hour of corresponding relationship, the working hour of operation and stops working the period.
In common practical application project, the working hour of steering engine can be divided into three sections.It is passed receiving main control unit
After defeated action command, steering engine gets the first instruction control parameter, into starting working hour, this period steering engine driving
Circuit generates rapidly enough driving forces；Subsequent steering engine gets the second instruction control parameter, into operation working hour, this
The time of period usual longest；Last steering engine gets third instruction control parameter, into the period that stops working, it is desirable that steering engine without
The stopping movement of shake ground.
In S302, if the runing time is located at the starting working hour, based on the first instruction control parameter
Execute the first response；If the runing time is located at the operation working hour, executed based on the second instruction control parameter
Second response；If the runing time stops working the period described in being located at, third is executed based on third instruction control parameter
Response；Wherein, the speed of response that the speed of response of first response is responded greater than described second, and second response
The speed of response is greater than the speed of response of third response.
When steering engine was run to corresponding working hour, the sound to action command is executed based on corresponding instruction control parameter
It answers.Particularly, it since starting working hour requires steering engine starting rapidly, generation can act in a short time, so corresponding right
The speed of response highest of first response of action command；Working hour requirement steering engine motion stability is run, so corresponding to dynamic
Make the speed of response of the speed of response less than the first response of the instruct second response；Last stops working the period, it is desirable that steering engine
When stopping non-jitter, without overshoot, so the speed of response of the corresponding third response to action command is less than the second response
The speed of response.In the embodiment of the present invention three, the working hour for instructing control parameter to determine steering engine by three is respectively to start
Working hour runs working hour, stops working the period, simplify the determination process to steering engine working hour, so that user is controlled
Steering engine processed is more easy.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Corresponding to the control response method of steering engine described in foregoing embodiments, Fig. 4 shows the offer of the embodiment of the present invention four
Steering engine control response device structural block diagram, the control response device of the steering engine can apply the steering engine in robot
In, by action command, instruction control parameter corresponding with the action command, so that it is determined that being deposited with described instruction control parameter
In multiple working hours of corresponding relationship, and according to steering engine current run time, its working hour is determined, when being based on the work
The corresponding described instruction control parameter of section executes the response to the action command, effectively guarantees quick sound when steering engine starting
It answers, run smoothly and non-jitter when off-position is without overshoot, improve the control response effect of steering engine.
Referring to Fig. 4, which includes:
First acquisition unit 41, for obtaining the action command of main control unit sending；
Second acquisition unit 42, for obtaining the instruction control parameter of steering engine corresponding with the action command, and determine with
There are multiple working hours of corresponding relationship for described instruction control parameter；
Third acquiring unit 43, for obtaining the current runing time of steering engine；
Response unit 44 for determining the working hour where the runing time, and is based on the working hour
Corresponding described instruction control parameter executes the response to the action command.
Optionally, the third acquiring unit 43 specifically includes:
After receiving the action command, the timer of the steering engine starts timing, will acquire and records current timing
Time, which obtains, is used as the runing time.
Optionally, the second acquisition unit 42 further include:
Subelement is obtained, for obtaining the first instruction control parameter, the second instruction of steering engine corresponding with the action command
Control parameter and third instruct control parameter, and the determining and described first instruction control parameter, the second instruction control parameter
When being respectively present starting working hour of corresponding relationship, the working hour of operation with third instruction control parameter and stop working
Section.
Optionally, the acquisition subelement specifically includes:
If the runing time is located at the starting working hour, the first sound is executed based on the first instruction control parameter
It answers；If the runing time is located at the operation working hour, the second response is executed based on the second instruction control parameter；If
The runing time stops working the period described in being located at, and executes third response based on third instruction control parameter；Wherein, institute
The speed of response for stating the first response is greater than the speed of response of second response, and the speed of response of second response is greater than
The speed of response of the third response.
Corresponding to the control response method of steering engine described in foregoing embodiments, another embodiment of the present invention discloses a kind of use
The steering engine of the control response method of the steering engine of embodiment one, embodiment two or embodiment three.The steering engine includes control circuit, described
The control response method that control circuit executes embodiment one, embodiment two or the steering engine in embodiment three generates driving letter
Number, then exported.This applies the steering engine of the control response method of the steering engine, control mode simple and flexible, it is easier to meet
Steering engine segmentation carries out the demand of instruction response.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed method, apparatus and steering engine can pass through
Other modes are realized.For example, device and steering engine embodiment described above is only schematical, for example, the module
Or the division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple lists
Member or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or unit
INDIRECT COUPLING or communication connection, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of control response method of steering engine characterized by comprising
Obtain the action command that main control unit issues；
Instruction control parameter corresponding with the action command is obtained, and determines that there are corresponding relationships with described instruction control parameter
Multiple working hours；
Obtain the current runing time of steering engine；
Determine the working hour where the runing time, and based on the working hour corresponding described instruction control ginseng
Number executes the response to the action command.
2. control response method as described in claim 1, which is characterized in that described to obtain the current runing time of steering engine, packet
It includes:
After receiving the action command, the timer of the steering engine starts timing, obtains current timing time as institute
State runing time.
3. control response method as described in claim 1, which is characterized in that described to obtain finger corresponding with the action command
Control parameter is enabled, and determines that there are multiple working hours of corresponding relationship with described instruction control parameter, comprising:
Obtain the first instruction control parameter corresponding with the action command, the second instruction control parameter and third instruction control ginseng
Number, and the determining and described first instruction control parameter, the second instruction control parameter and third instruction control parameter point
Not there is starting working hour of corresponding relationship, the working hour of operation and stops working the period.
4. control response method as claimed in claim 3, which is characterized in that described where the determination runing time
Working hour, and the response to the action command, packet are executed based on the working hour corresponding described instruction control parameter
It includes:
If the runing time is located at the starting working hour, the first response is executed based on the first instruction control parameter；
If the runing time is located at the operation working hour, the second response is executed based on the second instruction control parameter；
If the runing time stops working the period described in being located at, third response is executed based on third instruction control parameter；
Wherein, the speed of response that the speed of response of first response is responded greater than described second, and second response
The speed of response is greater than the speed of response of third response.
5. control response method according to any one of claims 1-4, which is characterized in that the acquisition and the action command
Corresponding instruction control parameter, comprising:
Obtain corresponding with action command instruction control parameter set, in described instruction control parameter set including one or
Multiple described instruction control parameters.
6. a kind of control response device of steering engine characterized by comprising
First acquisition unit, for obtaining the action command of main control unit sending；
Second acquisition unit, for obtaining the instruction control parameter of steering engine corresponding with the action command, and the determining and finger
Enable multiple working hours of the control parameter there are corresponding relationship；
Third acquiring unit, for obtaining the current runing time of steering engine；
Response unit, for determining the working hour where the runing time, and it is corresponding based on the working hour
Described instruction control parameter executes the response to the action command.
7. control response device as claimed in claim 6, which is characterized in that the third acquiring unit, comprising:
After receiving the action command, the timer of the steering engine starts timing, will acquire and records current timing time
It obtains and is used as the runing time.
8. control response device as claimed in claim 6, which is characterized in that the second acquisition unit, further includes:
Subelement is obtained, for obtaining the first instruction control parameter, the second instruction control of steering engine corresponding with the action command
Parameter and third instruct control parameter, and the determining and described first instruction control parameter, the second instruction control parameter and institute
Third instruction control parameter is stated to be respectively present starting working hour of corresponding relationship, the working hour of operation and stop working the period.
9. control response device as claimed in claim 8, which is characterized in that the response unit, comprising:
If the runing time is located at the starting working hour, the first response is executed based on the first instruction control parameter；
If the runing time is located at the operation working hour, the second response is executed based on the second instruction control parameter；
If the runing time stops working the period described in being located at, third response is executed based on third instruction control parameter；
Wherein, the speed of response that the speed of response of first response is responded greater than described second, and second response
The speed of response is greater than the speed of response of third response.
10. a kind of steering engine, including control circuit, which is characterized in that the control circuit is executed such as any one of claim 1 to 5
The step of control response method of the steering engine.
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| CN112415996A (en) * | 2020-10-12 | 2021-02-26 | 星火科技技术(深圳)有限责任公司 | Calibration system and method based on steering engine execution time |
| CN112440282A (en) * | 2020-11-23 | 2021-03-05 | 乐聚(深圳)机器人技术有限公司 | Steering engine control method and device, electronic equipment and storage medium |
| CN112720463A (en) * | 2020-12-09 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Method and device for controlling robot and terminal equipment |
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| CN112440282A (en) * | 2020-11-23 | 2021-03-05 | 乐聚(深圳)机器人技术有限公司 | Steering engine control method and device, electronic equipment and storage medium |
| CN112720463A (en) * | 2020-12-09 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Method and device for controlling robot and terminal equipment |
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