CN110058518A - A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive - Google Patents
A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive Download PDFInfo
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- 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.
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Abstract
The invention discloses a kind of screw-pushing type mobile platform driven based on automatically controlled electricity and its control methods, belong to mechanical and control field.Screw-pushing type mobile platform is mainly made of parts such as screw propulsion wheel, endless screw electric motor, aluminum profile bracket, microcontroller and heavy-duty motor drivings, screw propulsion wheel left rear wheel, screw propulsion wheel off-front wheel helical rotation direction be seen as clockwise direction spiral from mobile platform headstock, rotation promotes the helical rotation direction of wheel the near front wheel, screw propulsion wheel off hind wheel to be seen as counter clockwise direction spiral from mobile platform headstock, each screw propulsion wheel is driven using an independent endless screw electric motor.This invention ensures that mobile platform can be moved flexibly in smooth earth and soft earth's surface.The rotation of four screw propulsion wheels is controlled using microcontroller combination control algolithm, is realized four-way translation and is rotated in place.
Description
Technical field
The present invention relates to machine drivings and control engineering field.More particularly to a kind of four-wheel screw-pushing type that automatically controlled electricity drives
The design of mobile platform and a kind of control algolithm using microcontroller control four-wheel screw-pushing type mobile platform.It can be applicable to
Soft earth's surface traveling.
Background technique
The carrier of screw propulsion wheeled construction was suggested and manufactures in early 20th century, was mainly used in sand ground, snowfield and natural pond
It is travelled in the soft earth's surface such as pool.The helical of helical wheel outer ring can provide great power in axis direction when wheel body is rotated,
It is not easy the phenomenon that having skidded as common wheeled carrier.Therefore it was once taken as a kind of special vehicle and is applied to jungle, snowfield
Etc. occasions.But special due to being applicable in landform, transport difficult and screw propulsion wheel are easy to wear etc., and reasons do not have mass production application.
In addition, generalling use hydraulic-driven for the control of screw propulsion vehicle in the past.Each screw propulsion wheel needs an individual hand
Handle control.Control difficulty has been significantly greatly increased in this way, has also caused screw propulsion car owner will be to be placed in parallel the two-wheeled in car body two sides
Based on screw propulsion vehicle.
Summary of the invention
The purpose of the present invention is combining certain control algolithm by some inertial navigation sensors and geomagnetic sensor,
It is uniformly controlled using the four-wheel screw-pushing type mobile platform that microcontroller drives automatically controlled electricity, ensure that mobile platform in light
Sliding ground and soft earth's surface can be moved flexibly.Turning for four screw propulsion wheels is controlled using microcontroller combination control algolithm
It is dynamic, it realizes four-way translation and rotates in place.
The technical solution adopted by the present invention is that: a kind of four-wheel screw-pushing type mobile platform that automatically controlled electricity drives, including spiral
Promote wheel the near front wheel (2), screw propulsion wheel left rear wheel (1), screw propulsion wheel off-front wheel (3), screw propulsion wheel off hind wheel (4)；
Screw propulsion wheel the near front wheel and screw propulsion wheel left rear wheel are fixed on aluminum profile stringer A by the bearing block coaxial line at wheel both ends
(7) and on aluminum profile stringer B (8), screw propulsion wheel off-front wheel and screw propulsion wheel off hind wheel pass through the bearing block at wheel both ends
Coaxial line is fixed on aluminum profile stringer C (9) and aluminum profile stringer D (10), and screw propulsion wheel the near front wheel, screw propulsion wheel are left back
Take turns, aluminum profile stringer A, aluminum profile stringer B, aluminum profile arranged in parallel with screw propulsion wheel off-front wheel, screw propulsion wheel off hind wheel
Stringer C, aluminum profile stringer D pass through fastening corner brace respectively and are perpendicularly fixed at aluminum profile crossbeam A (5), on aluminum profile crossbeam B (6)；Spiral shell
Rotation promotes the helical rotation direction of wheel left rear wheel, screw propulsion wheel off-front wheel from mobile platform headstock (X-axis negative direction direction)
For clockwise direction spiral, rotation promotes the helical rotation direction of wheel the near front wheel, screw propulsion wheel off hind wheel from mobile platform headstock (X-axis
Negative direction direction) it is seen as counter clockwise direction spiral, each screw propulsion wheel is driven using an independent endless screw electric motor.
It obtains decoupling about mobile platform based on cascade PID and vector by inertial navigation sensors and geomagnetic sensor
Control algolithm obtains the revolving speed of each screw propulsion wheel, by microcontroller using PWM technology realize to the control of motor to
Realize control to mobile platform, full content the following steps are included:
Step 1: when starting the microcontroller of four-wheel screw-pushing type mobile platform, first to all sensors and each execution
Mechanism carries out initialization and self-test, specific steps include:
(1) it checks whether cell voltage is greater than normal working voltage threshold value, if being lower than normal working voltage threshold value, alarms
Prompt.Stop next step self-test, otherwise executes next.
(2) it checks whether all endless screw electric motors normally connect, if there is the case where unloaded endless screw electric motor or overload, alarms
Prompt.Stop next step self-test.Otherwise next is executed.
(3) inertial navigation sensors are initialized, inertial navigation sensors 3-axis acceleration count value is detected, judges that gravity is
It is no perpendicular to mobile platform plane and size is in normal range (NR).If the gravity direction or size measured not in the normal range if report
Alert prompt.Stop next step self-test.Otherwise next is executed.
(4) geomagnetic sensor is initialized, geomagnetic sensor three-axle magnetic field field strength is detected, synthesis geomagnetic fieldvector is calculated, sentences
The fluctuation range of disconnected earth magnetism field direction and the size of vector, if the earth magnetism direction vector or size that measure are not in the normal range,
Illustrate that sensor proximity has magnetic interference, then warning note.Stop next step self-test.Otherwise next is executed.
(5) start to carry out attitude algorithm using the data of inertial navigation sensors according to Quaternion Algorithm, obtain current
Posture Eulerian angles.And current pose Eulerian angles are set as with reference to zero.
Step 2:
A given vector is obtained from control terminalvx、vv、ωRRespectively four-wheel screw-pushing type is mobile flat
The angular speed of the given horizontal direction speed of platform, vertical speed and mobile platform geometric center perpendicular to ground direction.It is left
Multiply decoupling matrices(a in decoupling matrices, b, the value of c, which needs to survey, to be obtained, a: b: c=in the present invention
12.566: 1.00: 1.414), by
Obtain the revolving speed of four screw propulsion wheels A, B, C, D.
Step 3:
According to the result W matrix of step 1, the revolving speed of each screw propulsion wheel is read, positive number indicates that motor drives clockwise
Screw propulsion wheel, negative number representation motor drive screw propulsion wheel counterclockwise.Using PWM technology, according to the revolving speed tune being calculated
Section duty ratio is to control the revolving speed of endless screw electric motor, the duty ratio of each endless screw electric motor:
Wherein ωMAXFor the theoretical maximum of W matrix calculation result, i.e.,
ωMAX=max (a, b, c) × max (vx, vy, ωR)。
Step 4:
Read six number of axle evidence (three axis angular rates, three axis accelerometers) and the three of geomagnetic sensor of inertia measurement sensor
Axis earth's magnetic field strong component.It is obtained after Kalman filter and data fusion currentWherein v 'x, v 'y, ω 'R
The respectively horizontal direction speed that is calculated by sensing data of four-wheel screw-pushing type mobile platform, vertical speed
With mobile platform geometric center perpendicular to the angular speed in ground direction.
Step 5:
Take step 2 gained VgivenWith step 4 gained VsensorIt makes the difference,
Velocity vector error can be obtained:
Result is sent into microcontroller, the actual speed set of vectors of subsequent time input can be obtained according to monocycle PID formula are as follows:
Circulation executes step 2 to step 5, the no error following to given speed vector is realized by pid algorithm, to realize
Control.
The beneficial effects of the present invention are:
1. have structure simple compared with the screw propulsion wheel of hydraulic-driven, it is easy to control, mobile platform weight is effectively reduced
The advantages of amount, in addition, being more convenient the transformation and upgrading of mobile platform using electronic control technology.For the electrification innovation of other component
Convenience is provided.The four-wheel screw-pushing type structure independently driven using each wheel, with previous two-wheeled screw-pushing type structure phase
Than increasing a movement dimension (course angle), making it possible to rotate in place, so that mobile platform is more flexible, stability is also obtained
To promotion.A in above-mentioned decoupling matrices, b, the value of c are a: b: c=12.566: 1.00: 1.414, can obtain Optimal Control effect
Fruit, by experimental verification, above-mentioned arithmetic result can be realized four-way and effectively smoothly translate and rotate in place, and reduces original place and skids simultaneously
Take into account the precision of control.
2. the screw propulsion wheeled construction that wheel side has installed anti-slip material additional can take into account soft earth's surface and smooth earth, increase
Adaptability of the mobile platform to landform.The mobile platform of four-wheel screw-pushing type as it is a kind of can Omni-mobile platform, with
The mobile platform for carrying Mecanum wheel construction is compared, and table status is more adaptable over the ground, is not easy to skid on soft terrain
It remains to efficiently realize that omnidirectional moving controls.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of screw-pushing type mobile platform in the present invention.
Fig. 2 is the screw propulsion wheel in the present invention.(a) it is front view, (b) is side view, (c) is top view；
Fig. 3 is the control block diagram of the control algolithm for the four-wheel screw-pushing type mobile platform that automatically controlled electricity drives in the present invention.
1. wherein: 1- screw propulsion wheel left rear wheel；2- screw propulsion wheel the near front wheel；3- screw propulsion wheel off-front wheel；4- spiral shell
Rotation promotes wheel off hind wheel；5- aluminum profile crossbeam A；6- aluminum profile crossbeam B；7- aluminum profile stringer A；8- aluminum profile stringer B；9- aluminium profiles
Material stringer C；10- aluminum profile stringer D；11- endless screw electric motor；12- aluminum profile fixed corner code；13- bearing and bearing block；14- spiral
Promote screw thread (having anti-slip rubber item).
Specific embodiment
As shown in Figs. 1-2, the four-wheel screw-pushing type mobile platform that the automatically controlled electricity of one kind of the invention drives, including screw propulsion
Take turns the near front wheel (2), screw propulsion wheel left rear wheel (1), screw propulsion wheel off-front wheel (3), screw propulsion wheel off hind wheel (4)；Spiral
Wheel the near front wheel and screw propulsion wheel left rear wheel is promoted to be fixed on aluminum profile stringer A (7) by the bearing block coaxial line at wheel both ends
On aluminum profile stringer B (8), screw propulsion wheel off-front wheel and screw propulsion wheel off hind wheel are coaxial by the bearing block at wheel both ends
Line is fixed on aluminum profile stringer C (9) and aluminum profile stringer D (10), screw propulsion wheel the near front wheel, screw propulsion wheel left rear wheel with
Screw propulsion wheel off-front wheel, screw propulsion wheel off hind wheel are arranged in parallel, aluminum profile stringer A, aluminum profile stringer B, aluminum profile stringer
C, aluminum profile stringer D passes through fastening corner brace respectively and is perpendicularly fixed at aluminum profile crossbeam A (5), on aluminum profile crossbeam B (6)；Spiral pushes away
Into wheel left rear wheel, screw propulsion wheel off-front wheel helical rotation direction be seen as from mobile platform headstock (X-axis negative direction direction) it is suitable
Clockwise spiral, rotation promote the helical rotation direction of wheel the near front wheel, screw propulsion wheel off hind wheel from mobile platform headstock (X-axis losing side
To direction) it is seen as counter clockwise direction spiral, each screw propulsion wheel is driven using an independent endless screw electric motor.
Further, the most gabarit of the screw thread on each screw propulsion wheel is embedded with anti-slip rubber item.
Further, the helical on each screw propulsion wheel is three equidistant helix, and helical wheel both ends diameter is smaller
In middle section, it is allowed to form certain radian with ground.
As shown in figure 3, a kind of control method of four-wheel screw-pushing type mobile platform for driving automatically controlled electricity to drive of the invention,
The data obtained by inertial navigation sensors with geomagnetic sensor calculate current mobile platform posture, using Kalman
Filtering handles the sensor data；The side that screw-pushing type mobile platform is uniformly controlled using microcontroller
Method；Detailed process includes:
Step 1: when starting the microcontroller of four-wheel screw-pushing type mobile platform, first to sensor and each executing agency
Carry out initialization and self-test；
Step 2: obtaining a given vector from control terminalvx、vy、ωRRespectively four-wheel screw-pushing type
The angle speed of the given horizontal direction speed of mobile platform, vertical speed and mobile platform geometric center perpendicular to ground direction
Degree.Premultiplication decoupling matricesA, b, c are respectively decoupling matrices element；ByRespectively
To after screw propulsion wheel the near front wheel (2), screw propulsion wheel left rear wheel (1), screw propulsion wheel off-front wheel (3), the screw propulsion wheel right side
Take turns the rotational speed omega of (4)A、ωB、ωC、ωD；
Step 3: according to the result W matrix of step 2, reading the revolving speed of each screw propulsion wheel, positive number indicates motor up time
Needle drives screw propulsion wheel, and negative number representation motor drives screw propulsion wheel counterclockwise.Using PWM technology, according to what is be calculated
Rotational speed regulation duty ratio is to control the revolving speed of endless screw electric motor, the duty ratio of each endless screw electric motor(X=
A, B, C, D), wherein ωMAXFor the theoretical maximum of W matrix calculation result, i.e. ωMAX=max (a, b, c) × max (vx, vy,
ωR)；
Step 4: six number of axle for reading inertia measurement sensor are sensed according to (three axis angular rates, three axis accelerometers) and earth magnetism
Three axis earth's magnetic field strong components of device obtain current after Kalman filter and data fusionWherein v 'x,
v′y, ω 'RThe respectively horizontal direction speed that is calculated by sensing data of four-wheel screw-pushing type mobile platform, vertically
The angular speed of direction speed and mobile platform geometric center perpendicular to ground direction；
Step 5: taking step 2 gained VgivenWith step 4 gained VsensorIt makes the difference, velocity vector error can be obtainedVgivenFor given speed, result is sent into microcontroller, according to monocycle PID
Formula can obtain the actual speed set of vectors of subsequent time input are as follows:
Wherein Kp, KI, KDRespectively PID adjusts the proportionality coefficient in algorithm, integral coefficient and differential coefficient；
Circulation executes step 2 to step 5, the no error following to given speed vector is realized by pid algorithm, to realize
Control.
1 specific steps of above-mentioned steps include:
Check whether cell voltage is greater than normal working voltage threshold value, if being lower than normal working voltage threshold value, alarm is mentioned
Show.Stop next step self-test, otherwise executes next；
Check whether all endless screw electric motors normally connect, if there is the case where unloaded endless screw electric motor or overload, alarm is mentioned
Show.Stop next step self-test.Otherwise next is executed；
Inertial navigation sensors are initialized, inertial navigation sensors 3-axis acceleration count value is detected, whether judges gravity
Perpendicular to mobile platform plane and size is in normal range (NR).If the gravity direction or size measured not in the normal range if alarm
Prompt.Stop next step self-test.Otherwise next is executed；
Geomagnetic sensor is initialized, geomagnetic sensor three-axle magnetic field field strength is detected, synthesis geomagnetic fieldvector is calculated, judges ground
The fluctuation range of magnetic direction and the size of vector, if the earth magnetism direction vector or size that measure are not in the normal range, explanation
Sensor proximity has magnetic interference, then warning note.Stop next step self-test.Otherwise next is executed；
A in above-mentioned decoupling matrices, b, the value of c are a: b: c=12.566: 1.00: 1.414.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (6)
1. a kind of four-wheel screw-pushing type mobile platform that automatically controlled electricity drives, it is characterised in that: including screw propulsion wheel the near front wheel
(2), screw propulsion wheel left rear wheel (1), screw propulsion wheel off-front wheel (3), screw propulsion wheel off hind wheel (4)；Screw propulsion wheel is left
Front-wheel and screw propulsion wheel left rear wheel are fixed on aluminum profile stringer A (7) and aluminum profile by the bearing block coaxial line at wheel both ends
On stringer B (8), screw propulsion wheel off-front wheel and screw propulsion wheel off hind wheel are fixed on by the bearing block coaxial line at wheel both ends
On aluminum profile stringer C (9) and aluminum profile stringer D (10), screw propulsion wheel the near front wheel, screw propulsion wheel left rear wheel and screw propulsion
It is arranged in parallel to take turns off-front wheel, screw propulsion wheel off hind wheel, aluminum profile stringer A, aluminum profile stringer B, aluminum profile stringer C, aluminum profile
Stringer D passes through fastening corner brace respectively and is perpendicularly fixed at aluminum profile crossbeam A (5), on aluminum profile crossbeam B (6)；Screw propulsion wheel is left back
It takes turns, the helical rotation direction of screw propulsion wheel off-front wheel is seen as clockwise from mobile platform headstock (X-axis negative direction direction)
Spiral, rotation promote the helical rotation direction of wheel the near front wheel, screw propulsion wheel off hind wheel from mobile platform headstock (X-axis negative direction meaning side
To) it is seen as counter clockwise direction spiral, each screw propulsion wheel is driven using an independent endless screw electric motor.
2. the four-wheel screw-pushing type mobile platform that the automatically controlled electricity of one kind according to claim 1 drives, it is characterised in that: each
The most gabarit of screw thread on a screw propulsion wheel is embedded with anti-slip rubber item.
3. the four-wheel screw-pushing type mobile platform that the automatically controlled electricity of one kind according to claim 1 drives, it is characterised in that: each
Helical on a screw propulsion wheel is all three equidistant helix, and helical wheel both ends diameter is slightly less than middle section, is allowed to and ground
Face forms certain radian.
4. a kind of control method for the four-wheel screw-pushing type mobile platform for driving automatically controlled electricity to drive, it is characterised in that: pass through inertia
The data that navigation sensor is obtained with geomagnetic sensor calculate current mobile platform posture, using Kalman filter to upper
Sensing data is stated to be handled；The method that screw-pushing type mobile platform is uniformly controlled using microcontroller；Specifically
Process includes:
Step 1: when starting the microcontroller of four-wheel screw-pushing type mobile platform, first sensor and each executing agency being carried out
Initialization and self-test；
Step 2: obtaining a given vector from control terminalvx、vy、ωRRespectively four-wheel screw-pushing type is mobile
The angular speed of the given horizontal direction speed of platform, vertical speed and mobile platform geometric center perpendicular to ground direction.
Premultiplication decoupling matricesA, b, c are respectively decoupling matrices element；ByIt respectively obtains
Screw propulsion wheel the near front wheel (2), screw propulsion wheel left rear wheel (1), screw propulsion wheel off-front wheel (3), screw propulsion wheel off hind wheel
(4) rotational speed omegaA、ωB、ωC、ωD；
Step 3: according to the result W matrix of step 2, reading the revolving speed of each screw propulsion wheel, positive number indicates that motor drives clockwise
Dynamic screw propulsion wheel, negative number representation motor drive screw propulsion wheel counterclockwise.Using PWM technology, according to the revolving speed being calculated
Duty ratio is adjusted to control the revolving speed of endless screw electric motor, the duty ratio of each endless screw electric motor(X=A, B,
C, D), wherein ωMAXFor the theoretical maximum of W matrix calculation result, i.e. ωMAX=max (a, b, c) × max (vx, vy, ωR)；
Step 4: reading six number of axle of inertia measurement sensor according to (three axis angular rates, three axis accelerometers) and geomagnetic sensor
Three axis earth's magnetic field strong components obtain current after Kalman filter and data fusionWherein v 'x, v 'y,
ω′RThe respectively horizontal direction speed that is calculated by sensing data of four-wheel screw-pushing type mobile platform, vertical direction
The angular speed of speed and mobile platform geometric center perpendicular to ground direction；
Step 5: taking step 2 gained VgivenWith step 4 gained VsensorIt makes the difference, velocity vector error can be obtainedVgivenFor given speed, result is sent into microcontroller, according to monocycle PID
Formula can obtain the actual speed set of vectors of subsequent time input are as follows:
Wherein Kp, KI, KDRespectively PID adjusts the proportionality coefficient in algorithm, integral coefficient and differential coefficient；
Circulation executes step 2 to step 5, the no error following to given speed vector is realized by pid algorithm, to realize control
System.
5. a kind of control method of four-wheel screw-pushing type mobile platform for driving automatically controlled electricity to drive according to claim 4,
It is characterized by: step 1 specific steps include:
Check whether cell voltage is greater than normal working voltage threshold value, if being lower than normal working voltage threshold value, warning note.Stop
Otherwise only next step self-test executes next；
Check whether all endless screw electric motors normally connect, if there is the case where unloaded endless screw electric motor or overload, warning note.Stop
Only next step self-test.Otherwise next is executed；
Inertial navigation sensors are initialized, inertial navigation sensors 3-axis acceleration count value is detected, judges whether gravity is vertical
In mobile platform plane and size is in normal range (NR).If the gravity direction or size measured not in the normal range if alarm and mention
Show.Stop next step self-test.Otherwise next is executed；
Geomagnetic sensor is initialized, geomagnetic sensor three-axle magnetic field field strength is detected, synthesis geomagnetic fieldvector is calculated, judges earth's magnetic field
The fluctuation range in direction and the size of vector, if the earth magnetism direction vector or size that measure not in the normal range, illustrate to sense
Device nearby has magnetic interference, then warning note.Stop next step self-test.Otherwise next is executed；
6. a kind of control method of four-wheel screw-pushing type mobile platform for driving automatically controlled electricity to drive according to claim 4,
It is characterized by: a in decoupling matrices, b, the value of c is a: b: c=12.566: 1.00: 1.414.
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| CN112895824A (en) * | 2021-02-08 | 2021-06-04 | 中船重工（海南）飞船发展有限公司 | Range-extending type screw propulsion amphibious carrying equipment |
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