CN102068818B - Dynamic game machine platform with functions of fault tolerance and error correction and fault tolerance and error correction method - Google Patents
Dynamic game machine platform with functions of fault tolerance and error correction and fault tolerance and error correction method Download PDFInfo
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Abstract
The invention belongs to a dynamic game machine platform with functions of fault tolerance and error correction and a fault tolerance and error correction method. The motion platform comprises a movable platform, a fixed platform, three drive legs, a backup leg and a controller, wherein the three drive legs are used for movably connecting the two platforms into a whole, and provided with a displacement sensor; the backup leg is connected between the two platforms; and the controller has the functions of dynamic reconfiguration and the like. The fault tolerance and error correction method comprises the steps of state monitoring, fault diagnosis and fault tolerance and error correction of faults of the drive legs and faults of the sensor. In the invention, the backup leg is additionally arranged between the movable platform and fixed platform of the traditional dynamic game motion platform, and the controller with the functions of dynamic reconfiguration and the like is adopted, so that when a certain drive leg or sensor goes wrong during operation, the switching and reconfiguration in the system can be used for realizing fault tolerance, automatic error correction and on-line automatic maintenance, thereby ensuring the normal work and safe operation. Moreover, the invention has the characteristics of short reconfiguration time, high speed, high system reconfiguration efficiency and the like, and effectively enhances the operational safety and reliability of the dynamic game motion platform.
Description
Technical field
The invention belongs to game article technical field, particularly a kind of driving leg and sensor all have the motion-sensing game motion platform (machine) of fault-tolerant error correction and move the fault tolerance correcting method in (work) process for this motion-sensing game motion platform.
Background technology
Traditional computer game (as car race game, motor game, tank game, aircraft game etc.), user controls the process of computer game by keyboard, mouse and game paddle, computer game shows the picture that imitates real scene on display screen by virtual reality technology etc.Along with the development of computer game technology and the variation of the market demand, the new computer game with Reality simulation kinaesthesis function becomes computer game developing direction from now on, and this novel computer game (referred to as motion-sensing game) with real motion sensation need to realize the support of the play sport platform of Motion Simulation Function.This motion-sensing game motion platform can the in-flight various positions of emulation such as aircraft and attitude, and aircraft in-flightly jolts, the real motion sensation such as weightless.Motion-sensing game motion platform is very high to the requirement of Personal Safety and system reliability, and motion-sensing game motion platform long time continuous working heavy duty, shock and vibration etc. compared with rugged environment in, when motion-sensing game motion platform breaks down, be also not easy to timely reparation.
The 3-RPS type parallel institution parts of tradition motion-sensing game motion platform are comprised of moving platform, fixed platform and the San Ge branch that connects two platforms, and by its controller, control the motion of whole motion platform; Wherein: the kinematic pair that San Ge branch is connected with fixed platform is revolute pair (R), the kinematic pair being connected with moving platform is spherical pair (S), between two kinematic pairs of R and S, is moving sets (P).By the known ，Gai of the kinematics analysis mechanism of mechanism, had along the movement of Z axis with when the moving sets of rotation (instantaneous axis of equivalence) the three degree of freedom ，Dang mechanism of X-axis and Y-axis is made length variations, the pose of motion platform changes thereupon.In the system of this type of motion-sensing game motion platform, sensor provides the actual motion information of motion-sensing game motion platform, if sensor in use breaks down, its output can not reflect actual value again, may cause the fault of whole system.In motion-sensing game motion platform, driving leg provides the power of motion platform, if it breaks down, causes driving force deficiency or without driving force, may cause exercise performance to decline and even cause security incident.Therefore in order to guarantee that motion-sensing game motion platform can complete its function smoothly, need motion-sensing game motion platform to there is fault-tolerant error correction to driving leg and sensor fault.And there is the ability that lacks online self-regeneration in above-mentioned motion-sensing game motion platform, when once motion-sensing game motion platform sensor in motion process breaks down, just will cause sensor no-output or Output rusults incorrect, light cause the precision that position, speed are controlled to reduce, heavy cause motion-sensing game motion platform out of control, even cause the serious defects such as security incident.
In the patent documentation that is CN101444892 at publication number, a kind of " the reconfigurable series-parallel machine tool of mechanical system and reconstruct and fault tolerance correcting method " disclosed, the center leg of this series-parallel machine tool and three periphery legs all adopt the redundant drive device with identical two cover transmission systems, for realizing the fault-tolerant error correction to drive unit fault, center leg and three periphery legs form four-degree-of-freedom (1PS+3TPS) the Spatial Parallel closed chain mechanism under normal condition, and its center leg plays constraint (maintaining) closed chain mechanism motion state in parallel.Each redundant drive device all comprises servomotor, clutch and the brake disc being positioned on final drive shaft, the gear reduction between servomotor and clutch, and shared housing and the final drive shaft of two systems.Although this series-parallel machine tool has the fault-tolerant error correction to driver malfunction, but because redundant drive device adopts containing servomotor, clutch and brake disc, gear reduction in two interior cover mechanical systems, complex structure but also increased the cost of weight and the system of lathe not only; In addition main is the size that stationarity poor, its driving force be again limited to servomotor (power output) of this type of mechanical structure system during due to operation, thereby should not be for motion-sensing game machine platform.
Summary of the invention
The object of the invention is the defect existing for background technology, a kind of motion-sensing game machine platform and fault tolerance correcting method with fault-tolerant error correction of research and design, so that when there is catastrophic discontinuityfailure in arbitrary driving leg or sensor, by intrasystem switching and reconstruct realize fault-tolerant and automatic error-correcting, carry out online from maintenance, guarantee its normal operation and safe operation, thereby reach the objects such as effective raising motion-sensing game motion platform traveling comfort is poor, safety and reliability.
Solution of the present invention is: for sensor fault, on the basis of the shunting means (mechanism) of traditional motion-sensing game motion platform 3-RPS type Three Degree Of Freedom, between the moving platform center of motion-sensing game motion platform and the center of fixed platform, set up a standby leg with displacement transducer; In the course of the work, the measured value of the displacement transducer on the displacement sensor value by three driving legs and driven leg is sent into fault detect and the isolated location in controller, for motion-sensing game platform running status is monitored; In three driving leg sensors, there is a sensor to occur fault, judge after fault sensor, utilize spatial closed-chain mechanism constraint, by the detected value of all the other two driving legs and middle driven leg sensor, by the data reconstruction unit in controller, recalculate the measured value of answering that obtains this fault sensor, answer measured value to substitute the improper value of fault sensor output this, and former detection (extremely) value of fault sensor is given up, thereby realize the fault-tolerant and automatic error-correcting to sensor fault, guarantee the normal operation of motion-sensing game platform; For driving leg (device) fault: secondary and two the universal hinges of moving movement with single-degree-of-freedom are set on the standby leg of setting up between the moving platform center of motion-sensing game motion platform and the center of fixed platform, and it is the disclosed capable of reconstructing controller based on field programmable gate array (FPGA) logic controller of patent documentation of CN101436058A that controller adopts publication number; When any one driving leg in three driving legs breaks down, motion-sensing game motion platform is converted into fault driving leg one driven leg, the standby leg arranging between moving platform center and the center of fixed platform is converted into driving leg simultaneously, the class of establishment of motion platform is evolved into 1UPU (universal hinge-moving sets-universal hinge)+2RPS by initial 3-RPS, the operation of motion-sensing game platform and the switching of driving leg by controller, control the switching of conventional hydraulic system magnetic valve and the size of aperture (flow) realizes.Therefore, the motion-sensing game machine platform with fault-tolerant error correction of the present invention comprises moving platform, fixed platform (pedestal) and two platforms are flexibly connected to form three driving legs (branch) of parallel closed loop structure, the controller of controlling whole motion platform motion, key is that the center leg between moving platform and fixed platform center is standby (redundancy) leg that is provided with a moving sets with a single-degree-of-freedom and displacement transducer and two universal hinges; Controller is the capable of reconstructing controller based on field programmable gate array (FPGA) logic controller, and three driving legs are respectively and contain a moving sets and displacement transducer, revolute pair and a spherical hinge or be respectively the driving leg containing a moving sets and displacement transducer thereof, two universal hinges; Standby leg two ends all by universal hinge be connected with moving platform and fixed platform respectively, displacement transducer on it is connected with controller by holding wire, each driving leg all by spherical hinge and revolute pair, be connected with moving platform and fixed platform respectively or all by universal hinge be connected with moving platform and fixed platform respectively, displacement transducer on each driving leg is all connected with controller by holding wire.
Above-mentioned standby leg and each driving leg all adopt the standby leg of fluid pressure type and the driving leg with cylinder body and piston rod, and each standby leg is all connected with hydraulic system by a pair of pressure oil turnover mouth of pipe provided thereon with the cylinder body on driving leg; Standby leg is connected with fixed platform and moving platform respectively by the universal hinge on cylinder block and piston rod, and each driving leg is connected with moving platform and fixed platform respectively or all by universal hinge, is connected respectively with moving platform and fixed platform by the spherical hinge on piston rod and the sliding sleeve on cylinder block; And the two ends of being located at the displacement transducer on the standby leg of this fluid pressure type and driving leg are connected with cylinder body and piston rod respectively.Described moving platform, when each driving leg adopts ball pivot to be connected with moving platform, in order to reduce driving leg and moving platform, move the possibility of interference and increase ball pivot angle range, the ball pivot fixed pan on moving platform is for to be the inclined-plane of 15 °-20 ° with moving platform basic plane.It is that the patent documentation of CN101436058A is disclosed that described controller adopts publication number, comprise and dodge reservoir (FLASH), random access memory (RAM) and be attached thereto containing centralized control unit, for the communication unit being connected with PC, trajectory planning unit for trajectory planning, the PID control module of controlling as PID, counting unit for the treatment of feedback signal, for fault detect and the isolated location that the feedback parameter operational factor corresponding with input sudden strain of a muscle reservoir compared, this fault detect value is carried out to the buffer cell of isolation processing, and for calculate data reconstruction unit that fault sensor answers measured value at interior field programmable gate array (FPGA) logic controller interior, capable of reconstructing controller based on field programmable gate array (FPGA) logic controller.
And motion-sensing game platform of the present invention moves the fault-tolerant and error correction method in (work) process, comprising:
A. status monitoring: first according to the motion requirement of motion-sensing game motion platform, pass through trajectory planning, by its each driving leg length, speed with in the sudden strain of a muscle reservoir (FLASH) with the time dependent operational factor input control system of driving force, as the underlying parameter of driving leg length, speed and driving force, this parameter value is sent result into PID control module and is controlled for the hydraulic efficiency servo-valve to each driving leg simultaneously after the trajectory planning cell processing in logic controller; Article three, online detected value one tunnel of driving leg sensor and standby leg sensor is carried out PID control through buffer cell input PID control module to hydraulic efficiency servo-valve, another road under the control of centralized control unit as detected value input random access memory (RAM), so that the operation conditions of motion-sensing game motion platform is carried out to On-line Control and monitoring, in motion process, the driving force to each driving leg is monitored simultaneously;
B. fault diagnosis: if the deviation between the actual detected value of the driving force of a certain driving leg and its desired value has exceeded setting range in motion process, show to have a driver on driving leg to occur fault, turn the fault-tolerant error correction that C1 carries out driving leg fault, by three driving leg sensor detected values, according to the restriction relation of space parallel mechanism, can calculate the measured value of answering of middle standby leg sensor, and by the actual detected value comparison of answering measured value and standby leg sensor of this standby leg sensor, if deviate has between the two exceeded setting range, showing has a sensor on driving leg to occur fault in three driving legs, fault detect and shielding system contrast underlying parameter now of driving leg sensor and the real output value of driving leg sensor, if a certain driving leg deviate has between the two exceeded setting range, judge that this driving leg sensor is fault sensor, then turn the fault-tolerant correction process that C2 carries out sensor fault,
C1. the fault-tolerant error correction of driving leg fault: fault driving leg is converted into a driven leg, the standby leg in centre is converted into driving leg simultaneously, the class of establishment of motion platform is evolved into 1UPU+2RPS by initial 3-RPS, motion-sensing game platform still can be realized predetermined motion requirement, thereby realizes the fault-tolerant and error correction to fault driving leg;
C2. the fault-tolerant error correction of sensor fault: when being determined after fault sensor by B step, by the detected value of two other driving leg sensor and the detected value of middle standby leg sensor, pass through the data reconstruction unit in restructural motion controller, calculate the measured value of answering of fault sensor, and by buffer, fault detect value is abandoned under the control of detection and isolated location, with this, answer measured value to replace, thereby realize the fault-tolerant and error correction to fault sensor.
The present invention is connected one with the standby leg of displacement transducer between the center due to the motion platform center at traditional Three Degree Of Freedom 3RPS type parallel institution and fixed platform, standby leg is not interfered for the motion of motion-sensing game platform, and the redundancy that the sensor connecting on it provides is used to fault detect and isolation when motion-sensing game platform works, its fault-tolerant and error correction method is that the operation of motion-sensing game platform is carried out to dynamic monitoring, when a certain driving leg of motion-sensing game platform or the sensor on it break down, utilize the measured value of all the other normal operation sensors, by reconfiguring of its internal logic resource, automatically carry out online data reconstruct, by fault driving leg is switched to driven leg, the standby leg in Er Jiang center switches to driving leg, make system normally move and repair, guarantee the normal operation of motion platform, thereby realize fault-tolerant and error correction when a certain driving leg or the sensor on it are broken down.Thereby, motion-sensing game platform of the present invention has in operation (work) process during when certain driving leg or sensor generation catastrophic discontinuityfailure, by intrasystem switching and reconstruct realize fault-tolerant and automatic error-correcting, carry out online from maintenance, guarantee its normal operation and safe operation, and reconstitution time is short, speed is fast, the reconstruct efficiency of system is high, thereby reach the safety and reliability of effective raising motion-sensing game motion platform operation, effectively avoid causing the features such as security incident because of driving leg or sensor catastrophic discontinuityfailure.Once break down if overcome driving leg or the sensor that background technology exists, the light precision reduction that causes position, speed to control, heavy cause out of control, the disadvantages such as generation that even cause major accident of motion-sensing game platform.
Accompanying drawing explanation
Fig. 1. be the structural representation of the present invention and embodiment 1 motion-sensing game platform;
Fig. 2. for embodiment 1 moving platform structure and with ball pivot outer shroud annexation schematic diagram (cutaway view);
Fig. 3. be controller architecture schematic diagram of the present invention (block diagram);
Fig. 4. be schematic diagram of mechanism and the coordinate system schematic diagram of embodiment 1 motion-sensing game platform;
Fig. 5. be the structural representation of embodiment 2 motion-sensing game platforms.
In figure: 1. fixed platform, 2. moving platform, the universal hinge of 2-1. is sat joint, 3. driving leg (l
1, l
2, l
3), 3-1. hydraulic cylinder body, 3-1.1,3-1.2: turnover oilhole, 3-2. piston rod, 3-3. (revolute pair) sliding sleeve (bar), the universal hinge of 3-4. is sat, the universal hinge of 3-5., 4. standby leg (l
4), 4-1. hydraulic cylinder body, 4-1.1,4-1.2: turnover oilhole, 4-2. piston rod, 4-3. (on) universal hinge, 4-4. (under) universal hinge, 5. displacement transducer, 6. (revolute pair) central shaft, 7. ball bearing, 8.PC machine, 9. field programmable gate array (FPGA) logic controller, 10. dodges reservoir (FLASH), 11. random access memory (RAM), 12. digital to analog converters, 13. hydraulic efficiency servo-valves, 14. motion-sensing game motion platforms (machine).
The specific embodiment
Embodiment 1: in the control system of the present embodiment: it is the fpga logic device of ALTERA EP1C6Q240C8 by the reconfiguring of internal logic resource that fpga logic controller 9 adopts models, forms and comprises centralized control unit, communication unit, trajectory planning unit, PID control module, data reconstruction unit, fault detect and isolated location, buffer cell at interior controller; Dodging reservoir (FLASH) 10 models is Am29LV160D, random access memory (RAM) 11 adopts the Synchronous Dynamic Random Access Memory that model is HY57V641620H6, digital to analog converter 12 models are DAC-16, AD conversion unit model is ADC0809, and the standby leg 4 of fluid pressure type and driving leg 3 (hydraulic cylinder) model are UY WF10, wherein hydraulic cylinder body 4-1 and 3-1 diameter are that 40 millimeters, piston rod 4-2 and 3-2 diameter are 20 millimeters; Displacement transducer 5 models are DA-75; Ball bearing 7 adopts the oscillating bearing that model is GEG12ES; Sliding sleeve 3-3 and central shaft 6 matching parts (revolute pair) adopt the rolling bearing of model 6000RS; The model of each universal hinge 3-5,4-3,4-4 is WXD2; Hydraulic efficiency servo-valve 13 models in hydraulic system are RTJ01,
The balleting that present embodiment be take in simulated aircraft flight course is example: motion-sensing game motion platform structural parameters are as follows: fixed platform 1 and the external radius of a circle of moving platform 2 are respectively R=250 millimeter, r=150 millimeter, planning moving platform is with the amplitude of .30 millimeter and the cycle of 2 seconds, along Z-direction, do periodic vibration, with the balleting in simulated aircraft flight course.
The fault tolerance correcting method of driver and sensor fault is as follows:
A. status monitoring: first according to the requirement of above-mentioned balleting, by PC 8, pass through trajectory planning, in the sudden strain of a muscle reservoir 10 of its each driving leg length, speed and the time dependent operational factor input control system of driving force, as the underlying parameter of driving leg length, speed and driving force, this parameter value is sent into result PID control module and is controlled for the hydraulic efficiency servo-valve 13 to each driving leg simultaneously after the trajectory planning cell processing in logic controller; Article three, online detected value one tunnel of the sensor 5 on driving leg 3 and standby leg 4 is carried out PID control through buffer cell input PID control module to hydraulic efficiency servo-valve 13, random access memory 11 is inputted as detected value in another road under the control of centralized control unit, so that the operation conditions of motion-sensing game motion platform is carried out to On-line Control and monitoring, in motion process, the driving force to each driving leg is monitored simultaneously;
B. fault diagnosis: in motion process, at t=50 during second, if the deviation between the actual detected value of the driving force of a certain driving leg 3 and its desired value has exceeded setting range, show that fault has appearred in this driving leg, turn execution step C1 and this driving leg is carried out to the fault-tolerant correction process of fault; By three driving leg (l
1, l
2, l
3) sensor detected value according to the restriction relation of space parallel mechanism, can calculate in the middle of standby leg sensor answer measured value, and by the actual detected value comparison of answering measured value and standby leg sensor of this standby leg sensor, at t=100 during second, if deviate has between the two exceeded setting range, showing has a driving leg or the sensor on it to occur fault in three driving legs, fault detect and shielding system contrast real output value corresponding to each driving leg sensor underlying parameter now and each driving leg sensor, if driving leg l
1deviate between the underlying parameter of the upper sensor real output value corresponding with it has exceeded setting range, judges this driving leg l
1on sensor break down, then turn the fault-tolerant error correction that C2 carries out sensor fault;
C1. the fault-tolerant error correction of driving leg fault: when B step determines that a certain driving leg breaks down, this fault leg is converted into driven leg, the standby leg that is positioned at center is converted into driving leg simultaneously, the class of establishment of motion platform is evolved into 1UPU+2RPS by initial 3-RPS, motion-sensing game platform still can be realized predetermined motion requirement, thereby realizes the fault-tolerant and error correction to fault driving leg.
C2. the fault-tolerant error correction of sensor fault: after being determined the sensor of this driving leg D1 by B step and breaking down, by the detected value of standby leg 4 upper sensors of detected value and center of two other driving leg D2 and D3 upper sensor by the data reconstruction unit in restructural motion controller, calculate the measured value of answering of driving leg D1 fault sensor, and by buffer cell, fault detect value is abandoned under the control of detection and isolated location, with this, answer measured value to replace, by fault detect and isolated location, to buffer unit, send isolated instructions, simultaneously, centralized control unit log-on data reconfiguration unit carries out data reconstruction processing, concrete data reconstruction algorithm is as follows:
Set up coordinate system as shown in Figure 4, Coordinate Setting is as follows: base coordinate is the center O point that the origin of coordinates of R is positioned at fixed platform, and Y-axis is chosen for OA
2direction, Z axis is chosen for perpendicular to plane A
1a
2a
3direction; The origin of coordinates of moving coordinate system R ' is positioned at the center O of moving platform
1point, Y ' axle is chosen for O
1b
2direction, Z ' axle is chosen for perpendicular to plane B
1b
2b
3direction.Now suppose that the 1st driving leg top offset sensor breaks down, i.e. l
1not directly measure or measure inaccurate.
The coordinate of fixed platform upper hinge point in fixed coordinate system can be expressed as:
The coordinate of moving platform upper hinge point in fixed coordinate system can be expressed as:
Distance on moving platform between three hinge points remains unchanged in motion process, these three length can show with the coordinate of hinge point, the length of driven leg can show with the coordinate of fixed platform and moving platform central point in addition, so the constraint equation of Ke get mechanism:
Arrangement in formula (1) and formula (2) substitution formula (3) can be obtained:
In formula (4), l
2, l
3, l
4for known quantity, in four equations, unknown quantity has four:
l
1, by solving
Above equation group can obtain l
1value.
L
1be fault sensor current answer measured value, data reconstruction unit answers measured value to send into PID control module to replace the detected value of fault sensor to carry out PID control to the hydraulic jack of driving leg one this, thereby realize the fault-tolerant and automatic error-correcting to driving leg one sensor fault, guaranteed the normal operation of motion-sensing game platform.
Embodiment 2: Fig. 5 is the present embodiment motion-sensing game platform structure schematic diagram, each driving leg 3 in the present embodiment motion-sensing game platform connected by universal hinge 3-5 with being connected all of moving platform 2 and fixed platform 1, and the axis that wherein each universal hinge 3-5 sits 3-4 for each the universal hinge being connected and fixed with moving platform 2 and fixed platform 1 is all perpendicular to the basic plane of corresponding moving platform 2 and fixed platform 1: all the other all with embodiment 1 together.
Claims (5)
1. a motion-sensing game machine platform with fault-tolerant error correction, comprise moving platform, fixed platform and two platforms are flexibly connected to form three driving legs of parallel closed loop structure, the controller of controlling whole motion-sensing game machine platform motion, is characterized in that the center leg between moving platform and fixed platform center is the standby leg that is provided with a moving sets with a single-degree-of-freedom and displacement transducer and two universal hinges; Controller is the capable of reconstructing controller based on field programmable gate array logic controller, and three driving legs are respectively and contain a moving sets and displacement transducer, revolute pair and a spherical hinge or be respectively the driving leg containing a moving sets and displacement transducer thereof, two universal hinges; Standby leg two ends all by universal hinge be connected with moving platform and fixed platform respectively, displacement transducer on it is connected with controller by holding wire, each driving leg all by spherical hinge and revolute pair, be connected with moving platform and fixed platform respectively or all by universal hinge be connected with moving platform and fixed platform respectively, displacement transducer on each driving leg is all connected with controller by holding wire.
2. by the motion-sensing game machine platform described in claim 1 with fault-tolerant error correction, it is characterized in that described standby leg and each driving leg all adopt the standby leg of fluid pressure type and the driving leg with cylinder body and piston rod, each standby leg is all connected with hydraulic system by a pair of pressure oil turnover mouth of pipe provided thereon with the cylinder body on driving leg; Standby leg is connected with fixed platform and moving platform respectively by cylinder block and the universal hinge on piston rod of described cylinder body, and each driving leg is connected with moving platform and fixed platform respectively or all by universal hinge, is connected respectively with moving platform and fixed platform by the spherical hinge on piston rod and the sliding sleeve on cylinder block; And the two ends of being located at the displacement transducer on the standby leg of this fluid pressure type and driving leg are connected with cylinder body and piston rod respectively.
3. by the motion-sensing game machine platform described in claim 1 with fault-tolerant error correction, it is characterized in that when each driving leg adopts spherical hinge to be connected with moving platform, the spherical hinge on moving platform fixedly anchor ring for to be the inclined-plane of 15 °-20 ° with moving platform basic plane.
4. by the motion-sensing game machine platform described in claim 1 with fault-tolerant error correction, it is characterized in that described controller is for comprising sudden strain of a muscle reservoir, random access memory and be attached thereto containing centralized control unit, for the communication unit being connected with PC, trajectory planning unit for trajectory planning, the PID control module of controlling as PID, counting unit for the treatment of feedback signal, for fault detect and the isolated location that the feedback parameter operational factor corresponding with input sudden strain of a muscle reservoir compared, fault sensor detected value is carried out to the buffer cell of isolation processing, and for calculate data reconstruction unit that fault sensor answers measured value at interior field programmable gate array logic controller interior, capable of reconstructing controller based on field programmable gate array logic controller.
5. by the fault tolerance correcting method described in claim 1 with the motion-sensing game machine platform of fault-tolerant error correction, comprising:
A. status monitoring: first according to the motion requirement of described motion-sensing game machine platform, pass through trajectory planning, in the sudden strain of a muscle reservoir of its each driving leg length, speed and the time dependent underlying parameter input control system of driving force, as the underlying parameter of driving leg length, speed and driving force, this underlying parameter is sent result into PID control module and is controlled for the hydraulic efficiency servo-valve to each driving leg simultaneously after the trajectory planning cell processing in logic controller; Article three, online detected value one tunnel of driving leg sensor and standby leg sensor is carried out PID control through buffer cell input PID control module to hydraulic efficiency servo-valve, another road under the control of centralized control unit as detected value input random access memory, so that the operation conditions of motion-sensing game motion platform is carried out to On-line Control and monitoring, in motion process, the driving force to each driving leg is monitored simultaneously;
B. fault diagnosis: if the deviation between the actual detected value of the driving force of a certain driving leg and its desired value has exceeded setting range in motion process, show to have a driver on driving leg to occur fault, turn the fault-tolerant error correction that C1 carries out driving leg fault, in the middle of can being calculated according to the restriction relation of space parallel mechanism by three driving leg sensor detected values, standby leg sensor is answered measured value, and by the actual detected value comparison of answering measured value and standby leg sensor of this standby leg sensor, if deviate has between the two exceeded setting range, showing has a sensor on driving leg to occur fault in three driving legs, fault detect and shielding system contrast underlying parameter now of driving leg sensor and the real output value of driving leg sensor, if a certain driving leg deviate has between the two exceeded setting range, judge that this driving leg sensor is fault sensor, then turn the fault-tolerant correction process that C2 carries out sensor fault,
C1. the fault-tolerant error correction of driving leg fault: fault driving leg is converted into a driven leg, the standby leg in centre is converted into driving leg simultaneously, the class of establishment of motion platform is evolved into 1UPU+2RPS by initial 3-RPS, motion-sensing game platform still can be realized predetermined motion requirement, thereby realizes the fault-tolerant and error correction to fault driving leg;
C2. the fault-tolerant error correction of sensor fault: when being determined after fault sensor by B step, by the detected value of two other driving leg sensor and the detected value of middle standby leg sensor, pass through the data reconstruction unit in restructural motion controller, calculate the measured value of answering of fault sensor, and by buffer, fault sensor detected value is abandoned under the control of detection and isolated location, with this, answer measured value to replace, thereby realize the fault-tolerant and error correction to fault sensor.
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| CN103419854B (en) * | 2013-07-25 | 2015-10-28 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN103505876B (en) * | 2013-10-18 | 2016-01-20 | 电子科技大学 | The control device of parallel connection type motion-sensing game motion platform and control method thereof |
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| CN101352854B (en) * | 2008-07-17 | 2011-01-26 | 上海交通大学 | Remote operation planar redundant manipulator automated guided intelligent element, system and method |
| CN101444892B (en) * | 2008-10-17 | 2010-12-08 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN101436058B (en) * | 2008-12-16 | 2010-08-11 | 电子科技大学 | Fault tolerant correcting method of parallel connection / series-parallel connection machining tool sensor input fault and control device thereof |
| CN101745916B (en) * | 2009-12-16 | 2011-06-01 | 电子科技大学 | Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof |
-
2010
- 2010-10-27 CN CN201010526712.9A patent/CN102068818B/en not_active Expired - Fee Related
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