CN102068818B - Dynamic game machine platform with functions of fault tolerance and error correction and fault tolerance and error correction method - Google Patents

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

Dynamic game machine platform with error tolerance and error correction function and error tolerance and error correction method

technical field

The invention belongs to the technical field of game equipment, in particular to a dynamic game motion platform (machine) with drive legs and sensors with error tolerance and error correction functions and an error tolerance and error correction method for the dynamic game motion platform during operation (working).

Background technique

In traditional computer games (such as racing games, motorcycle games, tank games, airplane games, etc.), the user controls the progress of the computer game through the keyboard, mouse and joystick, and the computer game is displayed on the display screen through virtual reality technology. Pictures of real scenes. With the development of computer game technology and changes in market demand, new computer games with the function of simulating real motion sensations have become the future development direction of computer games. This new type of computer games with real motion sensations (abbreviated as dynamic games) ) needs the support of the game motion platform to realize the motion simulation function. This dynamic game motion platform can simulate the various positions and attitudes of the aircraft in flight, as well as the real motion sensations such as the bumps and weightlessness of the aircraft in flight. The dynamic game sports platform has high requirements on personal safety and system reliability, and the dynamic game sports platform works continuously for a long time in harsh environments such as heavy load, shock, vibration, etc., and it is not convenient for the dynamic game sports platform to break down. Timely fix.

The 3-RPS parallel mechanism component of the traditional dynamic game motion platform is composed of a moving platform, a fixed platform and three branches connecting the two platforms, and controls the movement of the entire motion platform through its controller; among them: the three branches and the fixed platform The kinematic pair connected to the platform is a revolving joint (R), the kinematic pair connected to the moving platform is a spherical pair (S), and the motion pair (P) is between the two kinematic pairs R and S. From the kinematic analysis of the mechanism, it can be known that the mechanism has three degrees of freedom of movement along the Z axis and rotation around the X and Y axes (equivalent instantaneous rotation axis). When the movement of the mechanism changes in length, the motion platform The pose changes accordingly. In this kind of dynamic game motion platform system, the sensor provides the actual motion information of the dynamic game motion platform. If the sensor fails during use, its output will no longer reflect the real value, which may cause the failure of the entire system. In the dynamic game motion platform, the driving legs provide the power of the motion platform. If it fails and causes insufficient or no driving ability, it may cause a decrease in motion performance or even cause a safety accident. Therefore, in order to ensure that the dynamic game motion platform can successfully complete its functions, it is necessary for the dynamic game motion platform to have fault-tolerant and error-correction functions for driving legs and sensor failures. However, the above-mentioned dynamic game sports platform lacks the ability of online self-repair. Once the sensor fails during the movement of the dynamic game sports platform, it will cause no output or incorrect output results of the sensor, and at least cause the accuracy of position and speed control to decrease. If it is serious, it will cause the loss of control of the dynamic game motion platform, and even lead to serious safety accidents and other defects.

In the patent document with the publication number CN101444892, a kind of "Hybrid machine tool with reconfigurable mechanical system and method for reconfiguration and error tolerance and error correction" is disclosed. The central leg and three peripheral legs of the hybrid machine tool all adopt the same The redundant driving device of the two sets of transmission system is used to realize the fault tolerance and error correction of the fault of the driving device. The central leg and the three peripheral legs constitute a four-degree-of-freedom (1PS+3TPS) space parallel closed-chain mechanism under normal conditions. The central The legs play the role of constraining (maintaining) the motion state of the parallel closed-chain mechanism. Each redundant drive unit includes a servo motor, a clutch and a brake disc located on the main drive shaft, a gear reduction mechanism located between the servo motor and the clutch, and a common housing and main drive shaft for both systems. Although the hybrid machine tool has the function of error tolerance and error correction for drive failures, since the redundant drive device uses two sets of mechanical systems including servo motors, clutches and brake discs, and gear reduction mechanisms, the structure is not only complicated, but also increases the The weight of the machine tool and the cost of the system; in addition, the more important thing is that this type of mechanical structure system is not suitable for dynamic game consoles due to its poor stability during operation and its driving force is limited by the size of the servo motor (output power).

Contents of the invention

The purpose of the present invention is to study and design a dynamic game machine platform with error-tolerant and error-correcting functions and an error-tolerant and error-correcting method in view of the defects in the background technology, so that when any driving leg or sensor suddenly fails, through the Switching and reconfiguration realize fault tolerance, automatic error correction, and online self-maintenance to ensure its normal work and safe operation, so as to effectively improve the stability, safety and reliability of the dynamic game motion platform.

The solution of the present invention is: for the sensor fault, on the basis of the parallel device (mechanism) of the traditional dynamic game motion platform 3-RPS type three degrees of freedom, between the center of the moving platform and the center of the fixed platform of the dynamic game motion platform A spare leg with a displacement sensor is added; during the working process, the measured value of the displacement sensor on the three driving legs and the displacement sensor on the driven leg are sent to the fault detection and isolation unit in the controller for dynamic detection. The running status of the game platform is monitored; when one of the three driving leg sensors fails, and the faulty sensor is judged, the spatial closed-chain mechanism is used to constrain the detection value of the other two driving legs and the middle driven leg sensor, through The data reconstruction unit in the controller recalculates the measured value of the faulty sensor, replaces the wrong value output by the faulty sensor with the measured value, and discards the original detection (abnormal) value of the faulty sensor, so as to realize the detection of sensor faults. fault tolerance and automatic error correction to ensure the normal operation of the dynamic game platform; for the failure of the driving leg (device): a single degree of freedom is set on the spare leg added between the center of the dynamic platform and the center of the fixed platform of the dynamic game motion platform. The mobile kinematic pair and two universal joints, the controller adopts the reconfigurable controller based on the field programmable gate array (FPGA) logic controller disclosed in the patent document CN101436058A; when the three driving legs When any driving leg breaks down, the dynamic game motion platform converts the faulty driving leg into a driven leg, and at the same time converts the spare leg set between the center of the moving platform and the center of the fixed platform into a driving leg. The mechanism type of the moving platform is determined by The initial 3-RPS evolved into 1UPU (universal hinge-moving pair-universal hinge)+2RPS, the operation of the dynamic game platform and the switching of the driving legs are controlled by the controller to control the on, off and opening of the solenoid valve of the conventional hydraulic system (flow) size to achieve. Therefore, the dynamic game machine platform with error-tolerant and error-correcting functions described in the present invention comprises a moving platform, a fixed platform (base frame) and three driving legs (branches) that are movably connected with the two platforms to form a parallel closed-loop structure, and control the movement of the whole moving platform. The key is that the center leg between the moving platform and the center of the fixed platform is equipped with a spare (redundant) leg with a single-degree-of-freedom moving pair and its displacement sensor and two universal joints; the controller is It is a reconfigurable controller based on a field-programmable gate array (FPGA) logic controller, and the three driving legs respectively contain a moving joint and its displacement sensor, a rotating joint and a ball joint, or respectively contain a moving joint and its displacement sensor, and the driving legs of two universal hinges; both ends of the spare leg are respectively connected to the moving platform and the fixed platform through universal hinges, the displacement sensor on it is connected to the controller through the signal line, and each driving leg is It is connected with the moving platform and the fixed platform respectively through the ball hinge and the rotating pair, or is connected with the moving platform and the fixed platform respectively through the universal hinge, and the displacement sensors on each driving leg are connected with the controller through the signal line.

The above-mentioned spare legs and each driving leg are hydraulic spare legs and driving legs with cylinders and piston rods. The cylinders on each spare leg and driving legs are connected to the hydraulic pressure through a pair of pressure oil inlet and outlet nozzles arranged on them. system connection; the spare legs are respectively connected to the fixed platform and the moving platform through the universal hinge on the cylinder seat and the piston rod, and the driving legs are respectively connected to the moving platform and the moving platform through the ball hinge on the piston rod and the sliding sleeve on the cylinder seat. The fixed platform is connected or both are respectively connected with the moving platform and the fixed platform through universal hinges; and the two ends of the displacement sensors arranged on the hydraulic spare leg and the driving leg are respectively connected with the cylinder body and the piston rod. The moving platform, when the driving legs are connected with the moving platform by ball joints, in order to reduce the possibility of motion interference between the driving legs and the moving platform and to increase the range of rotation angles of the ball joints, the fixed plane of the ball joints on the moving platform is in line with the moving platform. The base plane of the platform is inclined at 15°-20°. And described controller then adopts publication number to be disclosed in the patent document of CN101436058A, comprise flash memory (FLASH), random access memory (RAM) and the containing central control unit that is connected with it, be used for being connected with PC Communication unit, trajectory planning unit for trajectory planning, PID control unit for PID control, counting unit for processing feedback signals, fault detection for comparing feedback parameters with corresponding operating parameters in the input flash memory The field-programmable gate array (FPGA) logic controller including the isolation unit, the buffer unit for isolating and processing the fault detection value, and the data reconstruction unit for calculating the value of the fault sensor should be based on the field Reconfigurable controllers for programmable gate array (FPGA) logic controllers.

And the error-tolerant and error-correcting method in the running (working) process of the dynamic game platform of the present invention comprises:

A. State monitoring: First, according to the motion requirements of the dynamic game motion platform, through trajectory planning, input the length, speed and time-varying operating parameters of each driving leg into the flash memory (FLASH) of the control system, As the basic parameters of the length, speed and driving force of the driving leg, the parameter value is processed by the trajectory planning unit in the logic controller and the result is sent to the PID control unit to control the hydraulic servo valve of each driving leg; the three driving The online detection value of the leg sensor and the spare leg sensor is input into the PID control unit through the buffer unit to perform PID control on the hydraulic servo valve, and the other way is input into the random access memory (RAM) as the detection value under the control of the central control unit to control the dynamics. The running status of the game motion platform is controlled and monitored online, and the driving force of each driving leg is simultaneously monitored during the motion process;

B. Fault diagnosis: If the deviation between the actual detection value and the expected value of the driving force of a certain driving leg exceeds the set range during the movement, it indicates that the driver on one driving leg has failed, and then turn to C1 for driving Error tolerance and error correction of leg faults; the measured value of the middle spare leg sensor can be calculated from the detection values of the three driving leg sensors according to the constraint relationship of the space parallel mechanism, and the measured value of the spare leg sensor is compared with the actual detection value of the spare leg sensor Value comparison, if the deviation between the two exceeds the set range, it indicates that the sensor on one of the three driving legs has failed, and the fault detection and isolation system will compare the basic parameters of the driving leg sensor with the driving The actual output value of the leg sensor is compared, if the deviation value between the two of a certain driving leg exceeds the set range, it is determined that the driving leg sensor is a faulty sensor, and then turn to C2 for error-tolerant and error-correcting processing of sensor faults;

C1. Fault tolerance and error correction of driving leg failure: convert the faulty driving leg into a driven leg, and at the same time convert the middle spare leg into a driving leg, the mechanism type of the motion platform evolves from the initial 3-RPS to 1UPU+2RPS, dynamic games The platform can still achieve the predetermined motion requirements, so as to realize the fault tolerance and error correction of the fault driving leg;

C2. Error tolerance and error correction of sensor failure: When the faulty sensor is determined in step B, the detection values of the other two driving leg sensors and the detection value of the middle backup leg sensor are reconstructed through the data in the reconfigurable motion controller The unit calculates the measured value of the faulty sensor, and discards the faulty detected value through the buffer under the control of the detection and isolation unit, and replaces it with the measured value, thereby realizing error tolerance and error correction for the faulty sensor.

In the present invention, a spare leg with a displacement sensor is connected between the center of the moving platform and the center of the fixed platform of the traditional three-degree-of-freedom 3RPS parallel mechanism, and the spare leg does not interfere with the motion of the dynamic game platform, and the sensor connected thereon The redundant information provided is used for fault detection and isolation when the dynamic game platform is working normally; its fault tolerance and error correction method is to dynamically monitor the operation of the dynamic game platform. When a sensor fails, use the measurement values of other normal working sensors to automatically perform online data reconstruction through the reconfiguration of its internal logic resources, and switch the central backup leg to the driving leg by switching the faulty driving leg to the driven leg 1. Make the system run normally and repair it to ensure the normal operation of the motion platform, so as to realize fault tolerance and error correction when a certain driving leg or the sensor on it fails. Therefore, the dynamic game platform of the present invention has the functions of realizing fault tolerance, automatic error correction and online self-maintenance through switching and reconfiguration in the system when a sudden failure occurs in a certain driving leg or sensor during operation (working) to ensure its Normal work and safe operation, and the reconstruction time is short, the speed is fast, and the system reconstruction efficiency is high, so as to effectively improve the safety and reliability of the dynamic game motion platform, and effectively avoid the sudden failure of the driving legs or sensors. security incidents, etc. It overcomes the disadvantages of the background technology that once the driving legs or sensors fail, the position and speed control accuracy will be reduced, and the dynamic game platform will be out of control, and even serious accidents will occur.

Description of drawings

Fig. 1. is the structural representation of the dynamic game platform of the present invention and embodiment 1;

Fig. 2. is the schematic diagram (sectional view) of the structure of the moving platform and the connection relationship with the outer ring of the spherical joint in Embodiment 1;

Fig. 3. is the structural representation (block diagram) of controller of the present invention;

Fig. 4. is the schematic diagram of the mechanism and the schematic diagram of the coordinate system of the dynamic game platform of embodiment 1;

Fig. 5. is the structural representation of embodiment 2 dynamic game platform.

In the figure: 1. Fixed platform, 2. Moving platform, 2-1. Universal hinge joint, 3. Driving legs (l ₁ , l ₂ , l ₃ ), 3-1. Hydraulic cylinder block, 3-1.1 , 3-1.2: Oil inlet and outlet holes, 3-2. Piston rod, 3-3. (rotating pair) sliding sleeve (rod), 3-4. Universal hinge seat, 3-5. Universal hinge, 4. Spare Leg (l ₄ ), 4-1. hydraulic cylinder block, 4-1.1, 4-1.2: oil inlet and outlet holes, 4-2. piston rod, 4-3. (upper) universal hinge, 4-4.( Down) universal joint, 5. displacement sensor, 6. (rotating pair) central shaft, 7. ball bearing, 8. PC, 9. field programmable gate array (FPGA) logic controller, 10. flash memory ( FLASH), 11. random access memory (RAM), 12. digital-to-analog converter, 13. hydraulic servo valve, 14. dynamic game motion platform (machine).

Detailed ways

Embodiment 1: In the control system of the present embodiment: the FPGA logic controller 9 adopts the FPGA logic device whose model is ALTERA EP1C6Q240C8 and through the reconfiguration of internal logic resources, the composition includes a central control unit, a communication unit, a trajectory planning unit, and a PID control unit. Unit, data reconstruction unit, fault detection and isolation unit, buffer unit including the controller; flash memory (FLASH) 10 model is Am29LV160D, random access memory (RAM) 11 adopts synchronous dynamic random access model HY57V641620H6 Memory, the model of digital-to-analog converter 12 is DAC-16, the model of analog-to-digital conversion unit is ADC0809, the model of hydraulic spare leg 4 and driving leg 3 (hydraulic cylinder) is UY WF10, and the hydraulic cylinder body 4-1 and 3- 1 The diameter is 40mm, the diameter of piston rod 4-2 and 3-2 is 20mm; the model of displacement sensor 5 is DA-75; the ball bearing 7 adopts the joint bearing of model GEG12ES; the sliding sleeve 3-3 cooperates with the central shaft 6 The part (rotating pair) adopts the rolling bearing of model 6000RS; the model of each universal joint 3-5, 4-3, 4-4 is WXD2; the hydraulic servo valve 13 in the hydraulic system is RTJ01,

This embodiment takes the turbulent motion in the simulated flight process as an example: the structural parameters of the dynamic game motion platform are as follows: the radii of the circumscribed circles of the fixed platform 1 and the movable platform 2 are respectively R=250 millimeters, r=150 millimeters, and the planned movable platform is as follows: .30 mm amplitude and 2 second period, periodic vibration along the Z-axis direction to simulate the bumpy movement of the aircraft during flight.

The error-tolerant and error-correcting methods for driver and sensor failures are as follows:

A. State monitoring: first, according to the above-mentioned requirements of the jolting motion, the operating parameters of the length, speed, and driving force of each driving leg are input into the flash memory 10 of the control system by the PC 8 through trajectory planning, as The basic parameters of driving leg length, speed and driving force, the parameter value is processed by the trajectory planning unit in the logic controller at the same time, and the result is sent to the PID control unit for controlling the hydraulic servo valve 13 of each driving leg; the three driving legs The online detection value of the sensor 5 on the leg 3 and the spare leg 4 is input into the PID control unit through the buffer unit to perform PID control on the hydraulic servo valve 13, and the other way is input into the random access memory 11 as the detection value under the control of the central control unit. To conduct online control and monitoring of the running status of the dynamic game motion platform, and simultaneously monitor the driving force of each driving leg during the motion process;

B. Fault diagnosis: during the movement, at t=50 seconds, if the deviation between the actual detection value of the driving force of a certain driving leg 3 and its expected value exceeds the set range, it indicates that the driving leg has failed, then Turn to step C1 to perform fault-tolerant and error-correcting processing on the driving leg; from the detection values of the sensors of the three driving legs (l ₁ , l ₂ , l ₃ ), according to the constraint relationship of the space parallel mechanism, the testable value of the middle spare leg sensor can be calculated. value, and compare the measured value of the spare leg sensor with the actual detection value of the spare leg sensor. At t=100 seconds, if the deviation between the two exceeds the set range, it indicates that there is a fault in the three driving legs. If a fault occurs on a driving leg or a sensor on it, the fault detection and isolation system will compare the basic parameters of each driving leg sensor with the actual output value corresponding to each driving leg sensor, if the basic parameter of the sensor on the driving leg l ₁ If the deviation value between the corresponding actual output value exceeds the set range, it is determined that the sensor on the driving leg _l1 is faulty, and then turn to C2 for error-tolerant error correction of sensor faults;

C1. Fault tolerance and error correction of driving leg failure: When step B determines that a certain driving leg is faulty, the faulty leg is converted into a driven leg, and the spare leg located in the center is converted into a driving leg at the same time, the mechanism type of the motion platform Evolved from the initial 3-RPS to 1UPU+2RPS, the dynamic game platform can still achieve the predetermined motion requirements, so as to achieve fault tolerance and error correction for faulty driving legs.

C2. Error tolerance and error correction of sensor failure: When the sensor of the driving leg D1 is determined to be faulty by step B, the detection value of the sensor on the other two driving legs D2 and D3 and the detection value of the sensor on the central spare leg 4 Through the data reconstruction unit in the reconfigurable motion controller, the measured value of the fault sensor of the driving leg D1 is calculated, and under the control of the detection and isolation unit, the fault detection value is discarded through the buffer unit and replaced by the measured value , that is, the fault detection and isolation unit sends an isolation command to the cache unit, and at the same time, the central control unit starts the data reconstruction unit to perform data reconstruction processing. The specific data reconstruction algorithm is as follows:

Establish the coordinate system as shown in Figure 4. The coordinate system is set as follows: the coordinate origin of the basic coordinate system R is located at the center O point of the fixed platform, the Y axis is selected as the direction OA ₂ , and the Z axis is selected as perpendicular to the plane A ₁ A ₂ A ₃ direction; the coordinate origin of the moving coordinate system R' is located at the center O ₁ of the moving platform, the Y' axis is selected as the direction of O ₁ B ₂ , and the Z' axis is selected as the direction perpendicular to the plane B ₁ B ₂ B ₃ . Now suppose that the displacement sensor on the first driving leg breaks down, that is, l ₁ cannot be directly measured or the measurement is inaccurate.

The coordinates of the hinge point on the fixed platform in the fixed coordinate system can be expressed as:

The coordinates of the hinge point on the moving platform in the fixed coordinate system can be expressed as:

The distance between the three hinge points on the moving platform remains constant during the movement, the three lengths can be expressed by the coordinates of the hinge points, and the length of the driven leg can be expressed by the coordinates of the center point of the fixed platform and the moving platform Come out, then the constraint equation of the mechanism can be obtained:

$\left\{\begin{array}{cc}{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="B"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">B</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="r"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">r</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="B"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">B</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="r"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">r</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="B"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">B</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="r"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">r</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="4"\; label="B"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">B</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="4"\; label="l"\; filenames="HSA00000326543200031.png"\; state="\{\{state\}\}">l</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Substituting formula (1) and formula (2) into formula (3) can be obtained:

l₁，通过求解In formula (4), l ₂ , l ₃ , and l ₄ are known quantities, and among the four equations, there are four unknown quantities:

l ₁ , by solving

The above equations can get the value of l ₁ .

l ₁ is the current measured value of the fault sensor, and the data reconstruction unit sends the measured value to the PID control unit to replace the detected value of the fault sensor to perform PID control on the hydraulic cylinder of the driving leg 1, so as to realize the control of the driving leg 1 The fault tolerance and automatic error correction of sensor faults ensure the normal operation of the dynamic game platform.

Embodiment 2: FIG. 5 is a schematic diagram of the structure of the dynamic game platform of this embodiment. The connection of each driving leg 3 in the dynamic game platform of this embodiment with the moving platform 2 and the fixed platform 1 is connected by a universal hinge 3-5, wherein Each universal hinge 3-5 is used to connect and fix the moving platform 2 and the fixed platform 1. The central axis of each universal hinge seat 3-4 is perpendicular to the base plane of the corresponding moving platform 2 and the fixed platform 1: the rest are consistent with Embodiment 1 is the same.

Claims (5)

1. A dynamic game machine platform with error-tolerant and error-correcting functions, comprising a moving platform, a fixed platform and two driving legs that are movably connected to form a parallel closed-loop structure, and a controller that controls the motion of the whole dynamic game machine platform, its features The center leg between the moving platform and the center of the fixed platform is equipped with a spare leg with a single-degree-of-freedom moving pair and its displacement sensor and two universal joints; the controller is based on field programmable gate array logic control The reconfigurable controller of the controller, and the three driving legs are respectively composed of a moving pair and its displacement sensor, a rotating joint and a ball joint or a driving pair including a moving pair and its displacement sensor, and two universal joints. legs; both ends of the spare legs are respectively connected to the moving platform and the fixed platform through the universal joint, the displacement sensor on it is connected to the controller through the signal line, and each driving leg is connected to the moving platform and the fixed platform through the ball hinge and the rotating pair respectively. The platforms are connected or both are respectively connected to the moving platform and the fixed platform through universal hinges, and the displacement sensors on each driving leg are connected to the controller through signal lines. 2. The dynamic game machine platform with error-tolerant and error-correcting functions according to claim 1, characterized in that said spare legs and each drive leg all adopt hydraulic spare legs and drive legs with cylinder body and piston rod, each spare leg and the cylinder on the driving leg are connected to the hydraulic system through a pair of pressure oil inlet and outlet nozzles on it; the spare leg is connected to the fixed platform and the universal hinge on the piston rod through the cylinder seat of the cylinder The driving legs are respectively connected to the moving platform and the fixed platform through the ball hinge on the piston rod and the sliding sleeve on the cylinder seat, or are connected to the moving platform and the fixed platform through universal hinges respectively; The two ends of the displacement sensors on the hydraulic spare leg and the driving leg are respectively connected with the cylinder body and the piston rod. 3. The dynamic game machine platform with error-tolerant and error-correcting functions according to claim 1, wherein when each driving leg adopts a ball hinge to connect with the moving platform, the fixed ring surface of the ball hinge on the moving platform is the base plane of the moving platform A slope of 15°-20°. 4. By the described dynamic game machine platform with error tolerance and error correction function according to claim 1, it is characterized in that said controller then comprises a flash memory, a random access memory and a central control unit connected thereto, for communicating with The communication unit connected to the PC, the trajectory planning unit used for trajectory planning, the PID control unit used for PID control, the counting unit used for processing feedback signals, and the feedback parameters and the corresponding operating parameters input into the flash memory. Compared with the fault detection and isolation unit, the buffer unit for isolating the detection value of the fault sensor, and the data reconstruction unit for calculating the fault sensor’s measured value, the field programmable gate array logic controller is based on Reconfigurable Controllers for Field Programmable Gate Array Logic Controllers. 5. the error-tolerant error-correction method of the dynamic game machine platform with error-tolerant error-correction function according to claim 1, comprising: A. State monitoring: first, according to the motion requirements of the dynamic game machine platform, through trajectory planning, input the basic parameters of the length, speed and driving force of each driving leg into the flash memory of the control system as the driving force. The basic parameters of leg length, speed and driving force, the basic parameters are processed by the trajectory planning unit in the logic controller at the same time, and the results are sent to the PID control unit for controlling the hydraulic servo valves of each driving leg; the three driving leg sensors And the online detection value of the spare leg sensor is input into the PID control unit through the buffer unit to perform PID control on the hydraulic servo valve, and the other way is input into the random access memory as the detection value under the control of the central control unit to control the operation of the dynamic game motion platform. The status is controlled and monitored online, and the driving force of each driving leg is monitored simultaneously during the movement; B. Fault diagnosis: If the deviation between the actual detection value and the expected value of the driving force of a certain driving leg exceeds the set range during the movement, it indicates that the driver on one driving leg has failed, and then turn to C1 for driving Fault-tolerant and error-correcting for leg faults; the measured value of the intermediate spare leg sensor can be calculated from the detection values of the three driving leg sensors according to the constraint relationship of the space parallel mechanism, and the measured value of the spare leg sensor is compared with the actual detection value of the spare leg sensor Comparison, if the deviation between the two exceeds the set range, it indicates that the sensor on one of the three driving legs has failed, and the fault detection and isolation system will compare the basic parameters of the driving leg sensor with the driving leg The actual output value of the sensor is compared, if the deviation value between the two of a certain driving leg exceeds the set range, it is determined that the driving leg sensor is a faulty sensor, and then turn to C2 for error-tolerant and error-correcting processing of sensor faults; C1. Fault tolerance and error correction of driving leg failure: convert the faulty driving leg into a driven leg, and at the same time convert the middle spare leg into a driving leg, the mechanism type of the motion platform evolves from the initial 3-RPS to 1UPU+2RPS, dynamic games The platform can still achieve the predetermined motion requirements, so as to realize the fault tolerance and error correction of the fault driving leg; C2. Error tolerance and error correction of sensor failure: When the faulty sensor is determined in step B, the detection values of the other two driving leg sensors and the detection value of the middle backup leg sensor are reconstructed through the data in the reconfigurable motion controller The unit calculates the measured value of the faulty sensor, and discards the detected value of the faulty sensor through the buffer under the control of the detection and isolation unit, and replaces it with the measured value, thereby realizing fault tolerance and error correction for the faulty sensor.

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