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
Description
技术领域technical field
本发明属于游戏装备技术领域,特别是一种驱动腿和传感器均具有容错纠错功能的动感游戏运动平台(机)及针对该动感游戏运动平台运行(工作)过程中的容错纠错方法。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).
背景技术Background technique
传统的电脑游戏(如赛车游戏、摩托游戏、坦克游戏、飞机游戏等),使用者通过键盘、鼠标以及游戏操纵杆来控制电脑游戏的进程,电脑游戏通过虚拟现实技术等在显示屏幕上显示模仿真实场景的画面。随着电脑游戏技术的发展和市场需求的变化,新的带有模拟真实运动感觉功能的电脑游戏成为了电脑游戏今后的发展方向,这种新型的具有真实运动感觉的电脑游戏(简称为动感游戏)需要实现运动仿真功能的游戏运动平台的支持。这种动感游戏运动平台可以仿真诸如飞机在飞行中的各种位置和姿态,以及飞机在飞行中的颠簸、失重等真实运动感觉。动感游戏运动平台对人身安全性和系统可靠性的要求很高,而且动感游戏运动平台长时间连续工作在重载、冲击、振动等较恶劣的环境中,动感游戏运动平台发生故障时也不便于及时修复。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.
传统动感游戏运动平台的3-RPS型并联机构部件由动平台、定平台及连接两平台的三个分支机构组成,并通过其控制器控制整个运动平台的运动;其中:三个分支机构与定平台相连的运动副为转动副(R),与动平台相连的运动副为球面副(S),R和S两个运动副之间为移动副(P)。由机构的运动学分析可知,该机构具有沿Z轴的移动和绕X轴与Y轴的转动(等效的瞬时转轴)三个自由度,当机构的移动副作长度变化时,运动平台的位姿随之变化。在此类动感游戏运动平台的系统中,传感器提供了动感游戏运动平台的实际运动信息,如果传感器在使用过程中发生故障,其输出将不能再反映真实值,则可能导致整个系统的故障。在动感游戏运动平台中,驱动腿提供运动平台的动力,如果其出现故障造成驱动能力不足或无驱动能力,则可能造成运动性能下降甚至造成安全事故。因此为了保证动感游戏运动平台能够顺利完成其功能,需要动感游戏运动平台对驱动腿和传感器故障具有容错纠错功能。而上述动感游戏运动平台存在缺乏在线自我修复的能力,当动感游戏运动平台在运动过程中一旦传感器发生故障、就将导致传感器无输出或输出结果不正确,轻则造成位置、速度控制的精度降低,重则造成动感游戏运动平台的失控、甚至导致严重的安全事故等缺陷。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.
在公开号为CN101444892的专利文献中,公开了一种《机械系统可重构的混联机床及重构和容错纠错方法》,该混联机床的中心腿及三条周边腿均采用具有完全相同的两套传动系统的冗余驱动装置,用于实现对驱动装置故障的容错纠错,中心腿与三条周边腿构成正常状态下的四自由度(1PS+3TPS)空间并联闭链机构,其中心腿起约束(维持)并联闭链机构运动状态的作用。每个冗余驱动装置均包含位于主传动轴上的伺服电机、离合器及制动盘,位于伺服电机与离合器之间的齿轮减速机构,以及两系统共用的壳体及主传动轴。该混联机床虽然具有对驱动器故障的容错纠错功能,但由于冗余驱动装置采用含伺服电机、离合器及制动盘、齿轮减速机构在内的两套机械系统,不但结构复杂、而且增加了机床的重量及系统的成本;此外更主要的是此类机械结构系统由于运行时的平稳性差、其驱动力又受限于伺服电机(输出功率)的大小,因而不宜用于动感游戏机平台。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).
发明内容Contents of the invention
本发明的目的是针对背景技术存在的缺陷,研究设计一种具有容错纠错功能的动感游戏机平台及容错纠错方法,以便在任一驱动腿或传感器出现突发性故障时,通过系统内的切换和重构实现容错及自动纠错、进行在线自维修,确保其正常工作和安全运行,从而达到有效提高动感游戏运动平台运行的平稳性差、安全性和可靠性等目的。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.
本发明的解决方案是:针对传感器故障,在传统动感游戏运动平台3-RPS型三自由度的并联装置(机构)的基础上,在动感游戏运动平台的动平台中心与固定平台的中心之间增设一带位移传感器的备用腿;在工作过程中,将由三条驱动腿上的位移传感器测量值与从动腿上的位移传感器的测量值送入控制器内的故障检测与隔离单元,用于对动感游戏平台运行状态进行监控;当三条驱动腿传感器中有一传感器出现了故障,判断出故障传感器后,则利用空间闭链机构约束,由其余两条驱动腿和中间从动腿传感器的检测值、通过控制器中的数据重构单元重新计算得到该故障传感器的应测值,将该应测值替代故障传感器输出的错误值,而将故障传感器的原检测(异常)值舍弃,从而实现对传感器故障的容错和自动纠错,确保动感游戏平台正常工作;针对驱动腿(装置)故障:则在动感游戏运动平台的动平台中心与固定平台的中心之间增设的备用腿上设置一个具有单自由度的移动运动副和两个万向铰,控制器则采用公开号为CN101436058A的专利文献所公开的基于现场可编程门阵列(FPGA)逻辑控制器的可重构控制器;当三条驱动腿中的任何一个驱动腿发生故障时,动感游戏运动平台将故障驱动腿转化为一从动腿、同时将动平台中心与固定平台的中心之间设置的备用腿转化为驱动腿,运动平台的机构类型由初始的3-RPS演化为1UPU(万向铰-移动副-万向铰)+2RPS,动感游戏平台的运行及驱动腿的切换的通过控制器控制常规液压系统电磁阀的通、断及开度(流量)的大小来实现。因此,本发明所述具有容错纠错功能的动感游戏机平台包括动平台,固定平台(基架)及将两平台活动连接以形成并联闭环结构的三条驱动腿(分支),控制整个运动平台运动的控制器,关键在于在动平台与固定平台中心之间的中心腿为设有一带一个单自由度的移动副及其位移传感器和两个万向铰的备用(冗余)腿;控制器则为基于现场可编程门阵列(FPGA)逻辑控制器的可重构控制器,而三个驱动腿分别为含有一个移动副及其位移传感器、一个转动副和一个球铰链或分别为含一个移动副及其位移传感器、两个万向铰的驱动腿;备用腿两端均通过万向铰分别与动平台及固定平台连接、其上的位移传感器通过信号线与控制器连接,各驱动腿则均通过球铰链及转动副分别与动平台及固定平台连接或均通过万向铰分别与动平台及固定平台连接、各驱动腿上的位移传感器均通过信号线与控制器连接。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.
上述备用腿和各驱动腿均采用带缸体及活塞杆的液压式备用腿和驱动腿,各备用腿和驱动腿上的缸体均通过设于其上的一对压力油进出管口与液压系统连接;备用腿通过缸体座及活塞杆上的万向铰分别与固定平台及动平台连接,各驱动腿则通过活塞杆上的球铰链及缸体座上的滑套分别与动平台及固定平台连接或均通过万向铰分别与动平台及固定平台连接;而设于该液压式备用腿及驱动腿上的位移传感器的两端分别与缸体及活塞杆连接。所述动平台、当各驱动腿采用球铰与动平台连接时,为了减少驱动腿与动平台发生运动干涉的可能性并增大球铰转角范围,动平台上的球铰固定平面为与动平台基础平面呈15°-20°的斜面。而所述控制器则采用公开号为CN101436058A的专利文献所公开的、包括闪储器(FLASH),随机存取存储器(RAM)及与之连接的含中心控制单元、用于与PC机连接的通讯单元、用于轨迹规划的轨迹规划单元、用作PID控制的PID控制单元、用于处理反馈信号的计数单元、用于将反馈参数与输入闪储器中对应的运行参数进行比较的故障检测与隔离单元、将该故障检测值进行隔离处理的缓冲单元,以及用于计算故障传感器应测值的数据重构单元在内的现场可编程门阵列(FPGA)逻辑控制器在内的、基于现场可编程门阵列(FPGA)逻辑控制器的可重构控制器。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.
而本发明动感游戏平台运行(工作)过程中的容错和纠错方法,包括:And the error-tolerant and error-correcting method in the running (working) process of the dynamic game platform of the present invention comprises:
A.状态监测:首先根据动感游戏运动平台的运动要求,通过轨迹规划,将其各条驱动腿长度、速度以和驱动力随时间变化的运行参数输入控制系统的闪储器(FLASH)内,作为驱动腿长度、速度和驱动力的基础参数,该参数值同时经逻辑控制器中的轨迹规划单元处理后将结果送入PID控制单元用于对各驱动腿的液压伺服阀进行控制;三条驱动腿传感器及备用腿传感器的在线检测值一路经缓冲单元输入PID控制单元对液压伺服阀进行PID控制,另一路在中心控制单元的控制下作为检测值输入随机存取存储器(RAM)、以对动感游戏运动平台的运行状况进行在线控制和监测,在运动过程中同时对各条驱动腿的驱动力进行监测;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.故障诊断:在运动过程中如果某一驱动腿的驱动力实际检测值与其期望值之间的偏差超出了设定范围,则表明有一条驱动腿上的驱动器出现了故障,则转C1进行驱动腿故障的容错纠错;由三条驱动腿传感器检测值根据空间并联机构的约束关系可以计算出中间备用腿传感器的应测值,并将此备用腿传感器的应测值与备用腿传感器的实际检测值比较,如果两者之间的偏差值超出了设定范围,则表明三条驱动腿中有一条驱动腿上的传感器出现了故障,故障检测与隔离系统将驱动腿传感器此时的基础参数与驱动腿传感器的实际输出值进行对比,如果某一驱动腿两者之间的偏差值超出了设定范围,则判定该驱动腿传感器为故障传感器,然后转C2进行传感器故障的容错纠错处理;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.驱动腿故障的容错纠错:将故障驱动腿转化为一条从动腿,同时将中间备用腿转化为驱动腿,运动平台的机构类型由初始的3-RPS演化为1UPU+2RPS,动感游戏平台仍然可以实现预定的运动要求,从而实现对故障驱动腿的容错和纠错;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.传感器故障的容错纠错:当由B步骤确定出故障传感器后,即由另外两条驱动腿传感器的检测值和中间备用腿传感器的检测值通过可重构运动控制器中的数据重构单元,计算出故障传感器的应测值,并在检测与隔离单元的控制下通过缓冲器将故障检测值丢弃,以该应测值替换,从而实现对故障传感器的容错和纠错。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.
本发明由于在传统三自由度3RPS型并联机构的运动平台中心与固定平台的中心之间连接一条带有位移传感器的备用腿,备用腿对于动感游戏平台的运动没有干涉,其上连接的传感器所提供的冗余信息在动感游戏平台正常工作时被用于故障检测与隔离;其容错和纠错方法则是对动感游戏平台的运行进行动态监测,当动感游戏平台某一驱动腿或其上的传感器出现故障时,则利用其余正常工作传感器的测量值、通过其内部逻辑资源的重新配置自动进行在线数据重构,通过将故障驱动腿切换为从动腿,而将中心备用腿切换为驱动腿、使系统正常运行并修复,确保运动平台的正常运行,从而实现对某一驱动腿或其上的传感器出现故障时的容错和纠错。因而,本发明动感游戏平台具有在运行(工作)过程中当某驱动腿或传感器发生突发性故障时,通过系统内的切换和重构实现容错及自动纠错、进行在线自维修,确保其正常工作和安全运行,且重构时间短、速度快、系统的重构效率高,从而达到有效提高动感游戏运动平台运行的安全性和可靠性,有效避免因驱动腿或传感器突发性故障造成安全事故等特点。克服了背景技术存在的如果驱动腿或传感器一旦发生故障,轻则造成位置、速度控制的精度降低,重则造成动感游戏平台的失控、甚至导致严重事故的发生等弊病。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.
附图说明Description of drawings
图1.为本发明及实施例1动感游戏平台的结构示意图;Fig. 1. is the structural representation of the dynamic game platform of the present invention and embodiment 1;
图2.为实施例1动平台结构及与球铰外环连接关系示意图(剖视图);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;
图3.为本发明控制器结构示意图(方框图);Fig. 3. is the structural representation (block diagram) of controller of the present invention;
图4.为实施例1动感游戏平台的机构简图及坐标系示意图;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;
图5.为实施例2动感游戏平台的结构示意图。Fig. 5. is the structural representation of
图中:1.固定平台,2.动平台,2-1.万向铰坐接头,3.驱动腿(l1、l2、l3),3-1.液压缸缸体,3-1.1、3-1.2:进出油孔,3-2.活塞杆,3-3.(转动副)滑套(杆),3-4.万向铰坐,3-5.万向铰,4.备用腿(l4),4-1.液压缸缸体,4-1.1、4-1.2:进出油孔,4-2.活塞杆,4-3.(上)万向铰,4-4.(下)万向铰,5.位移传感器,6.(转动副)中心轴,7.球轴承,8.PC机,9.现场可编程门阵列(FPGA)逻辑控制器,10.闪储器(FLASH),11.随机存取存储器(RAM),12.数模转换器,13.液压伺服阀,14.动感游戏运动平台(机)。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).
具体实施方式Detailed ways
实施例1:本实施例的控制系统中:FPGA逻辑控制器9采用型号为ALTERA EP1C6Q240C8的FPGA逻辑器件并通过内部逻辑资源的重新配置,组成包含中心控制单元、通讯单元、轨迹规划单元、PID控制单元、数据重构单元、故障检测与隔离单元、缓冲单元在内的控制器;闪储器(FLASH)10型号为Am29LV160D,随机存取存储器(RAM)11采用型号为HY57V641620H6的同步动态随机存取存储器,数模转换器12型号为DAC-16,模数转换单元型号为ADC0809,液压式备用腿4和驱动腿3(液压缸)型号为UY WF10、其中液压缸缸体4-1及3-1直径为40毫米、活塞杆4-2及3-2直径为20毫米;位移传感器5型号为DA-75;球轴承7采用型号为GEG12ES的关节轴承;滑套3-3与中心轴6配合部位(转动副)采用型号6000RS的滚动轴承;各万向铰3-5、4-3、4-4的型号均为WXD2;液压系统中的液压伺服阀13型号为RTJ01,Embodiment 1: In the control system of the present embodiment: the
本实施方式以模拟飞机飞行过程中的颠簸运动为例:动感游戏运动平台结构参数如下:固定平台1和动平台2外接圆的半径分别为R=250毫米,r=150毫米,规划动平台以.30毫米的幅值和2秒的周期,沿Z轴方向做周期性振动,以模拟飞机飞行过程中的颠簸运动。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
驱动器和传感器故障的容错纠错方法如下:The error-tolerant and error-correcting methods for driver and sensor failures are as follows:
A.状态监测:首先根据上述颠簸运动的要求,由PC机8通过轨迹规划,将其各条驱动腿长度、速度和驱动力随时间变化的运行参数输入控制系统的闪储器10内,作为驱动腿长度、速度和驱动力的基础参数,该参数值同时经逻辑控制器中的轨迹规划单元处理后将结果送入PID控制单元用于对各驱动腿的液压伺服阀13进行控制;三条驱动腿3及备用腿4上的传感器5的在线检测值一路经缓冲单元输入PID控制单元对液压伺服阀13进行PID控制,另一路在中心控制单元的控制下作为检测值输入随机存取存储器11,以对动感游戏运动平台的运行状况进行在线控制和监测,在运动过程中同时对各条驱动腿的驱动力进行监测;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
B.故障诊断:运动过程中,在t=50秒时,如果某一驱动腿3的驱动力实际检测值与其期望值之间的偏差超出了设定范围,则表明该驱动腿出现了故障,则转执行步骤C1对该驱动腿进行故障的容错纠错处理;由三条驱动腿(l1、l2、l3)传感器检测值根据空间并联机构的约束关系可以计算出中间备用腿传感器的应测值,并将此备用腿传感器的应测值与备用腿传感器的实际检测值比较,在t=100秒时,如果两者之间的偏差值超出了设定范围,则表明三条驱动腿中有一条驱动腿或其上的传感器出现了故障,故障检测与隔离系统将各驱动腿传感器此时的基础参数与各驱动腿传感器对应的实际输出值进行对比,如果驱动腿l1上传感器的基础参数与其对应的实际输出值之间的偏差值超出了设定范围,则判定该驱动腿l1上的传感器出现故障,然后转C2进行传感器故障的容错纠错;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
C1.驱动腿故障的容错纠错:当B步骤确定某一驱动腿出现故障时、则将该故障腿转化为从动腿,同时将位于中心的备用腿转化为驱动腿,运动平台的机构类型由初始的3-RPS演化为1UPU+2RPS,动感游戏平台仍然可以实现预定的运动要求,从而实现对故障驱动腿的容错和纠错。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.传感器故障的容错纠错:当由B步骤确定出该驱动腿D1的传感器出现故障后,即由另外两条驱动腿D2和D3上传感器的检测值和中心备用腿4上传感器的检测值通过可重构运动控制器中的数据重构单元,计算出驱动腿D1故障传感器的应测值,并在检测与隔离单元的控制下通过缓冲单元将故障检测值丢弃,以该应测值替换,即通过故障检测与隔离单元向缓存单元发出隔离指令,同时,中心控制单元启动数据重构单元进行数据重构处理,具体的数据重构算法如下: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
建立坐标系如图4所示,坐标系设定如下:基础坐标系R的坐标原点位于固定平台的中心O点,Y轴选取为OA2方向,Z轴选取为垂直于平面A1A2A3的方向;动坐标系R’的坐标原点位于动平台的中心O1点,Y’轴选取为O1B2方向,Z’轴选取为垂直于平面B1B2B3的方向。现假设第1条驱动腿上位移传感器出现故障,即l1不可直接测量或测量不准确。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.
固定平台上铰链点在固定坐标系中的坐标可表示为:The coordinates of the hinge point on the fixed platform in the fixed coordinate system can be expressed as:
动平台上铰链点在固定坐标系中的坐标可表示为:The coordinates of the hinge point on the moving platform in the fixed coordinate system can be expressed as:
动平台上三个铰链点之间的距离在运动过程中保持不变,这三个长度可以用铰链点的坐标表示出来,另外从动腿的长度可以用固定平台和动平台中心点的坐标表示出来,于是可得机构的约束方程: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:
将式(1)和式(2)代入式(3)中整理可得:Substituting formula (1) and formula (2) into formula (3) can be obtained:
式(4)中,l2、l3、l4为已知量,四个方程中,未知量有四个: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
以上方程组可以得到l1的值。The above equations can get the value of l 1 .
l1即为故障传感器当前的应测值,数据重构单元将该应测值送入PID控制单元以代替故障传感器的检测值对驱动腿一的液压油缸进行PID控制,从而实现对驱动腿一传感器故障的容错和自动纠错,确保了动感游戏平台的正常运行。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.
实施例2:图5为本实施例动感游戏平台结构示意图,本实施例动感游戏平台中的各条驱动腿3与动平台2及固定平台1的连接均通过万向铰3-5连接,其中各万向铰3-5用于与动平台2及固定平台1连接固定的各万向铰坐3-4的中轴线均垂直于对应的动平台2及固定平台1的基础平面:其余均与实施例1同。Embodiment 2: FIG. 5 is a schematic diagram of the structure of the dynamic game platform of this embodiment. The connection of each
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