CN102591328A - Parameter self calibration method and manipulation device - Google Patents

Parameter self calibration method and manipulation device Download PDF

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CN102591328A
CN102591328A CN 201210052806 CN201210052806A CN102591328A CN 102591328 A CN102591328 A CN 102591328A CN 201210052806 CN201210052806 CN 201210052806 CN 201210052806 A CN201210052806 A CN 201210052806A CN 102591328 A CN102591328 A CN 102591328A
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input
parameter
value
parameters
actuating means
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CN 201210052806
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CN102591328B (en )
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侯文明
周瑶
胡栋华
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三一重工股份有限公司
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Abstract

The invention provides a parameter self calibration method and a manipulation device which are applied to a process of carrying out self calibration on a parameter in the manipulation device. The method comprises the following steps: when a self calibration starting condition is satisfied, according to an actual input parameter of present operation of the manipulation device and a reference input parameter stored in the manipulation device, obtaining an input parameter maximum value of the manipulation device and storing the input parameter maximum value; according to the input parameter maximum value of the manipulation device, a median of the manipulation device and an output parameter scope determined according to an output parameter maximum value of the manipulation device, converting the actual input parameter of the present operation of the manipulation device into an output parameter of the present operation and outputting the output parameter. Thereof, the output parameter of the present operation is in the output parameter scope, and different types of input parameters of various manipulation devices and input parameters of different value ranges are automatically switched in a preset output parameter value scope.

Description

一种参数自校准方法及操纵装置 A parametric method of self-calibration and a steering apparatus

技术领域 FIELD

[0001] 本发明涉及工业控制领域,特别是涉及一种参数自校准方法及操纵装置。 [0001] The present invention relates to the field of industrial control, particularly to a method and self-calibration parameter operating device.

背景技术 Background technique

[0002] 随着工业技术的不断发展,数字控制技术也随之蓬勃发展,作为控制装置的手柄被日益广泛的应用。 [0002] With the continuous development of industrial technology, digital control technology also will flourish as a handle control device is increasingly widely used. 然而,手柄的类型多种多样,包括:用于输入电流值的手柄(如4_20mA)、用于输入电压值的手柄(如0-5V)、CAN(Controller Area Network,控制器局域网络)总线式手柄等。 However, the handle type variety, comprising: a handle (e.g. 4_20mA) input current value, a handle (e.g., 0-5V) of the input voltage, CAN (Controller Area Network, a controller area network) bus of formula handles the like. 手柄类型的多样性导致输入参数的范围有很大的差异,此外,即使对于同型号的手柄来说,手柄的上下限值或是采集器采集的值的差异,也会导致各手柄之间的差异。 Type handle diversity results in a range of input parameters are very different, in addition, even for the same type of handle, the difference value of the upper and lower limits of the handle or the collector collected between the handle will lead to difference.

[0003] 现有的手柄,以CAN总线式的手柄输入量为例,每个手柄的上限值、中位值,下限值是通过人工监测获得,然后再把这些值作为标定的基准,因此,通过人工检测手柄的输入量范围,会大量增加人工成本,尤其是在批量生产应用的情况下,通过人工对这些批量的手柄进行特性研究将大大地增加工程师的劳动强度。 [0003] The conventional handle type CAN bus input handle, for example, the upper limit of each handle, the median value, the lower limit value is obtained by manual monitoring, and then these values ​​as a reference calibration, Thus, by detecting the input amount ranging artificial handle, will be a substantial increase in labor costs, especially in the case of mass production application, the artificial handle these batches studied characteristics by greatly increase the labor intensity engineers. 当CAN总线式的手柄之间的差异较大时,就会出现程序的BUG(漏洞),甚至可能会导致系统崩溃。 When large differences between CAN Bus handle, BUG program (vulnerabilities) will appear, and may even cause the system to crash. 此外,由于各种手柄输入参数类型不同,其数值范围必然差别很大(例如,4-20mA与0-5V),但是在某些应用场景中,要求控制参数的数值必须控制在一定范围之内,就需要人工分别对不同类型的手柄进行调试, 必然大大增加处理的复杂程度,而目前还没有一种自动校准的方案对输入参数进行自动校准并将不同的数值范围的输入参数值调试到同一参数数值范围。 Further, since a variety of different types of handles input parameters, which inevitably large difference value range (e.g., 4-20mA and 0-5V), but in some scenarios, the required value of the control parameter must be controlled within a certain range , respectively, you would need to manually handle different types of debugging, will greatly increase the complexity of the process, but is not an automatic calibration program for automatic calibration of the input parameters and the input parameter values ​​for different ranges of values ​​to the same debug parameter range.

[0004] 因此,亟需一种参数自校准方法技术方案解决以上技术问题。 [0004] Accordingly, a need for an aspect of self-calibration method parameter to solve the above technical problem.

发明内容 SUMMARY

[0005] 本发明的目的在于提供一种参数自校准方法及操纵装置,用以实现参数的自动校准。 [0005] The object of the present invention is to provide a method of self-calibration parameters and actuating means for automatic calibration parameters to achieve.

[0006] 为此,本发明采用如下技术方案: [0006] To this end, the present invention employs the following technical solutions:

[0007] 本发明实施例提供一种参数自校准方法,应用于对操纵装置中的参数进行自校准的过程,该方法包括: [0007] An embodiment provides a method of self-calibration parameter, is applied to the manipulation of the process parameters of the apparatus self-calibration of the present invention, the method comprising:

[0008] 当满足自校准启动条件时,根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值并进行保存; [0008] When the self-calibration start condition satisfied, the input parameters based on the stored actual input parameter of the operation of this operating device and actuating device with reference to obtain the input parameters of maximum operating device and stored;

[0009] 根据所述操纵装置的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内。 [0009] The maximum value of the input parameter of the actuating means, the actuating means of the median, and the actual output parameter range according to the input parameters an output parameter maximum value determined by the actuating device, the actuating device according to the present conversion operations output parameters of the operations and outputs, and that the output parameters of this operation parameters within the output range.

[0010] 本发明实施例还提供一种操纵装置,包括:存储模块、获取模块和处理模块,其中: [0010] Embodiments of the invention also provides an operating device, comprising: a storage module, an acquisition module and a processing module, wherein:

[0011] 所述存储模块,用于存储操纵装置的输入参数最大值、操纵装置的中位值以及操纵装置的输出参数最大值;[0012] 所述获取模块,用于在自校准启动条件满足时,根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值; [0011] The storing module, for storing the maximum value of the input parameter of the actuating means, the actuating means of the median and the maximum value of an output parameter of the actuating means; [0012] The acquisition module is configured to self-calibration condition is satisfied when, according to the stored input parameters actual input parameter of the operation of this operating device and actuating device with reference to afford maximum parameter manipulation input apparatus;

[0013] 所述处理模块,用于根据所述操纵装置的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内。 [0013] The processing module according to the maximum value of the input parameter of the actuating means, the actuating means of the median and range of output parameters according to the maximum output parameter determined by actuating means, the actuating means this operation the actual input parameter of the present output parameter conversion operations and output, and output parameters of this operation so that the parameters within the output range.

[0014] 本发明实施例中,一旦满足自校准启动条件,则根据操纵装置本次操作的实际输入参数以及保存的参考的输入参数,得到操纵装置的输入参数最大值并保存,操纵装置根据保存的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内,从而将各种操纵装置的不同类型的输入参数,以及不同取值范围的输入参数,自动转换到预设的输出参数数值范围之内,不但统一了输出参数数值范围,为后续测量、计算提供了方便,还无需人工设置参数, 节约人工成本,减少了产品调试的时间。 [0014] Example embodiments of the present invention, once the self-calibration condition is satisfied, the operating device according to the actual input parameter of this operation, and with reference to the input parameters saved, the maximum value of the input parameters to obtain and save the actuating means, the actuating device according to the stored maximum input parameters, median actuating means and the actual input parameter range according to the output parameters an output parameter maximum value determined by the actuating device, the actuating device of this operation converts the output parameters of the operations and outputs of the present and such that the output parameters of this operation parameters within the output range, so that the various input parameters of different types of actuating means, and an input value range of parameters, automatically converted to a predetermined output parameter values within range, not only unify the output parameter value range for subsequent measurements, calculations provide convenient, no manual setting further parameters, save labor costs, reduce product debugging time.

附图说明 BRIEF DESCRIPTION

[0015] 图I为本发明实施例提供的参数自校准流程示意图; [0015] Figure I a schematic view of the present invention self-calibration process parameter according to an embodiment;

[0016] 图2为本发明实施例提供的获取手柄的输入参数最大值的流程示意图; [0016] FIG. 2 is a schematic flow diagram maximum input parameters provided by obtaining a handle embodiment of the invention;

[0017] 图3为本发明实施例提供的操纵装置结构示意图。 [0017] FIG. 3 is a schematic structural diagram of the actuating apparatus of the present embodiment of the invention.

具体实施方式 Detailed ways

[0018] 下面将结合本发明中的附图,对本发明中的技术方案进行清楚、完整的描述,显然,所描述的实施例是本发明的一部分实施例,而不是全部的实施例。 [0018] Next, the present invention in conjunction with the accompanying drawings, the present invention of clearly and completely described, obviously, the described embodiments are part of the embodiments of the present invention rather than all embodiments. 基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例,都属于本发明保护的范围。 Based on the embodiments of the present invention, all other embodiments of ordinary skill in the art without creative efforts shall fall within the scope of the present invention.

[0019] 本发明实施例提供的操纵装置具有自整定、自校准的功能,其内部模块之间具有CAN通讯功能,进行信号的传输。 [0019] The embodiment of the present invention to provide a manipulator apparatus having a self-tuning, the self-calibration function, with CAN communication between the internal modules for signal transmission.

[0020] 如图3所示,该操纵装置可以包括:存储模块31、获取模块32、处理模块33,其中: 存储模块31,用于存储操纵装置的输入参数最大值、操纵装置的中位值和操纵装置的输出参数最大值;获取模块32,用于在自校准启动条件满足时,用于根据操纵装置本次操作的实际输入参数以保存的参考输入参数,得到操纵装置的输入参数最大值;处理模块33,用于根据存储模块31中存储的操纵装置的输入参数最大值和操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内。 [0020] As shown in FIG. 3, the actuating means may comprise: a storage module 31, an obtaining module 32, a processing module 33, wherein: the storage module 31, the maximum value for the input parameter storage actuating means, the actuating means median and actuating means of the maximum output parameter; obtaining module 32, configured to, when the self-calibration condition is satisfied, the reference for the input parameter based on the actual input parameter of the actuating means to preserve this operation, the maximum value of the input parameters to obtain operating device ; processing module 33, the maximum value of the parameter based on the input operating device 31 is stored in the storage module and the median actuating means, and outputting the determined parameters according to the maximum value of the output parameter of the actuating means, the actuating means of this the actual operation of the converter input parameters an output parameter of the present operations and output, and such that the output parameters of this operation parameters within the output range.

[0021] 获取模块31具体用于,判断本次操作的持续时间与预定时间阈值之间的关系,当该持续时间超过预定时间阈值时,根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值。 [0021] The obtaining module 31 specifically for determining the relationship between the duration of this operation with a predetermined time threshold, when the duration exceeds a predetermined time threshold, according to the actual input parameter operating device according to the present operations and the operating device stored reference input parameters, the input parameters to obtain the maximum value of the operating device.

[0022] 其中,输出参数最大值可以设定为65535(即输出参数范围为-65535〜65535),本实施例中,优选的,可以设定输出参数最大值为32767,S卩,参数自校准装置输出参数范围为-32767 〜32767。 [0022] wherein the maximum output parameter can be set to 65535 (i.e. the output parameter range -65535~65535), embodiment, the present preferred embodiment, the output parameter may be set to the maximum value 32767, S Jie, self-calibration parameters It means the range of -32767 ~32767 output parameter.

[0023] 本发明实施例以手柄为例进行说明,本领域技术人员可知,操纵装置可以包括但不限于:手柄、遥控器,电位计等装置。 [0023] In embodiments of the present invention will be described as an example of the handle, those skilled in the art that the actuating means may include but are not limited to: a handle, a remote control, potentiometer or the like device.

[0024] 手柄上电时,手柄进行初始化,在存储模块33中记录手柄的初始中位值,此时,手柄通常处于复位位置,对于单方向手柄来说,复位位置为手柄的起始边界位置,即输入值最小(为O)的位置,而对于双方向手柄来说,复位位置为手柄双方向控制范围的中间位置,即输入值为O的位置。 [0024] On power a handle is initialized, the initial recording of the median of the handle in the storage module 33. At this time, the handle is normally in a reset position, for a single direction of the handle, the return position as a starting boundary position of the handle , i.e. the minimum input value (as O) position, and the handle for both sides, the two sides of the handle to the reset position to the intermediate position of the control range, i.e. the position of the input value O.

[0025] 如图I所示,为本发明实施例提供的参数自校准流程示意图,包括以下步骤: [0025] As shown in FIG I, the present self-calibration parameter a schematic flowchart according to an embodiment the invention, comprising the steps of:

[0026] 步骤11,当获取模块判断满足自校准启动条件时,启动自校准流程。 [0026] Step 11, when obtaining the self-calibration module determines that satisfies the start condition to start the self-calibration process.

[0027] 具体的,获取模块判断手柄本次操作的持续时间与预定时间阈值之间的关系,若该持续时间超过预定时间阈值,则启动自校准流程。 [0027] Specifically, the obtaining module determines the relationship between the duration of this operation lever to a predetermined time threshold value, if the time duration exceeds a predetermined threshold value, the self-calibration process is initiated. 例如,该预定时间阈值可以设置为2秒钟。 For example, the predetermined time threshold may be set to 2 seconds.

[0028] 步骤12,获取模块根据手柄本次操作的实际输入参数以及保存的参考输入参数, 得到手柄的输入参数最大值。 [0028] Step 12, the actual input parameter obtaining module and a reference input parameter holding handle this operation, the input parameters to give the maximum grip.

[0029] 具体的,获取模块将本次操作的实际输入参数值的绝对值,与保存的参考输入参数值的绝对值进行比较;若前者大于后者,将实际输入参数作为手柄的输入参数最大值并进行保存,并作为下次操作的参考输入参数,否则丢弃前者,仍将手柄中当前保存的参考输入参数作为输入参数最大值。 [0029] Specifically, the absolute value of the actual acquisition module input parameter value of this operation, the absolute value of the reference input parameter values ​​saved compared; if the former is greater than the latter, the actual input parameters as input parameters the handle of the maximum value and stored, and the next parameter as the reference input operation, otherwise, discard the former, the handle will save the current reference input parameters as input parameters of maximum.

[0030] 获取模块也可以根据手柄本次操作的实际输入参数以及保存的参考输入参数得到手柄的输入参数最大值后,获取该输入参数最大值对应的中位值,例如,当确定本次操作的实际输入参数为输入参数最大值时,则获取本次操作的中位值;可见,通过实时获取与输入参数最大值对应的中位值,此时获得的中位值更为准确,相应的,得到的转换后的输出参数取值范围内的输出参数也更为精确。 [0030] After the acquisition module may obtain the maximum value of the input parameters based on the actual input parameter of the handle and the stored reference input parameters the handle of this operation, the acquired median corresponding to the maximum input parameter, e.g., when this operation is determined the actual input parameter is the maximum value of the input parameter, obtaining a median of this operation; visible, acquired in real time by the input parameter corresponding to the maximum median, the median value obtained at this time is more accurate, the corresponding , output parameters within the output range converted parameters obtained are also more accurate.

[0031] 在实际应用过程中,存储模块中只保存初始中位值,或者保存与输入参数最大值相对应的中位值,都能够实现本发明的技术方案,可以根据程序设置的需要进行选择。 [0031] In practical applications, the storage module saves only the initial median, median or save input parameter corresponding to the maximum value, are able to achieve the technical solution of the present invention, may be selected according to program settings .

[0032] 步骤13,存储模块对步骤12中得到的输入参数最大值进行存储。 [0032] Step 13, the storage module for the input parameters obtained in step 12 the maximum value is stored.

[0033] 在该步骤中,存储模块还可以保存与输入参数最大值相对应的中位值。 [0033] In this step, the storage module may also be stored in the input bit value corresponding to the maximum values.

[0034] 步骤14,处理模块根据存储模块中保存的手柄的输入参数最大值、手柄的中位值以及输出参数最大值,将手柄本次操作的实际输入参数转换为输出参数取值范围内的参数并输出。 [0034] Step 14, the processing module in accordance with the maximum value of the input parameter stored in the storage module of the handle, and the maximum value of the median output parameter of the handle, converting the handle the actual input parameter of this operation within the range of the output parameters and output parameters.

[0035] 具体的,输入参数最大值包括手柄的正向输入参数最大值和/或负向输入参数最大值。 [0035] Specifically, the input parameters include the maximum value of the forward handle the maximum input parameters and / or negative maximum value to the input parameter. 具体的,本次操作的输出参数值可以通过以下公式得到: Specifically, this operation output parameter values ​​can be obtained by the following formula:

[0036] [0036]

输出参数值输出参数最大值X标志位 (I) The maximum value of the output parameter output parameter flag X (I)

输入参数最大值—中位值 The maximum value of the input parameter - Median

[0037] 其中,若本次操作的实际输入参数值大于中位值,则标志位为1,输入参数最大值为正向输入参数最大值,即手柄为正向运动,得出本次操作的实际输出参数值也为正值;若本次操作的实际输入参数值小于中位值,则标志位为-1,输入参数最大值为负向输入参数最大值,即手柄为负向运动,得出本次操作的实际输出参数值也为负值;若本次操作的实际输入参数值的绝对值小于中位值的绝对值,则标志位为0,即认为手柄为复位状态。 [0037] wherein, if the actual input parameter value is greater than the current median operation, the flag bit is 1, the maximum value of the input parameter for the maximum values ​​the positive input, i.e., a forward movement of the handle, this operation is obtained the actual output value is also positive; if the actual parameters of the input operations is less than the median value, the flag is -1, the maximum value of the input parameter as an input parameter to the negative maximum, i.e., the negative direction of the handle, to give the actual output parameter values ​​this operation is also a negative value; if the absolute value of the absolute value of the actual input parameter value of this operation is less than the median value, the flag bit is 0, i.e., that the handle in the reset state.

[0038] 其中,手柄中位值可以多次获取,即在获取手柄的输入参数最大值的过程中,当用户操纵手柄到某个位置并保持输入状态超过时间阈值(例如2秒),获取本次操作的实际输入参数值后,用户松开手柄,手柄自动复位,当手柄保持该状态超过2秒时,认为手柄已复位,此时获取的手柄的输入值即为手柄中位值。 [0038] wherein the handle median may be obtained multiple times, i.e., in the process of obtaining the maximum value of the input parameter handle, when the user manipulates the handle to a position and enter the state holding time exceeds the threshold value (e.g., 2 seconds), obtaining this after the actual operations of the input parameter value, the user releases the handle, the handle automatically reset when the handle is held in this state more than 2 seconds, and that the handle has been reset, the input value acquired at this time is the median of the handle grip. 手柄多次获取输入参数值,相应的,每次手柄复位时都会获取对应的中位值,当学习到实际输入参数最大值时,记录并保存对应的中位值,作为公式(I)中的中位值。 Get the handle multiple input parameter values, corresponding to each time handle return gets its corresponding bit value to a maximum value when the actual input parameter learning, and stores the record corresponding to the value of the bit, as the formula (I) in the median value.

[0039] 理想状况下,中位值为0,在实际操作中,由于存在机械误差、操作精度等因素,中位值通常会在O点附近,与手柄的实际输入参数值相比,中位值是很小的数值,因此,若实际输入参数值的绝对值小于等于中位值的绝对值,且手柄获取该实际输入参数持续的时间超过2秒(即手柄保持该状态超过2秒),则可以认为手柄处于复位状态。 [0039] Ideally, the bit value 0, in practice, due to mechanical error, the accuracy of operation and other factors, typically the median point in the vicinity of O, compared to the actual value of the input parameter handle, median value is a small value, and therefore, if the absolute value of the actual input parameter values ​​is less than equal to the absolute value of the median, and the handle obtains the actual input parameter of more than 2 seconds duration (i.e., holding the handle in this state more than 2 seconds), the handle may be considered to be in the reset state.

[0040] 由于机械部件结构本身的原因,手柄不可能每次都完全复位(归O),会不可避免产生误差,因此需要采集手柄实际的中位值(误差值),并在参数校准过程中将该误差值考虑在内。 [0040] Due to the mechanical parts of the structure itself, the handle can not always fully reset (return O), inevitably generates errors, and therefore the need to capture the actual bit value (error value) of the handle, and the parameters of the calibration process the error value into account. 对于单方向手柄和双方向手柄来说,中位值与输入参数最大值的比例通常在(-1% 〜1% )。 For both the uni-directional and proportional to the lever handle, the median and the maximum value of the input parameters is typically (~ 1% -1%).

[0041] 手柄中位值也可以仅在系统上电时(输入参数最大值、中位值的学习次数都为O 时)获取一次。 [0041] The median value of the handle may be provided only on system power (the maximum value of the input parameter, the median number of learning are O) time to get one.

[0042] 优选的,判断手柄本次操作的持续时间超过预定时间阈值(例如2秒钟)后,再记录该中位值,以防止误碰手柄等的误操作。 After [0042] Preferably, the duration of this operation handle is determined exceeds a predetermined time threshold (e.g., 2 seconds), and then records the median, in order to prevent erroneous operation or the like inadvertently touching the handle.

[0043] 图2示出了一种获取手柄输入参数最大值的流程,该流程包括: [0043] FIG 2 shows the input parameters for obtaining the maximum handle process, which comprises:

[0044] 步骤21,判断是否满足自校准启动条件,若满足,则执行步骤22,否则执行步骤23。 [0044] Step 21 determines whether the self-calibration condition is satisfied, if yes, step 22 is performed, otherwise step 23.

[0045] 具体的,判手柄本次操作的持续时间与预定时间阈值之间的关系,若该持续时间超过预定时间阈值,则满足自校准启动条件。 Specifically, the relationship between the duration of this operation is judged handle to a predetermined time threshold value [0045], if the duration time exceeds the predetermined threshold value, the self-calibration start condition is satisfied.

[0046] 步骤22,记录手柄的实际输入参数值。 22, the actual values ​​of input parameters [0046] The step of recording the handle.

[0047] 步骤23,继续等待满足自校准启动条件。 [0047] Step 23 continues to wait for conditions to meet to start self-calibration.

[0048] 步骤24,判断是否学习该实际输入参数值,具体的,若手柄本次操作的实际输入参数值的绝对值大于当前保存的参考输入参数的绝对值,则执行步骤25 ;否则,执行步骤26。 [0048] Step 24, it is judged whether learning of the actual input parameter values, specifically, if the absolute value of the current value of the actual input parameter of the operation lever is greater than the reference input of the absolute value of the parameter currently stored, step 25 is executed; otherwise, step 26.

[0049] 步骤25,保存本次实际输入参数值,并作为下次操作的参考输入参数,本次操作的实际输入参数值即为手柄的输入参数最大值。 [0049] Step 25, the actual input parameter to save this value, as the reference input parameter and the next operation, the actual value of the input parameter is an input to this operation of the maximum values ​​of the handle.

[0050] 步骤26,丢弃本次操作的实际输入参数,仍将手柄中当前保存的参考输入参数作为输入参数最大值。 [0050] Step 26, the actual operation of discarding this input parameter, the handle will save the current reference input parameters as input parameters of maximum.

[0051] 对于单方向手柄,只需获取一个方向的输入参数最大值(正向输入参数最大值或者负向输入最大值),即完成上述步骤21-26即可,对于双方向手柄,还需要获取另一个方向的输入参数最大值,即,输入参数最大值包括手柄的正向输入参数最大值和/或负向输入参数最大值,具体过程可以与单方向手柄获取输入参数最大值的流程相同。 [0051] For a single direction of the handle, simply obtaining maximum input parameter in one direction (positive or negative maximum values ​​input to the input maximum value), i.e. to the above steps 21-26, for both sides to handle, but also obtain maximum values ​​input in the other direction, i.e., the maximum value of the input parameters comprising a handle of the maximum positive input parameters and / or negative, the specific procedure that can take input parameters the handle in one direction to a maximum flow input parameter is the same as the maximum .

[0052] 以下以双向手柄为例,详细说明本实施例参数自校准方法的流程。 [0052] In a two-way handle the following example, the detailed description of embodiments of the method of self-calibration process parameter embodiment.

[0053] 设定手柄的输出参数最大值为32767。 [0053] The maximum value of the output parameter is a handle 32767. 手柄上电,首先用户控制手柄到达正向边界位置,手柄本次操作的输入参数值为127,对本次操作的输入参数值127进行保存并作为下次操作的参考输入参数值(此时输入参数最大值即为127);当用户松开手柄,手柄自动复位,判断手柄本次操作的持续时间超过2秒钟,则记录手柄的中位值,本实施例中该中位值为I ;若手柄第2次操作的输入参数值为128,手柄为正向运动,由于本次输入参数值128大于参考输入参数值127 (即前次输入参数值),则输入参数最大值为128,并将128作为参考输入参数值进行保存。 Power on the handle, the user first reaches the control handle forward boundary position, the input parameter value of this operation lever 127, the input parameter value of this operation is stored as the reference input 127, and the parameter values ​​for the next operation (when the input parameter is the maximum value of 127); when the user releases the handle, the handle automatically reset, determines the duration of this operation handle more than 2 seconds, median handle is recorded, the median of embodiment I of the present embodiment; when the handle 2nd input parameter of the operation is 128, the forward motion of the handle, since the current value of the input parameter 128 is greater than the reference value of the input parameter 127 (i.e., the previous value of the input parameter), the maximum value of the input parameter 128, and 128 will be stored as a reference input parameter values. 当用户松开手柄,手柄自动复位,判断手柄本次操作的持续时间超过2秒钟,则记录手柄本次的中位值,若本次手柄的中位值也为1,则通过公式(I)可以得出本次输出参数值即为32767 ;若手柄第3次操作的输入参数值为126,则手柄的输入参数最大值仍为128 (即丢弃126)。 When the user releases the handle, the handle automatically reset, determines the duration of this operation handle more than 2 seconds, the current value of the grip of the recording bit, if the bit value of this handle is also 1, then by the formula (I ) can be derived for this parameter value is the 32767 output; if the lever operation input parameter value of the third 126, the handle 128 remains the maximum input parameters (i.e., discard 126). 将手柄自动复位后获取的手柄中位值、本次实际输入参数值126 以及输入参数最大值128带入公式(I)即可得到本次操作的输出参数值。 Median handle after the handle acquired automatically reset, this actual input 126 and an output parameter value of the input parameter maximum value 128 into Equation (I) can be obtained by this operation parameter values. 本实施例中是以用户3次操作手柄到达手柄正向边界,获取正向输入参数最大值为例进行的说明,在实际应用过程中,该次数可以由用户自行控制。 The present embodiment is the handle to the user 3 operations boundary handle forward, maximum values ​​for a description of the positive input of an example, in the actual application process, the frequency may be controlled by the user.

[0054]负向输入参数最大值依照同样方法获得,本实施例中,负向输入参数最大值为-126。 [0054] In accordance with the same method to obtain a negative input parameters to the maximum, in this embodiment, a maximum value of the negative input parameters -126. 当获取到手柄正、负向输入参数最大值后,用户就可以控制手柄进行操作,将手柄的实际输入参数值实时转化为规定输出数值范围内的输出参数值。 When the handle is acquired positive and negative input parameters to the maximum value, the user can operate the control handle, the handle of the actual real-time input parameter values ​​into predetermined output parameter value within a range of output values.

[0055] 例如,当手柄的实际输入参数值为100时,由于实际输入参数值100大于中位值1,手柄为正向运动,标志位为1,根据公式(I)计算得到转化后的输出参数值:(100-1)/ (128-1)X32767X I = 25542。 [0055] For example, when the actual value of the input parameter handle 100, since the actual input parameter value 100 is greater than the median value of 1, the forward movement of the handle, the flag bit is 1, is calculated according to the formula (I) to give an output conversion parameters: (100-1) / (128-1) X32767X I = 25542.

[0056] 又例如,当手柄的实际输入参数值为-80时,由于实际输入参数值-80小于中位值1,手柄为负向运动,标志位为-1,根据公式⑴计算得到转化后的输出参数值:(-80-1)/ (-126-1)X32767X (-1) = -20899。 [0056] As another example, when the actual value of the input parameter handle -80, since the actual input parameter value smaller than the median value of 1 -80, the handle is a negative direction, the flag is -1, obtained after the conversion is calculated according to the formula ⑴ the output parameter values: (- 80-1) / (-126-1) X32767X (-1) = -20899.

[0057] 本发明实施例通过在满足自校准启动条件时,根据操纵装置本次操作的实际输入参数以及保存的参考的输入参数,得到操纵装置的输入参数最大值并保存,操纵装置根据保存的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内,从而将各种操纵装置的不同类型的输入参数,以及不同取值范围的输入参数,自动转换到预设的输出参数数值范围之内,不但统一了输出参数数值范围,为后续测量、计算提供了方便,还无需人工设置参数,节约人工成本,减少了产品调试的时间。 [0057] In the embodiments of the present invention satisfies the self-calibration start condition, according to the actual input parameter of the actuating means and the input of this operation with reference to the stored parameters, the input parameters to obtain the maximum value of the actuating device and stored, according to the stored actuating device the maximum value of the input parameters, the median actuating means, and an output parameter range according to the maximum output parameter of the actuating means as determined by the actual input parameter of the operation of this device converting an output parameter of the present manipulation operations and outputs, and that the output parameters of this operation parameters within the output range, so that the various input parameters of different types of actuating means, and the ranges of the input parameters, the output is automatically converted to a predetermined range of parameter values within, the output parameters not only uniform range of values, for the subsequent measurements, calculations provide convenient, no manual setting further parameters, save labor costs, reduce product debugging time.

[0058] 以上所述仅是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视本发明的保护范围。 [0058] The above are only preferred embodiments of the present invention, it should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the premise, can make various improvements and modifications, such modifications and modifications should also depend on the scope of the present invention.

Claims (10)

  1. 1. 一种参数自校准方法,应用于对操纵装置中的参数进行自校准的过程,其特征在于, 该方法包括:当满足自校准启动条件时,根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值并进行保存;根据所述操纵装置的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内。 A self-calibration method parameters, applied to the operating device self-calibration process parameters, characterized in that, the method comprising: when the self-calibration condition is satisfied, according to the actual input parameter of the actuating means, and this operation parameters stored reference input manipulation apparatus, the maximum value of the input parameters to obtain and save operating device; maximum values ​​according to the input of the actuating means, the actuating means of the median and the maximum value determined according to an output parameter of the actuating means the actual range of input parameters an output parameter, the operation of the operating device converts this output parameters and outputs the present operations, and output parameters of this operation so that the parameters within the output range.
  2. 2.如权利要求I所述的方法,其特征在于,所述满足自校准启动条件包括:判断操纵装置本次操作的持续时间与预定时间阈值之间的关系,若该持续时间超过预定时间阈值,则满足自校准启动条件。 2. The method of claim I, wherein said self-calibrating satisfies the start condition comprises: determining the relationship between the duration of this operation the actuating means and the time between a predetermined threshold value, if the time duration exceeds a predetermined threshold value , self-calibration start condition is satisfied.
  3. 3.如权利要求I或2所述的方法,其特征在于,所述根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值并进行保存, 具体为:将操纵装置本次操作的实际输入参数值的绝对值,与操纵装置中保存的参考输入参数值的绝对值进行比较;若前者大于后者,将所述实际输入参数作为操纵装置的输入参数最大值并进行保存,并作为下次操作的参考输入参数。 I 3. The method according to claim 2, wherein said reference input according to the input parameters of the actual parameters save operating device according to the present operations and the actuating means, the actuating means the maximum value of the input parameters to obtain and save specifically: the absolute value of the reference input parameter values ​​stored in the absolute value of the actual input parameter values ​​of this operating device is operated, the actuating means comparing; if the former is greater than the latter, the actuating device as the actual input parameter the maximum value of the input parameters and stored, as a reference input parameter of the next operation.
  4. 4.如权利要求I所述的方法,其特征在于,所述输入参数最大值包括操纵装置的正向输入参数最大值和/或负向输入参数最大值;所述本次操作的输出参数值通过以下公式得到:输出参雖=還出雜最大值x标志位其中,若所述本次操作的实际输入参数值大于所述中位值,则标志位为1,所述输入参数最大值为正向输入参数最大值;若所述本次操作的实际输入参数值小于所述中位值,则标志位为-1,所述输入参数最大值为负向输入参数最大值;若所述本次操作的实际输入参数值的绝对值小于所述中位值的绝对值,则标志位为O。 4. The method of claim I, wherein said input parameters include maximum positive input of the actuating means maximum values ​​and / or negative maximum value to the input parameter; the output parameter value of this operation obtained by the following equation: output = reference, although further showing the maximum value of x flag heteroaryl wherein, when the actual input parameter value is greater than the current operation of the median, then the flag is 1, the maximum value for the input parameter the maximum positive input parameters; if the input parameters of the actual operations is less than the median, then the flag is -1, the input parameter is a negative maximum value to the maximum value of the input parameter; if the present the absolute value of the actual input parameter value is less than the operations of the median, then the flag is O.
  5. 5.如权利要求I所述的方法,其特征在于,所述操纵装置的中位值为操纵装置的输入参数最大值对应的中位值,或者为操纵装置的初始中位值。 5. The method of claim I, wherein the actuating means the median value of the maximum value of the input parameter actuating means corresponding to the median, the median value or the initial actuating device.
  6. 6. 一种操纵装置,其特征在于,包括:存储模块、获取模块和处理模块,其中:所述存储模块,用于存储操纵装置的输入参数最大值、操纵装置的中位值以及操纵装置的输出参数最大值;所述获取模块,用于在自校准启动条件满足时,根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值;所述处理模块,用于根据所述操纵装置的输入参数最大值、操纵装置的中位值,以及根据操纵装置的输出参数最大值所确定的输出参数范围,将操纵装置本次操作的实际输入参数转换为本次操作的输出参数并输出,且使得本次操作的输出参数处在所述输出参数范围之内。 An actuating apparatus, characterized by comprising: a storage module, an acquisition module and a processing module, wherein: said storage module configured to store the input parameters of maximum actuating means, the actuating means and the median of the actuating means the maximum value of an output parameter; the obtaining module, configured to, when the self-calibration condition is satisfied, according to the actual input parameter of the actuating means, and this operation with reference to the input parameters stored in the operating device, the input parameters to obtain the maximum value of the operating device; the the actual input parameter of said processing module, according to the maximum value of the input parameter of the actuating means, the actuating means of the median and range of output parameters according to the maximum output parameter determined by actuating means, the actuating means of this operation converting the output parameters and outputs the present operations, and output parameters of this operation so that the parameters within the output range.
  7. 7.如权利要求6所述的操纵装置,其特征在于,所述获取模块具体用于,判断操纵装置本次操作的持续时间与预定时间阈值之间的关系,若该持续时间超过预定时间阈值,则根据操纵装置本次操作的实际输入参数以及操纵装置中保存的参考输入参数,得到操纵装置的输入参数最大值。 7. The operating device according to claim 6, if the duration exceeds a predetermined time threshold, characterized in that, the obtaining module is used for determining the relationship between the duration of the operating device of this operation with a predetermined time threshold, , the input parameters based on the stored actual input parameter of the operation of this operating device and actuating device with reference to afford maximum parameter manipulation input apparatus.
  8. 8.如权利要求6或7所述的操纵装置,其特征在于,所述获取模块具体用于,将操纵装置本次操作的实际输入参数值的绝对值,与操纵装置中保存的参考输入参数值的绝对值进行比较;若前者大于后者,将所述实际输入参数作为操纵装置的输入参数最大值;所述存储模块具体用于,保存所述操纵装置的输入参数最大值,并作为下次操作的参考输入参数。 8. The actuating device of claim 6 or claim 7, wherein the obtaining module is configured to save the absolute value of the actual input parameter values ​​of this operating device is operated, the actuating means with reference to the input parameter comparing the absolute value of the value; if the former is greater than the latter, the actual input parameter as an input parameter a maximum actuating means; said storage module is configured to save the maximum value of the input parameters of the handling, and as the reference operations of the input parameters.
  9. 9.如权利要求6所述的操纵装置,其特征在于,所述输入参数最大值包括操纵装置的正向输入参数最大值和/或负向输入参数最大值;所述处理模块具体用于,通过以下公式得到本次操作的输出参数值:输出参数值=- iff.x输出参数最大值χ标志位输入参数最大值-中位值其中,若所述本次操作的实际输入参数值大于所述中位值,则标志位为1,所述输入参数最大值为正向输入参数最大值;若所述本次操作的实际输入参数值小于所述中位值,则标志位为-1,所述输入参数最大值为负向输入参数最大值;若所述本次操作的实际输入参数值的绝对值小于所述中位值的绝对值,则标志位为O。 9. The operating device according to claim 6, wherein said actuating means comprises a maximum value of the input parameters of maximum positive input parameters and / or negative maximum value to the input parameter; for the processing module, the resulting operation output parameter values ​​by the following formula: output parameter values ​​= - iff.x maximum output parameter χ flag input parameter maximum value - the median wherein, if the actual input parameter value is greater than this operation median described, the flag is 1, the input parameters for the maximum positive input parameter maximum value; the actual input parameter if this operation is less than the median, then the flag is -1, the maximum value of the input parameter to the input parameter is a negative maximum value; if the actual input parameter value is the absolute value of this operation is smaller than the absolute value of the bit, then the flag is O.
  10. 10.如权利要求6所述的操纵装置,其特征在于,所述操纵装置的中位值为操纵装置的输入参数最大值对应的中位值,或者为操纵装置的初始中位值。 10. The operating device according to claim 6, characterized in that the median value of the actuating means actuating means the maximum input parameters corresponding to the median value, or the median value for the initial operating device.
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CN1052377A (en) * 1989-12-09 1991-06-19 中国测试技术研究院 Self correction piezoelectric acceleration meter and self correction method thereof
US20060132069A1 (en) * 2003-08-16 2006-06-22 Jeff Hemphill Actuation device
US20080097646A1 (en) * 2006-10-23 2008-04-24 Ramsey Craig C Calibration of a substrate handling robot
CN201615756U (en) * 2009-12-25 2010-10-27 奇瑞汽车股份有限公司 One kind of steering wheel balancer calibration means
CN102201801A (en) * 2010-03-23 2011-09-28 三星半导体(中国)研究开发有限公司 High-accuracy oscillator and self-calibration method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1052377A (en) * 1989-12-09 1991-06-19 中国测试技术研究院 Self correction piezoelectric acceleration meter and self correction method thereof
US20060132069A1 (en) * 2003-08-16 2006-06-22 Jeff Hemphill Actuation device
US20080097646A1 (en) * 2006-10-23 2008-04-24 Ramsey Craig C Calibration of a substrate handling robot
CN201615756U (en) * 2009-12-25 2010-10-27 奇瑞汽车股份有限公司 One kind of steering wheel balancer calibration means
CN102201801A (en) * 2010-03-23 2011-09-28 三星半导体(中国)研究开发有限公司 High-accuracy oscillator and self-calibration method thereof

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