CN103744297A - Small-sized self-balance robot gesture simulator - Google Patents
Small-sized self-balance robot gesture simulator Download PDFInfo
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- CN103744297A CN103744297A CN201410005737.2A CN201410005737A CN103744297A CN 103744297 A CN103744297 A CN 103744297A CN 201410005737 A CN201410005737 A CN 201410005737A CN 103744297 A CN103744297 A CN 103744297A
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- 230000000386 athletic effect Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
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Abstract
The invention relates to a small-sized self-balance robot gesture simulator and belongs to the field of motion simulation of robot gesture and detection of inertial navigation equipment. The small-sized self-balance robot gesture simulator can simulate the change of a pitch angle and an navigation angle of a self-balance robot; meanwhile, complex motion gestures, comprising self rotation, constant speed turning and 8-shaped line walking, of a two-wheel self-balance robot on a plane can be simulated by the motion superposition of a horizontal mobile slide table and a two-shaft rotary table; the system stability of the gesture simulator is enhanced by adopting a non-linear PD dual-circuit controller, and the control precision is improved at the same time; the unbalance gravity torque of the system is reduced by the use of an L-shaped outer frame, and the system precision is improved.
Description
Technical field
The present invention relates to a kind of small-sized self-balance robot pose simulator, belong to robot pose motion simulation emulation, inertial navigation equipment detection field.
Background technology
Self-balance robot be a kind of barycenter higher than fulcrum, the unsettled mobile robot of fuselage attitude intrinsic under Action of Gravity Field, needs at the volley self to control attitude and maintains balance.The motion attitude control performance that improves self-balance robot, primarily provides attitude-simulating platform, the fortune merit attitude of simulation self-balance robot, the performance of checking attitude detection algorithm and sensor.
Attitude-simulating device is mainly used in inertial navigation equipment test and semi-hardware type simulation test, and the attitude-simulating device that is applied to semi-hardware type simulation test is known as artificial rotary table.Turntable is the key equipment of emulation technology, by early stage single axle table three-axle table up till now, the dynamics of simulated missile or aircraft truly, under laboratory condition, reappear its skyborne various flight attitudes, performance to the senser element of guided missile or aircraft, guidance system and control system Ji Ge topworks is tested, for successful practical flight provides sufficient technical indicator and experimental data.Therefore in order to realize the athletic posture of the various complexity of emulated robot by experiment in self-balance robot field, the object of the attitude sensor performance on checking attitude control algolithm and fuselage, the present invention proposes a kind of small-sized self-balance attitude-simulating device.
Summary of the invention
The object of the present invention is to provide a kind of small-sized self-balance robot pose simulator, this simulator not only can the angle of pitch of artificial small self-balance robot, the variation of course angle, can also move horizontally by guide rail slide unit the athletic posture of superposition simulation double-wheel self-balancing robot complexity on surface level of moving with two-axle rotating table part diaxon system, comprise spin, at the uniform velocity turn to, robot walks " 8 " word etc., and can be used as the test platform of similar relevant motion simulation.
For achieving the above object, the technical solution used in the present invention is a kind of small-sized self-balance robot pose simulator, and this simulator comprises a horizontal shifting platform and a two-axle rotating table; Wherein, two-axle rotating table part, the pitch attitude of upper shaft system simulation self-balance robot, the course angle of lower shaft system simulation self-balance robot, is installed on the guide rail slide unit of horizontal shifting platform; Horizontal shifting platform drives guide rail slide unit, realizes two-axle rotating table and carries out horizontal shift, and dummy robot moves horizontally space; By Stepping Motor Subdivision Driver, improve the stepping accuracy of stepper motor, upper axle is to adopt directly to drive bracing frame by stepper motor, and forms closed-loop system by photoelectric encoder, avoids producing step-out, improves the simulation accuracy of pitch attitude; Middle level motor adopts the decelerating step motor that moment is larger to drive L-type framework, does not add gearing, reduces positioning error, improves the simulation accuracy of course angle; Lower floor's motor drives screw mandrel by stepper motor, and screw mandrel is converted into gyration the rectilinear motion of guide rail slide unit, and forms closed-loop system by photoelectric encoder, improves displacement accuracy.
With prior art first than, the present invention has following beneficial effect.
Small-sized self-balance robot pose simulator can be simulated the angle of pitch of small-sized self-balance robot, the variation of course angle; The stack that simultaneously moves horizontally the motion of slide unit and two-axle rotating table can also be simulated double-wheel self-balancing robot complicated athletic posture on surface level, comprises spin, at the uniform velocity turns to, robot walks " 8 " word; Adopt NONLINEAR PD two-circuit controller that attitude-simulating device system stability is strengthened, improved control accuracy simultaneously; The use of L-type housing, reduced system gravity unbalance moment, improve system accuracy.
Accompanying drawing explanation
Fig. 1 is the physical construction schematic perspective view of small-sized self-balance robot pose simulator.
Fig. 2 is guide rail slide unit physical construction schematic diagram.
Fig. 3 is L-type housing and axis erecting frame structural drawing.
Fig. 4 is the structural representation block diagram of stationary platform.
Fig. 5 is electrical system architecture schematic diagram.
In figure: 1, base, 2, lower floor's motor driver, 3, shaft coupling, 4, stationary platform, 5, L-type housing, 6, attitude sensor, 7, support bar, 8, guide rail slide unit, 9, screw mandrel, 10, guiderail base, 11, Switching Power Supply, 12, electric power source distribution device, 13, dsp controller, 14, upper strata motor, 15, photoelectric encoder a, 16, middle level motor, 17, lower floor's motor, 18, middle level erecting frame, 19, upper strata erecting frame, 20, middle level motor driver, 21, upper strata motor driver, 22, photoelectric encoder b, 23, rolling bearing, 24, pulley.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4, a kind of small-sized self-balance robot pose simulator, this simulator comprises base 1, lower floor's motor driver 2, shaft coupling 3, stationary platform 4, L-type housing 5, attitude sensor 6, support bar 7, guide rail slide unit 8, screw mandrel 9, guiderail base 10, Switching Power Supply 11, electric power source distribution device 12, dsp controller 13, upper strata motor 14, photoelectric encoder a15, middle level motor 16, lower floor's motor 17, middle level erecting frame 18, upper strata erecting frame 19, middle level motor driver 20, upper strata motor driver 21, photoelectric encoder b22, rolling bearing 23, pulley 24.
Wherein, guiderail base 10, lower floor's motor driver 2, middle level motor driver 20, upper strata motor driver 21, dsp controller 13, Switching Power Supply 11, electric power source distribution device 12 are all directly fixed on base 1.
Screw mandrel 9, lower floor's motor 17, rolling bearing 23 are installed on guiderail base 10, guiderail base 10 two ends are bolted and are fixed on base 1, screw mandrel 9 is fixed on guiderail base 10 by ball bearing 23 with guiderail base 10, lower floor's motor 17 one end are connected with photoelectric encoder b22, and the other end is connected with screw mandrel 9 by shaft coupling 3; Screw mandrel 9 links together by threaded engagement with the threaded hole in guide rail slide unit 8; Guide rail slide unit 8 lower ends are provided with pulley 24, and itself and guiderail base 10 tracks coincide, and play supporting guide slide unit 8.
L-type housing 5 is fixed on middle level erecting frame 18, and L-type housing 5 bottoms are provided with symmetrical elongated hole, and screw is fixed through threaded hole reserved on slotted hole and middle level erecting frame 18; The design of elongated hole simultaneously can make L-type housing 5 along elongated hole direction, regulate its position on middle level erecting frame 18; The side plate of L-type housing 5 is reserved with axis hole, axis hole is around four threaded holes, and corresponding with the mounting hole of upper strata motor 14, by screw, upper strata motor 14 is fixed on to the inner side of L-type housing 5, the motor shaft of upper strata motor 14 is through the fixing upper strata erecting frame 19 of the axis hole of L-type housing 5; Upper strata erecting frame 19 is used for Installation posture sensor 6.
Photoelectric encoder a15, photoelectric encoder b22 are connected with upper strata motor 14, lower floor's motor 17 respectively, and the angle turning in order to measure upper strata motor 14, lower floor's motor 17, as close-loop feedback, prevents step out of stepping motor.
The adjustable PWM ripple of dutycycle that dsp controller 13 output nonlinear PD two-circuits are controlled, control step lower floor motor driver 2, middle level motor driver 20, upper strata motor driver 21, rotate the step that upper strata motor 14, middle level motor 16, lower floor's motor 17 are compiled and edited according to program.
Photoelectric encoder a15, photoelectric encoder b22, monitor the anglec of rotation of upper and lower layer motor, if any step-out, need supply in time; The measured motor speed obtaining of scrambler is fed back to dsp controller 13, as the reference quantity of the linear PD controller of control simulation device motor speed simultaneously.
Attitude sensor 6 is Primary Components of simulation self-balance robot athletic posture, system motion state can be in attitude sensor 6 angular velocity of each axial gyroscope survey, the value of the acceleration of accelerometer measures show intuitively; Simultaneously attitude sensor 6 feeds back to dsp controller 13 by the numerical value measuring, as the reference quantity of the nonlinear PD control device part of each axial rotation angle of control simulation device.
Electric power source distribution device 12 contains high frequency power module, and the direct current that electric power source distribution device 12 can stable output is tandem circuit power supply.
Screw mandrel 9 is converted into gyration the rectilinear motion of guide rail slide unit 8, and rolling bearing 23 becomes sliding friction by the rolling friction of screw mandrel 9, the frictional resistance reducing.
L-type housing 5 can reduce the inertial load of attitude-simulating device, gravity unbalance load; The U-shaped housing adopting in general design is that the mode by counterweight reduces gravity unbalance load; And L-type housing in the design can reduce the departure degree of barycenter and center of rotation, the upsetting moment that minimizing system produces.
The control chart that is illustrated in figure 5 electrical system, electrical system is divided into: control module, attitude detection module, execution module, power module; Wherein power module provides galvanic current source for other parts, and control module is sent the stepper motor that instruction controls in execution module and moved according to the mode of programming, and forms backfeed loop by scrambler.The variation of all directions attitude angle during system motion, measures by attitude detection module, and uploads host computer analysis.Simultaneously data feedback is to dsp controller, composition control loop.
Embodiment
Suppose that in L-type housing, measured piece exists eccentric mass m
partially=0.1kg, barycenter is to the distance l of rotating shaft
partially=0.05m,
The calculating formula of gravity unbalance moment is:
M
heavy=m
partiallygl
partiallycos α
In formula: M
heavy---gravity unbalance moment, Nm;
M
partially---eccentric mass, kg;
L
partially---barycenter is to the distance of rotating shaft, m;
α---L-type housing plane and horizontal plane angle, rad;
Consider the actual computation formula of this attitude-simulating device: M
heavy=m
partiallygl
partially=0.05Nm.
The approximate treatment formula of the moment of inertia of conventional rotary body is:
J=K·M·De
2/4
In formula: J---the moment of inertia of rotary body, kgm
2;
K---coefficient;
M---rotary body quality, kg;
The flywheel calculated diameter of De---rotary body, m;
L-type housing and annex, the total moment of inertia of measured piece (comprising L framework, motor shaft, motor, erecting frame, MEMS attitude sensor etc.) are:
J=K·M·De
2/4=0.324kg·m
2；
Moment of inertia: M
be used to=J ε
The angular acceleration of ε-object, rad/s
2;
The moment of inertia of L-type housing: M
be used to=J ε=0.272Nm;
M=M
be used to+ M
heavy=0.322Nm
Each motor is 42 stepper motors, and motor torque 0.4N.m, meets system requirements.
In order to improve the simulation accuracy of attitude-simulating device, adopt nonlinear PD control device to realize the control of PWM ripple.Controller is divided into two parts, and first is that each axle of control attitude-simulating device is the nonlinear PD control device of attitude, and controller is input as rotational angle θ and the angular velocity of simulator axle system
rear portion is the linear PD controller of control simulation device motor speed, is input as speed v and the acceleration of stepper motor
the attitude sensor that first adopts is realized rotational angle θ and angular velocity
measure, rear portion utilizes photoelectric encoder to measure motor speed.
Based on NONLINEAR PD two-circuit controller computing formula
τ
NL=NPD(θ,ν)=τ
NB+τ
V
Wherein, K
p(θ) non-linear P link,
as D link, forming attitude-simulating device axle is the nonlinear PD control device τ of deviation angle
nB, suitably select parameter
with
value, exists controlled quentity controlled variable u (θ) | θ | and hour slope is less, | θ | when larger, slope is larger; Larger
value, can suitably expand
space,
for non-linear D parameter, equal normal value
with a Sigmoid function and,, K
1k
2k
4for constant K
3(θ) be according to an energy function of system performance definition, the τ of control rate
vremain unchanged.
Above embodiment is only for illustrating the present invention and unrestricted technical scheme described in the invention, and all do not depart from technical scheme and the improvement thereof of invention spirit and scope, all should be encompassed in the middle of claim scope of the present invention.
Claims (9)
1. a small-sized self-balance robot pose simulator, it is characterized in that: this simulator comprises base (1), lower floor's motor driver (2), shaft coupling (3), stationary platform (4), L-type housing (5), attitude sensor (6), support bar (7), guide rail slide unit (8), screw mandrel (9), guiderail base (10), Switching Power Supply (11), electric power source distribution device (12), dsp controller (13), upper strata motor (14), photoelectric encoder a(15), middle level motor (16), lower floor's motor (17), middle level erecting frame (18), upper strata erecting frame (19), middle level motor driver (20), upper strata motor driver (21), photoelectric encoder b(22), rolling bearing (23), pulley (24),
Wherein, guiderail base (10), lower floor's motor driver (2), middle level motor driver (20), upper strata motor driver (21), dsp controller (13), Switching Power Supply (11), electric power source distribution device (12) are all directly fixed on base (1);
Screw mandrel (9), lower floor's motor (17), rolling bearing (23) are installed on guiderail base (10), guiderail base (10) two ends are bolted and are fixed on base (1), screw mandrel (9) is fixed on guiderail base (10) by ball bearing (23) with guiderail base (10), lower floor's motor (17) one end and photoelectric encoder b(22) be connected, the other end is connected with screw mandrel (9) by shaft coupling (3); Screw mandrel (9) links together by threaded engagement with the threaded hole in guide rail slide unit (8); Guide rail slide unit (8) lower end is provided with pulley (24), and itself and guiderail base (10) track coincide, and play supporting guide slide unit (8);
Support bar (7) lower end connection guide rail slide unit (8), support bar (7) upper end is connected with stationary platform (4), guarantees that stationary platform (4) is parallel with guide rail slide unit (8);
Stationary platform (4) lower end is bolted fixing by four reserved threaded holes and middle level motor (16), center pit is left at stationary platform (4) center; Middle level motor (16) is vertical with guide rail slide unit (8); It is upper that middle level erecting frame (18) is placed in stationary platform (4), and the axle of middle level erecting frame (18) is connected with middle level motor (16) through the center pit of stationary platform (4); Middle level motor (16) directly drives middle level erecting frame (18) to rotate; In order to connect up conveniently, in stationary platform (4), be reserved with routing hole simultaneously;
It is upper that L-type housing (5) is fixed on middle level erecting frame (18), and L-type housing (5) bottom is provided with symmetrical elongated hole, and screw is fixed through slotted hole and the upper reserved threaded hole of middle level erecting frame (18); The design of elongated hole simultaneously can make L-type housing (5) along elongated hole direction, regulate its position on middle level erecting frame (18); The side plate of L-type housing (5) is reserved with axis hole, axis hole is around four threaded holes, and corresponding with the mounting hole of upper strata motor (14), by screw, upper strata motor (14) is fixed on to the inner side of L-type housing (5), the motor shaft of upper strata motor (14) is through the fixing upper strata erecting frame (19) of the axis hole of L-type housing (5); Upper strata erecting frame (19) is used for Installation posture sensor (6);
Electrical system is divided into control module, attitude detection module, execution module, power module; Wherein power module provides galvanic current source for other parts, and control module is sent the stepper motor that instruction controls in execution module and moved according to the mode of programming, and forms backfeed loop by scrambler; The variation of all directions attitude angle during system motion, measures by attitude detection module, and uploads host computer analysis; Simultaneously data feedback is to dsp controller, composition control loop.
2. a kind of small-sized self-balance robot pose simulator according to claim 1, it is characterized in that: upper strata motor (14) directly drives upper strata erecting frame (19), upper strata erecting frame (19) can be rotated around horizontal line, the pitch attitude of simulation self-balance robot; Middle level motor (16) drives middle level erecting frame (18), drives L-type housing (5) and upper strata motor (14) to rotate, simulation self-balance robot course attitude; The space that lower floor's motor (17) drives guide rail slide unit (8) to do horizontal shift simulation self-balance robot by screw mandrel moves horizontally.
3. a kind of small-sized self-balance robot pose simulator according to claim 1, is characterized in that: upper strata motor (14), middle level motor (16), lower floor's motor (17) all adopt stepper motor.
4. a kind of small-sized self-balance robot pose simulator according to claim 1, it is characterized in that: photoelectric encoder a(15), photoelectric encoder b(22) be connected with upper strata motor (14), lower floor's motor (17) respectively, in order to measure the speed of upper strata motor (14), lower floor's motor (17) rotation, as close-loop feedback.
5. a kind of small-sized self-balance robot pose simulator according to claim 1, it is characterized in that: the adjustable PWM ripple of dutycycle that dsp controller (13) output nonlinear PD two-circuit is controlled, control step lower floor motor driver (2), middle level motor driver (20), upper strata motor driver (21), rotate the step that upper strata motor (14), middle level motor (16), lower floor's motor (17) are compiled and edited according to program.
6. a kind of small-sized self-balance robot pose simulator according to claim 1, is characterized in that: photoelectric encoder a(15), photoelectric encoder b(22), monitor the anglec of rotation of upper and lower layer motor; The measured motor speed obtaining of scrambler is fed back to dsp controller (13) simultaneously.
7. a kind of small-sized self-balance robot pose simulator according to claim 1, it is characterized in that: attitude sensor (6) is the Primary Component of simulation self-balance robot athletic posture, system motion state can be in attitude sensor (6) numerical value of each axial gyroscope, accelerometer measures upload host computer and show intuitively; Attitude sensor (6) feeds back to dsp controller (13) by the numerical value measuring simultaneously.
8. a kind of small-sized self-balance robot pose simulator according to claim 1, is characterized in that: electric power source distribution device (12) contains high frequency power module, and the direct current that electric power source distribution device (12) can stable output is tandem circuit power supply.
9. a kind of small-sized self-balance robot pose simulator according to claim 1, it is characterized in that: screw mandrel (9) is converted into gyration the rectilinear motion of guide rail slide unit (8), rolling bearing (23) becomes sliding friction by the rolling friction of screw mandrel (9).
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| CN104792346A (en) * | 2015-02-15 | 2015-07-22 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
| CN105181573A (en) * | 2015-06-16 | 2015-12-23 | 大连理工大学 | Ground rolling friction coefficient spherical sensor facing unstructured environment |
| CN105352368A (en) * | 2015-11-26 | 2016-02-24 | 上海新跃仪表厂 | Centering and directing mechanism adopting linear guide rail |
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| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN107943065A (en) * | 2017-12-08 | 2018-04-20 | 西安科技大学 | Robot self-balancing experimental system for simulating and method |
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| CN104792346B (en) * | 2015-02-15 | 2017-05-24 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
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| CN105181573A (en) * | 2015-06-16 | 2015-12-23 | 大连理工大学 | Ground rolling friction coefficient spherical sensor facing unstructured environment |
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| CN105352368A (en) * | 2015-11-26 | 2016-02-24 | 上海新跃仪表厂 | Centering and directing mechanism adopting linear guide rail |
| CN105352368B (en) * | 2015-11-26 | 2017-03-08 | 上海新跃仪表厂 | A kind of centering directing mechanism of employing line slideway |
| CN105825744A (en) * | 2016-05-05 | 2016-08-03 | 桂林理工大学 | Somatosensory control two-wheeled balance vehicle teaching aid system |
| CN108132608A (en) * | 2017-08-21 | 2018-06-08 | 北京精密机电控制设备研究所 | A kind of joint of robot controller power stage semi-physical system |
| CN108132608B (en) * | 2017-08-21 | 2021-03-26 | 北京精密机电控制设备研究所 | Robot joint controller power level semi-physical simulation system |
| CN107943065A (en) * | 2017-12-08 | 2018-04-20 | 西安科技大学 | Robot self-balancing experimental system for simulating and method |
| CN108803689A (en) * | 2018-07-05 | 2018-11-13 | 河南省计量科学研究院 | A kind of Doppler's physiology waveform die body skimulated motion accurate control method |
| CN108760008A (en) * | 2018-07-18 | 2018-11-06 | 清华大学 | A kind of self-balancing mechanism |
| CN109445310A (en) * | 2018-12-27 | 2019-03-08 | 湖北航天飞行器研究所 | A kind of infrared imaging guidance hardware-in-the-loop system and method |
| CN111580492A (en) * | 2020-04-03 | 2020-08-25 | 航天行云科技有限公司 | Polarity testing device of satellite attitude control system |
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