CN103760781A - Control force feeling control system based on open type framework - Google Patents
Control force feeling control system based on open type framework Download PDFInfo
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- CN103760781A CN103760781A CN201310743990.3A CN201310743990A CN103760781A CN 103760781 A CN103760781 A CN 103760781A CN 201310743990 A CN201310743990 A CN 201310743990A CN 103760781 A CN103760781 A CN 103760781A
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Abstract
The invention discloses a control force feeling control system based on an open type framework. The control force feeling control system comprises an industrial PC, a force loading device, an operating lever and a signal collecting device. A real-time control module sends a control order to the force loading device through an SERCOS3 communication board card so that the corresponding loading force can be produced on the operating lever; a modulus collecting board card is used for receiving the loading force collected and exerted on the operating lever through the signal collecting device to form force closed loop control. Software modules are adopted in core parts, and a user can carry out modification; the number of force loading devices can be increased or reduced, and the servo frequency of the control force feeling control system is not affected. The control force feeling control system has the expandability, the interchangeability and the scalability and is high in openness degree. Due to the fact that an SERCOS3 real-time Ethernet bus is adopted, the servo frequency can reach to four thousand hertz, and the force feeling fidelity and the reliability of the control system are greatly improved. The control force feeling control system can be used in various devices in which various force feelings need to be simulated.
Description
Technical field
The present invention relates to a kind of steering force sense control system, especially relate to a kind of open steering force sense control system based on SERCOS3 Ethernet bus.
Background technology
At present, known steering force sense control method and device are mainly a kind of control system of closed system structure of special use, i.e. " PC+NC control card " pattern, and PC mainly processes various un-real time jobs, and NC control card is processed real-time task.But because mostly hardware configuration and the software configuration of NC control card is special-purpose, without interchangeability, also without scalability, more without extensibility, the selection that offers user is limited.User cannot modify to meet own special demand to the function of existing power sense control system, and open degree is lower; And carry out in analog communication mode with servo drive system, existence is easily disturbed, the problem of low precision, has affected the control accuracy of system; Also have a kind of NC control card of steering force sense control system to replace with industrial control computer, but software configuration has adopted special-purpose real-time vxworks operating system, there is the problem that cost is high, portable and maintainability is poor, and be to adopt traditional fieldbus pattern to carry out with the communication of servo drive system, the servo frequency of control system is the highest less than two KHz, has the problem of power sense low precision true to nature.
Summary of the invention
In order to overcome the open degree of existing steering force sense control system and the lower deficiency of power sense fidelity, the invention provides a kind of steering force sense control system based on open architecture.The open degree of this control system is high, and good reliability, has higher servo frequency, has greatly improved the power sense fidelity of system.
A steering force sense control system based on open architecture, comprises Industrial PC Computer, power loading equipemtn
, signal collecting device and operating rod;
described Industrial PC Computershared drive district respectively with human-computer interface module, security protection module, control module is connected in real time; Security protection module is connected with real-time control module; Control module is connected with SERCOS3 communication real-time driver module, modulus collection real-time driver module respectively in real time; SERCOS3 communication real-time driver module is connected with SERCOS3 Communication Card; Modulus gathers real-time driver module and is connected with modulus analog input card;
described power loading equipemtnsERCOS3 Digital Servo Driver is connected with electric cylinder with photoelectric encoder respectively;
described signal collecting devicesignal amplifier be connected with power sensor;
Industrial PC Computer is connected with the SERCOS3 Digital Servo Driver of power loading equipemtn and the signal amplifier of signal collecting device by SERCOS3 Communication Card, modulus analog input card respectively; The electric cylinder of power loading equipemtn is connected with the power sensor of signal collecting device; The power sensor of signal collecting device is connected with operating rod by connecting link;
Whether the security protection module of Industrial PC Computer there is saltus step and excessive by the speed command of monitoring real-time control module and sending, to guarantee that whole system does not suffer damage
;
Human-computer interface module by shared drive district and security protection module and in real time control module contact; Described human-computer interface module is one and general operates in the windows interface program under user's state, and can system operation mode be set by interface program, supervisory system parameter changes, and carries out emergency shutdown operation;
Shared drive district is the data sharing district between human-computer interface module and real-time control module and security protection module, in real time control module is from shared drive district reading system operational order and carried out, the actual sample value of operating rod Force location is deposited in to shared drive district, human-computer interface module reads from shared drive district to be handled stick force and physical location and is presented at interface for operator's monitoring simultaneously;
Described Industrial PC Computer works in non-real time portions except human-computer interface module 1, and other all works in real-time partial;
Control module is sent steering order by SERCOS3 communication real-time driver module, SERCOS3 Communication Card Ethernet bus to the SERCOS3 Digital Servo Driver of power loading equipemtn in real time, the instruction that SERCOS3 Digital Servo Driver is sent real-time control module by feed cable is applied on electric cylinder, electric cylinder is applied to power on operating rod by connecting link, makes to produce on operating rod corresponding loading force; Photoelectric encoder is installed on electric cylinder, measures in real time the current location of electric cylinder and feeds back to SERCOS3 Digital Servo Driver by signal cable;
The power installation of sensors of signal collecting device, between electric cylinder and operating rod, is applied to the actual forces on operating rod to measure electric cylinder, and this power is fed back to the modulus analog input card of described Industrial PC Computer by signal amplifier, thereby forms power closed-loop control.
A kind of steering force sense control system based on open architecture of the present invention can be for simulating equipment and the occasion of various power senses, the manipulation load analogue system in especially various training simulators.
beneficial effect:a kind of steering force sense control system based on open architecture of the present invention, comprises Industrial PC Computer, power loading equipemtn, operating rod and signal collecting device; The real-time control module of moving in Industrial PC Computer is core apparatus, and its is on the one hand by sending steering order by SERCOS3 Communication Card Ethernet bus to power loading equipemtn, makes to produce on operating rod corresponding loading force; By modulus analog input card, receive signal collecting device collection on the other hand and return the loading force acting on operating rod, thereby form power closed-loop control; Structure is simplified relatively, and level is obvious.
Because core all adopts software module, realize, user can modify according to the specific demand of oneself; Power loading equipemtn also can increase or delete according to the demand of oneself simultaneously, and does not affect the servo frequency of steering force sense control system.Therefore, described steering force sense control system has the feature of extensibility, interchangeability and scalability, and open degree is higher.And owing to having adopted SERCOS3 Ethernet bus, it is a kind of high speed, high precision Ethernet bus, servo frequency can reach four KHz, and the reliability of power sense fidelity and control system has all obtained improving widely.The present invention can be for simulating equipment and the occasion of various power senses, the manipulation load analogue system in especially various training simulators.
Accompanying drawing explanation
Fig. 1 is a kind of steering force sense control system structural representation block diagram based on open architecture of the present invention.
Embodiment
embodiment 1as shown in Figure 1, a kind of steering force sense control system based on open architecture, comprises Industrial PC Computer 18, power loading equipemtn 8, signal collecting device 13 and operating rod 15;
described Industrial PC Computer 18shared drive district 2 respectively with human-computer interface module 1, security protection module 3, control module 4 is connected in real time; Security protection module 3 is connected with real-time control module 4; Control module 4 is connected with SERCOS3 communication real-time driver module 5, modulus collection real-time driver module 17 respectively in real time; SERCOS3 communication real-time driver module 5 is connected with SERCOS3 Communication Card 6; Modulus gathers real-time driver module 17 and is connected with modulus analog input card 16;
described power loading equipemtn 8sERCOS3 Digital Servo Driver 7 is connected with electric cylinder 10 with photoelectric encoder 9 respectively;
described signal collecting device 13 signal amplifier 14 be connected with power sensor 11;
Described Industrial PC Computer 18 is connected with the SERCOS3 Digital Servo Driver 7 of power loading equipemtn 8 and the signal amplifier 14 of signal collecting device 13 by SERCOS3 Communication Card 6, modulus analog input card 16 respectively; The electric cylinder 10 of power loading equipemtn 8 is connected with the power sensor 11 of signal collecting device 13; The power sensor 11 of signal collecting device 13 is connected with operating rod 15 by connecting link 12;
Whether the security protection module 3 of Industrial PC Computer 18 there is saltus step and excessive by the speed command of monitoring real-time control module 4 and sending, to guarantee that whole system does not suffer damage
;
Human-computer interface module 1 contacts with security protection module 3 and real-time control module 4 by shared drive district 2; Described human-computer interface module 1, is one and general operates in the windows interface program under user's state, can system operation mode be set by interface program, supervisory system parameter changes, and carries out emergency shutdown operation;
Shared drive district 2 is human-computer interface module 1 and the real-time data sharing district of 3 of control module 4 and security protection modules, in real time control module 4 from shared drive district 2 reading system operational orders being carried out, the actual sample value of operating rod Force location is deposited in to shared drive district 2, human-computer interface module 1 reads from shared drive district 2 to be handled stick force and physical location and is presented at interface for operator's monitoring simultaneously;
Described Industrial PC Computer 18 works in non-real time portions except human-computer interface module 1, and other all works in real-time partial;
Control module 4 is sent steering order by SERCOS3 communication real-time driver module 5, SERCOS3 Communication Card 6 Ethernet bus to the SERCOS3 Digital Servo Driver 7 of power loading equipemtn 8 in real time, the instruction that SERCOS3 Digital Servo Driver 7 is sent real-time control module 4 by feed cable is applied on electric cylinder 10, electric cylinder 10 is applied to power on operating rod 15 by connecting link 12, makes to produce on operating rod 15 corresponding loading force; Photoelectric encoder 9 is installed on electric cylinder 10, measures in real time the current location of electric cylinder 10 and feeds back to SERCOS3 Digital Servo Driver 7 by signal cable;
The power sensor 11 of signal collecting device 13 is installed between electric cylinder 10 and operating rod 15, to measure electric cylinder 10, be applied to the actual forces on operating rod 15, and this power is fed back to the modulus analog input card 16 of described Industrial PC Computer 18 by signal amplifier 14, thereby form power closed-loop control.
Claims (1)
1. steering force sense control method and the device based on open architecture, is characterized in that comprising Industrial PC Computer (18), power loading equipemtn (8), signal collecting device (13) and operating rod (15);
described Industrial PC Computer (18)shared drive district (2) respectively with human-computer interface module (1), security protection module (3), control module (4) is connected in real time; Security protection module (3) is connected with real-time control module (4); Control module (4) is connected with SERCOS3 communication real-time driver module (5), modulus collection real-time driver module (1) 7 respectively in real time; SERCOS3 communication real-time driver module (5) is connected with SERCOS3 Communication Card (6); Modulus gathers real-time driver module (17) and is connected with modulus analog input card (16);
described power loading equipemtn (8)sERCOS3 Digital Servo Driver (7) is connected with electric cylinder (10) with photoelectric encoder (9) respectively;
described signal collecting device (13)signal amplifier (14) be connected with power sensor (11);
Described Industrial PC Computer (18) is connected with the SERCOS3 Digital Servo Driver (7) of power loading equipemtn (8) and the signal amplifier (14) of signal collecting device (13) by SERCOS3 Communication Card (6), modulus analog input card (16) respectively; The electric cylinder (10) of power loading equipemtn (8) is connected with the power sensor (11) of signal collecting device (13); The power sensor (11) of signal collecting device (13) is connected with operating rod (15) by connecting link (12);
Whether the speed command that the security protection module (3) of Industrial PC Computer (18) sends by the real-time control module of monitoring (4) there is saltus step and excessive, to guarantee that whole system does not suffer damage
;
Human-computer interface module (1) is by shared drive district (2) and security protection module (3) and control module (4) contact in real time; Described human-computer interface module (1), is one and general operates in the windows interface program under user's state, can system operation mode be set by interface program, supervisory system parameter changes, and carries out emergency shutdown operation;
Shared drive district (2) is the data sharing district between human-computer interface module (1) and real-time control module (4) and security protection module (3), in real time control module (4) is from shared drive district (2) reading system operational order and carried out, the actual sample value of operating rod Force location is deposited in to shared drive district (2), human-computer interface module (1) reads and handles stick force and physical location and be presented at interface for operator's monitoring from shared drive district (2) simultaneously;
Described Industrial PC Computer (18) works in non-real time portions except human-computer interface module (1), and other all works in real-time partial;
Control module (4) is by SERCOS3 communication real-time driver module (5), SERCOS3 Communication Card in real time
(6) Ethernet bus sends steering order to the SERCOS3 Digital Servo Driver (7) of power loading equipemtn (8), the instruction that SERCOS3 Digital Servo Driver (7) is sent real-time control module (4) by feed cable is applied on electric cylinder (10), it is upper that electric cylinder (10) is applied to operating rod (15) by connecting link (12) by power, makes the corresponding loading force of the upper generation of operating rod (15); It is upper that photoelectric encoder (9) is installed on electric cylinder (10), measures in real time the current location of electric cylinder (10) and feed back to SERCOS3 Digital Servo Driver (7) by signal cable;
The power sensor (11) of signal collecting device (13) is installed between electric cylinder (10) and operating rod (15), to measure electric cylinder (10), be applied to the actual forces on operating rod (15), and this power is fed back to the modulus analog input card (16) of described Industrial PC Computer (18) by signal amplifier (14), thereby form power closed-loop control.
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|---|---|---|---|
| CN201310743990.3A CN103760781B (en) | 2013-12-31 | 2013-12-31 | Steering force sense control system based on open architecture |
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|---|---|---|---|
| CN201310743990.3A CN103760781B (en) | 2013-12-31 | 2013-12-31 | Steering force sense control system based on open architecture |
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| CN103760781B CN103760781B (en) | 2016-12-07 |
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Citations (5)
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| US3463866A (en) * | 1964-06-18 | 1969-08-26 | Singer General Precision | Flight simulator control loading system |
| US6619960B1 (en) * | 2001-02-06 | 2003-09-16 | Aviation Simulation Trainers, Inc. | Linear control loading system |
| CN102490779A (en) * | 2011-11-18 | 2012-06-13 | 上海交通大学 | Digital steering wheel system with force feedback |
| CN202404386U (en) * | 2011-12-16 | 2012-08-29 | 中国人民解放军92728部队 | Four-channel control load simulation system for ship-borne helicopter |
| CN103473967A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Airplane simulation manipulator with operating force feel |
-
2013
- 2013-12-31 CN CN201310743990.3A patent/CN103760781B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3463866A (en) * | 1964-06-18 | 1969-08-26 | Singer General Precision | Flight simulator control loading system |
| US6619960B1 (en) * | 2001-02-06 | 2003-09-16 | Aviation Simulation Trainers, Inc. | Linear control loading system |
| CN102490779A (en) * | 2011-11-18 | 2012-06-13 | 上海交通大学 | Digital steering wheel system with force feedback |
| CN202404386U (en) * | 2011-12-16 | 2012-08-29 | 中国人民解放军92728部队 | Four-channel control load simulation system for ship-borne helicopter |
| CN103473967A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Airplane simulation manipulator with operating force feel |
Non-Patent Citations (5)
| Title |
|---|
| 关理想 等: "一种电动式操纵负荷系统建模与仿真研究", 《飞机设计》 * |
| 刘长华: "飞行模拟器数字式操纵负荷系统的仿真及实现", 《中国民航飞行学院学报》 * |
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Effective date of registration: 20181016 Address after: 102200 2 North Road, South Road, Changping District, Beijing Patentee after: Zhang Zhiqiu Address before: 130022 nanhu road 2222, Changchun, Jilin Patentee before: Military Simulation technical institute of Air force Aviation University of the Chinese People's Liberation Army |
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Effective date of registration: 20190311 Address after: 130022 nanhu road 2222, Changchun, Jilin Patentee after: Military Simulation technical institute of Air force Aviation University of the Chinese People's Liberation Army Address before: 102200 2 North Road, South Road, Changping District, Beijing Patentee before: Zhang Zhiqiu |
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Granted publication date: 20161207 Termination date: 20181231 |