CN105425705B - Cockpit attitude control system, method and apparatus - Google Patents
Cockpit attitude control system, method and apparatus Download PDFInfo
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- CN105425705B CN105425705B CN201510918383.5A CN201510918383A CN105425705B CN 105425705 B CN105425705 B CN 105425705B CN 201510918383 A CN201510918383 A CN 201510918383A CN 105425705 B CN105425705 B CN 105425705B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of cockpit attitude control systems, method and apparatus, including rotating driver, large arm pitch drive, forearm pitch drive and swinging driver, four drivers are connect with the control terminal of the drive motor of rotary shaft, large arm pitch axis, forearm pitch axis and swinging shaft respectively, for driving corresponding motor；Each driver is separately connected a braking resistor, and four drivers are connect with the control terminal of the brake apparatus of respective motor respectively, for controlling the torque and autobrake interlock control module of the brake apparatus of motor according to the output torque of motor.It further include controller, the controller and driver communicate to connect, and can control the corresponding motor of driver and its brake apparatus.Control multiple drivers by controller while running, between use network communication, wiring reduction, mechanism are simple, highly-safe so that realize stereo-motion while, also increase the ornamental value of tourist.
Description
Technical field
The present invention relates to multijoint control fields, more particularly to a kind of cockpit attitude control system, method and apparatus.
Background technique
In traditional personnel transport capsule mechanism design, move along a straight line on the track that is limited mostly at one or at one
Plane motion, style sheet one, structure is simple, has been difficult meet the needs of tourist increasingly increases, corresponding stereo-motion due to
Mechanism is complicated, and safety requirements is high, and maintenance is complicated, so that previous case is less.
Summary of the invention
The object of the present invention is to provide it is a kind of it is highly-safe, mechanism is simple, the cockpit attitude control system that maintains easily, side
Method and equipment.
The purpose of the present invention is what is be achieved through the following technical solutions:
Cockpit attitude control system of the invention, including rotating driver, large arm pitch drive, forearm pitch drive
And swinging driver, four drivers respectively with rotary shaft, large arm pitch axis, forearm pitch axis and swinging shaft drive motor
Control terminal connection, for driving corresponding motor；
Each driver is separately connected a braking resistor, four drivers respectively with the brake apparatus of respective motor
Control terminal connection, torque and autobrake interlock for controlling the brake apparatus of motor according to the output torque of motor control mould
Block.
It further include controller, the controller and the driver communicate to connect, and can control the corresponding electricity of the driver
Motivation and its brake apparatus.
Cockpit attitude control method of the invention realizes equipment multijoint control by above-mentioned cockpit attitude control system,
Include:
According to the received speed preset and position sent by controller be given and control instruction drive motor and its
Brake apparatus；
Pass through the control of driver control motor brake device when the output torque for detecting motor is greater than preset value
Device makes the brake apparatus take-off the brake of motor；
Pass through driver control motor brake device when the output torque for detecting motor is less than or equal to preset value
Controller brake the brake apparatus of motor.
Equipment of the invention, including Cab body, more axis and its drive motor, the motor and its braking dress
It sets by above-mentioned cockpit attitude control system control.
As seen from the above technical solution provided by the invention, cockpit gesture stability provided in an embodiment of the present invention system
System, method and apparatus, control multiple drivers by controller while running, between using network communication, wiring reduction, mechanism
Simply, highly-safe, while so that realizing stereo-motion, also increase the ornamental value of tourist.
Detailed description of the invention
Fig. 1 is the general construction block diagram of cockpit attitude control system provided in an embodiment of the present invention；
Fig. 2 is the specific block diagram of cockpit attitude control system provided in an embodiment of the present invention；
Fig. 3 is each axis activation configuration block diagram of cockpit attitude control system provided in an embodiment of the present invention；
Fig. 4 is the controller architecture block diagram of cockpit attitude control system provided in an embodiment of the present invention；
Fig. 5 is the flow chart of cockpit attitude control method provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention will be described in further detail below.
Cockpit attitude control system of the invention, preferable specific embodiment is:
Including rotating driver, large arm pitch drive, forearm pitch drive and swinging driver, four drivers point
It is not connect with the control terminal of the drive motor of rotary shaft, large arm pitch axis, forearm pitch axis and swinging shaft, for driving correspondence
Motor；
Each driver is separately connected a braking resistor, four drivers respectively with the brake apparatus of respective motor
Control terminal connection, torque and autobrake interlock for controlling the brake apparatus of motor according to the output torque of motor control mould
Block.
It further include controller, the controller and the driver communicate to connect, and can control the corresponding electricity of the driver
Motivation and its brake apparatus.
The speed preset control terminal of the controller, position give control terminal and control instruction control terminal passes through Ethercat
Network communication gives input terminal with the speed preset input terminal of 4 drivers, position respectively and control instruction input terminal is connect.
Each driver is equipped with alarm signal output ends, and each alarm signal output ends pass through relay input/output
Interface module is connect with the controller.
The driver be equipped with for detect motor load variation load detecting module, according to the load detecting mould
The frequency regulation block of the load variable condition adjustment current frequency of block detecting.
The controller includes speed preset setup module, the given setup module in position, communication module, current feedback processing
Module and alert process module；
The speed preset setup module is for being arranged the speed control for being sent to driver；
The position gives setup module for the position control for being sent to driver to be arranged；
The communication module is used to send the given position, speed preset and control instruction, and feedback shape to driver
State, fault message to controller；
The current signal that the current feedback processing module is used to feed back driver is handled；
The alert process module is for handling the alarm signal that driver is sent back to, to issue alarm.
Cockpit attitude control method of the invention, preferable specific embodiment is:
Equipment multijoint control is realized by above-mentioned cockpit attitude control system, comprising:
According to the received speed preset and position sent by controller be given and control instruction drive motor and its
Brake apparatus；
Pass through the control of driver control motor brake device when the output torque for detecting motor is greater than preset value
Device makes the brake apparatus take-off the brake of motor；
Pass through driver control motor brake device when the output torque for detecting motor is less than or equal to preset value
Controller brake the brake apparatus of motor.
Equipment of the invention, preferable specific embodiment is:
Including Cab body, more axis and its drive motor, the motor and its brake apparatus by claim 1 to
5 described in any item cockpit attitude control system controls.
Specific embodiment:
As shown in Figure 1, comprising: driver 2~5 and controller 1；
Wherein, controller 1 and driver 2~5 communicate to connect, and can control the driver 2~5 and respectively drive main motor
6~9；
Controller 1 is communicated to connect with driver 2~5 can specifically instruct control terminal, position to give the speed preset of controller 1
Determine control terminal and control word through Ethercat network communication respectively with the speed preset command input of driver 2~5, position
Given input terminal is connected with control word input terminal.
As shown in Fig. 2, braking resistor is arranged on the basis of above-mentioned control system, wherein each driver individually connects one
A braking resistor.For when motor is in braking or deceleration regime, rectified voltage to increase, and energy consumption is in braking resistor
On, achieve the effect that stable rate controlling.
The motor for driving each axis operation can also be set in above-mentioned control system, and being formed includes power device and control system
The cockpit attitude control system of system, wherein the driver of the corresponding axis of control terminal of each axis motor connects, respectively by corresponding to
Driver driving carry out positive and negative rotation or positioning, driving equipment operation and stops clockwise, counterclockwise in all directions.
As shown in figure 3, the driver setting torque and autobrake interlock control module of above-mentioned control system, the torque and braking
Interlink control module is connect with the controller of motor brake device, and the braking of motor is controlled according to the output torque of motor
Device.
Using the torque of driver setting with autobrake interlock control module, it can be achieved that the connection of motor torque and brake signal
Lock control, such as when equipment starts to walk, torque and autobrake interlock control module detect that the output torque of motor is greater than preset value,
Brake apparatus take-off the brake is then controlled, each axis of equipment smoothly realizes starting under motor drive at this time；And when stopping, torque with
Autobrake interlock control module detects that the output torque of motor is less than or equal to preset value, then controls brake apparatus system
It is dynamic, it is held tightly under equipment brake apparatus (band-type brake of such as motor reel) brake force at this time, realizes parking.
As shown in Fig. 2, current feedback terminal can be set in the driver in above-mentioned control system, each current feedback terminal passes through
Ethercat network returns and is connected to the controller, further controls driver driving electricity according to the state of current feedback by controller
Motivation.
As shown in figure 3, the driver in above-mentioned control system is equipped with alarm signal output ends, each alarm signal output ends
It is connect by relay input/output interface module (relay I/O interface module) and Ethercat network with controller, to
Controller provides alarm signal, so that controller is alarmed according to alarm signal.
As shown in figure 4, driver is additionally provided with load detecting module, frequency regulation block and communication module；
Wherein, load detecting module is for detecting motor load variable condition；Frequency regulation block is used for according to
The load variable condition for loading detecting module detecting adjusts current frequency.
The current feedback processing module, for handling the current signal that driver is fed back；
The alert process module, for handling the alarm signal that driver is sent back to, to issue alarm.
Above-mentioned cockpit attitude control system, by the way that each axis driver is controlled by controller.
Above-mentioned cockpit attitude control system both had quick dynamic response it is simple but also with mechanism, it is highly-safe, control
Flexible performance.
As shown in figure 5, the embodiment of the present invention also provides a kind of equipment cockpit attitude control method, in combination with above-mentioned cockpit
Attitude control system uses, this method comprises:
Step S31, driver according to the received speed preset sent by controller, position is given and control word is driven
Dynamic motor；
Step S32, in control process, driver controls the driver according to the load variation of detecting and current state
Drive motor.
In this way by the way that driver is controlled by controller, driver can be controlled according to the load variation of detecting and current state
The motor, realizes multijoint control.So that multijoint control has reproducibility.
It is electronic by driver control when the output torque of driver detection motor is greater than preset value in the above method
The controller of machine braking device makes the brake apparatus take-off the brake of motor；
Pass through the electronic mechanism of driver control when the output torque of driver detection motor is less than or equal to preset value
The controller of dynamic device brakes the brake apparatus of motor.
It by above-mentioned processing, realizes to motor torque and brake signal interlocked control, facilitates and realize the same of quick start
When, when also avoiding stopping the problem of coaster.
In Fig. 2, control system includes: 4 motor, in which: 1 is the motor for controlling 360 ° of cockpit rotations, and 2 are
The motor and 1 wiggly motor of control cabin of the big and small arms of pitching are controlled respectively；
Two walking drivers cooperated with motor, wherein one is master driver, the Ling Yitai for driving main motor
To drive the slave driver from motor；Master driver is connected by optical fiber (high speed communication optical fiber can be used) from driver；
A braking resistor is respectively connected on each driver, when motor is in braking or deceleration regime, rectified current
Pressure increases, and energy consumption has the function that stable rate controlling in braking resistor.
The controller of driver is controlled, single-chip microcontroller or PLC (programmable controller) can be used in controller；
The speed preset of controller, position be given and control word control terminal is through the network communication speed with each axis driver respectively
Degree, position are connected with control word input terminal, wherein controller can be disconnected according to alarm signal to be exported to driver, promotes equipment
Parking；
The current feedback terminal of driver setting passes through Ethercat network time and is connected to the controller；
The alarm signal output ends of driver setting pass through relay I/O interface module and connect with controller.
When practical connection, terminal connection is can be used in the wiring of interconnection and external equipment between each element, each
Terminal indicates terminal block title and terminal number respectively.
Above-mentioned control system is in a device, and when work, controller issues that speed, position be given and control word to driver
Driver is instructed while issuing, the received speed of driver is the given fixed speed of controller, the load of driver Auto-Sensing
Variation, so that drive motor works.
When equipment starting, when the output torque that driver detects main motor is greater than preset value, motor can be opened
Band-type brake does not brake power limit, smoothly starts to walk；
When equipment parking, when the output torque that driver detects motor is less than preset value, embracing for motor can be closed
Lock is equivalent to starting braking and stops.
The embodiment of the present invention further provides for a kind of cockpit posture equipment, including cabin, rotating mechanism, big and small arms are electronic
The cockpit attitude control system of machine, the cockpit attitude control system use above-mentioned cockpit attitude control system.The equipment has
Multijoint control it is highly-safe, mechanism is simple, the advantages that maintaining easily.
In conclusion control system provided in an embodiment of the present invention and method provide a kind of side of multijoint control well
Case.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (3)
1. a kind of cockpit attitude control system, which is characterized in that including rotating driver, large arm pitch drive, forearm pitching
Driver and swinging driver, the driving with rotary shaft, large arm pitch axis, forearm pitch axis and swinging shaft respectively of four drivers
The control terminal of motor connects, for driving corresponding motor；
Each driver is separately connected a braking resistor, the control with the brake apparatus of respective motor respectively of four drivers
End connection, for controlling the torque and autobrake interlock control module of the brake apparatus of motor according to the output torque of motor；
It further include controller, the controller and the driver communicate to connect, and can control the corresponding motor of the driver
And its brake apparatus；
The speed preset control terminal of the controller, position give control terminal and control instruction control terminal passes through Ethercat network
Communication gives input terminal with the speed preset input terminal of 4 drivers, position respectively and control instruction input terminal is connect；
Each driver is equipped with alarm signal output ends, and each alarm signal output ends pass through relay input/output interface
Module is connect with the controller；
The driver is equipped with load detecting module for detecting motor load variation, is detectd according to the load detecting module
The frequency regulation block of the load variable condition adjustment current frequency of survey；
The controller includes speed preset setup module, position given setup module, communication module, current feedback processing module
With alert process module；
The speed preset setup module is for being arranged the speed control for being sent to driver；
The position gives setup module for the position control for being sent to driver to be arranged；
The communication module is used to send the given position, speed preset and control instruction and feedback states, event to driver
Hinder information to controller；
The current signal that the current feedback processing module is used to feed back driver is handled；
The alert process module is for handling the alarm signal that driver is sent back to, to issue alarm.
2. a kind of cockpit attitude control method, which is characterized in that realized by cockpit attitude control system described in claim 1
Equipment multijoint control, comprising:
According to the received speed preset and position sent by controller be given and control instruction drive motor and its braking
Device；
Made when the output torque for detecting motor is greater than preset value by the controller of driver control motor brake device
The brake apparatus take-off the brake of motor；
Pass through the control of driver control motor brake device when the output torque for detecting motor is less than or equal to preset value
Device processed brakes the brake apparatus of motor.
3. a kind of equipment, including Cab body, more axis and its drive motor, which is characterized in that the motor and its system
Dynamic device is controlled by cockpit attitude control system described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918383.5A CN105425705B (en) | 2015-12-10 | 2015-12-10 | Cockpit attitude control system, method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918383.5A CN105425705B (en) | 2015-12-10 | 2015-12-10 | Cockpit attitude control system, method and apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105425705A CN105425705A (en) | 2016-03-23 |
| CN105425705B true CN105425705B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510918383.5A Active CN105425705B (en) | 2015-12-10 | 2015-12-10 | Cockpit attitude control system, method and apparatus |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020037567A1 (en) * | 2018-08-22 | 2020-02-27 | 深圳配天智能技术研究院有限公司 | Multi-axis driver performance testing system and method and multi-axis driver for testing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298260B (en) * | 2008-06-11 | 2010-06-02 | 清华大学 | Low-power consumption two-foot walking moving system and walking control method thereof |
| CN101907882B (en) * | 2010-06-08 | 2012-01-11 | 浙江中控电气技术有限公司 | Multi-shaft DC servo motor control system and method based on EPA (Ethernet for Plant Automation) field bus |
| CN102183940B (en) * | 2011-05-31 | 2013-01-16 | 深圳华强数码电影有限公司 | Large-size magic ball multi-shaft synchronous control system, method and magic ball |
| CN102819242B (en) * | 2011-06-07 | 2015-07-01 | 深圳华强数码电影有限公司 | Multi-shaft servo control system and magic ball matrix |
| JP5982774B2 (en) * | 2011-10-11 | 2016-08-31 | セイコーエプソン株式会社 | Motor controller, robot hand |
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Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 13 floor Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 13 floor Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |
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