CN106873645A - Can omnidirectional's precession spherical top mechanism and control method - Google Patents
Can omnidirectional's precession spherical top mechanism and control method Download PDFInfo
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- CN106873645A CN106873645A CN201710240488.9A CN201710240488A CN106873645A CN 106873645 A CN106873645 A CN 106873645A CN 201710240488 A CN201710240488 A CN 201710240488A CN 106873645 A CN106873645 A CN 106873645A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses it is a kind of can omnidirectional's precession spherical top mechanism and control method, the gyrorotor is in hollow spheroid, the spheroid be placed in can make its can all-direction rotation it is upper, in lower omni-directional wheel drive component, on described, lower omni-directional wheel drive component corresponds respectively to the upper of spheroid, lower peripheral surface is set, each omni-directional wheel drive component includes multiple omni-directional wheel groups of circumference uniform distribution, each omni-directional wheel group include on correspondence arc wheel carrier at least three with the omni-directional wheel of sphere-contact, in each omni-directional wheel group, connected by constant velocity cardan joint between the rotating shaft of omni-directional wheel two-by-two, it is first, the rotating shaft of tail omni-directional wheel connects the incremental encoder of spherical electric machine and detection omnidirectional wheel speed respectively.The present invention solves Steering of the gyrorotor around any axle in space, improves the deficiency of traditional three shaft mechanicals gyro, there is provided a kind of omnidirectional's driving method, is set up for the model of omnibearing spherical gyro mechanism and provides theoretical direction.
Description
Technical field：
The present invention relates to gyroscope balance control technology, specially it is a kind of can omnidirectional's precession spherical top mechanism and control
Method.
Background technology：
The features such as mechanical gyro has compact conformation, operating stabilization, its precession can produce extremely strong gyroscopic couple, be one
Plant the moving object attitude regulation mechanical device of high efficient and reliable.Autobalance of the current this normal pooled applications of mechanism in intelligent body
" never toppling over " intelligence two-wheel car Lit Motor C1 and single-point support square machine of control aspect, such as Lit companies
People Cubli.
Existing mechanical gyro has single shaft, twin shaft and three axles several, and the operating of multiaxis is typically realized by inside and outside nested axle.
In the performance of some skills, the high-speed rotation of gyrorotor can automatically generate gyroscopic couple and offset disturbance torque after being interfered
The balance of holding system.
But the mechanical gyro structural redundancy of current multiaxis, such as square robot C ubli employs three single shaft gyros, its
Gyro axis vertical, complex structure two-by-two, there is requirement very high to machining accuracy；And the gyro of single shaft, such as Lit Motor C1
Be horizontally mounted mechanical gyro, the unidirectional precession of pitching can only be carried out, its produce gyroscopic couple adjusting range can be subject to one
Fixed limitation.
The content of the invention
In view of the shortcomings of the prior art, the present invention propose it is a kind of can omnidirectional's precession spherical top mechanism and controlling party
Method.
The present invention can omnidirectional's precession spherical top mechanism, its technical scheme includes being placed in the gyrorotor of spheroid, described
Spheroid is placed in the upper and lower omni-directional wheel drive component that can make its all-direction rotation, and the upper and lower omni-directional wheel drive component is right respectively
Should be set in the upper and lower sphere of spheroid, each omni-directional wheel drive component includes circumferentially uniform multiple omni-directional wheel groups, each omni-directional wheel
Group include three on correspondence arc wheel carrier with the omni-directional wheel of sphere-contact, in each omni-directional wheel group, omni-directional wheel two-by-two
Connected by universal joint between rotating shaft, the rotating shaft of initial and end omni-directional wheel connects the increasing of spherical electric machine and detection omnidirectional wheel speed respectively
Amount formula encoder.
Key point of the invention is how the mechanism is balanced control, and how its torque is transmitted, when spheroid enters
When dynamic, the gyrorotor in spheroid runs at high speed generation gyroscopic couple, and the torque is by omni-directional wheel drive component and the pact of spheroid
Shu Zuoyong and be delivered in work package and be operated.
For ease of the design of foundation and the controller of model, the axis of the middle omni-directional wheel of each omni-directional wheel group in top is to submitting
It is compiled in a bit；The axis of the middle omni-directional wheel of each omni-directional wheel group in lower section is intersected in a bit downwards.
Skidded to prevent from driving, glue-line is provided with the wheel face of the omni-directional wheel or with the sphere of spheroid.
A kind of structure of omnidirectional's gyro includes gyrorotor placed in the middle, and the upper and lower shaft end of the gyrorotor passes through
Bearning mechanism is installed, the shaft end connection gyro machine of gyrorotor, the increment of another shaft end connecting detection gyrorotor rotating speed
Formula encoder.
Can omnidirectional's precession spherical top mechanism control method, its control program is divided into three below step：
1st, calculated by space geometry, Rotating Transition of Coordinate and contact point linear velocity are analyzed and set up omnidirectional's wheel drive angle speed
The functional relation of degree and spheroid rotational angular velocity.
2nd, the driving angular speed of omni-directional wheel is solved according to desired spheroid rotor shaft direction and spheroid rotational angular velocity size.
3rd, velocity close-loop control is carried out according to the angular speed that solution is obtained with reference to incremental encoder driving omni-directional wheel.
Beneficial effects of the present invention：
1st, traditional three shaft mechanicals gyro is improved around the Steering of any axle in space present invention mainly solves rotor
It is not enough, there is provided a kind of method that omnidirectional drives, while set up providing theoretical direction for the model of omnibearing spherical gyro mechanism.
2nd, the present invention is turned in the precession by accurately controlling ball after modeling, and it can be made to produce top on any direction of principal axis
Spiral shell torque.
3rd, present invention utilizes the operation principle of constraint tramsfer torque, the rotating torque that can be produced high speed rotor is effective
Parts are passed to be operated.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the dimensional structure diagram of lower bracing frame in Fig. 1 implementation methods.
Fig. 3 is the internal structure schematic diagram of spherical shell in this Fig. 1 implementation methods.
Fig. 4 is the coordinate system schematic diagram of Fig. 1 implementation methods.
Figure number is identified：1st, spheroid；2nd, arc wheel carrier；3rd, omni-directional wheel；4th, universal joint；5th, pancake motor；6th, increment type coding
Device；7th, gyrorotor；8th, gyro machine；9th, bearing；10th, dividing plate；11st, supporting plate；12nd, omni-directional wheel group；13rd, platform.
Specific embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The present invention can omnidirectional's precession spherical top mechanism, its technical scheme includes hollow spheroid 1, and the spheroid 1 puts
In omni-directional drive its rotation upper and lower omni-directional wheel drive component in, upper and lower omni-directional wheel drive component be installed on parts it is upper,
On lower platform 13, spheroid 1 is built-in with gyrorotor 7, as shown in Figure 1.
Omnidirectional's gyro is included in gyrorotor 7 placed in the middle in spheroid 1, the upper and lower end point of the rotating shaft of the gyrorotor 7
Not Tong Guo bearing 9 installed in place on the upper and lower dividing plate 10 inside spheroid 1, the upper end of the rotating shaft of gyrorotor 7 by being installed on every
Gyro machine 8 on plate 10 directly drives, and the lower end of the rotating shaft of gyrorotor 7 is connected and installed in the increment type coding on lower clapboard 10
Device 6, as shown in Figure 3.
Upper and lower omni-directional wheel drive component is corresponded on the upper and lower sphere of spheroid 1 respectively, with the next omni-directional wheel drive component
As a example by：(each omni-directional wheel group 12 is in each correspondence to three omni-directional wheel groups 12 of the next omni-directional wheel drive component including circumference uniform distribution
Vertical plane on), each omni-directional wheel group 12 include three installed by correspondence arc wheel carrier 2 it is complete with the sphere-contact of spheroid 1
To wheel 3 (have identical specification size), in each omni-directional wheel group 12, first rotating shaft of omni-directional wheel 3 and second omni-directional wheel 3
Connected by universal joint 4 between rotating shaft, the rotating shaft and the 3rd rotating shaft of omni-directional wheel 3 of second omni-directional wheel 3, first omnidirectional
The rotating shaft of wheel 3 is connected with the output shaft of motor 5 installed on arc wheel carrier 2, the 3rd rotating shaft of omni-directional wheel 3 and arc wheel carrier 2
The rotating shaft connection of the incremental encoder 6 of upper installation, each arc wheel carrier 2 is by corresponding supporting plate 11 in the lower platform of parts
Installed on 13, the middle omni-directional wheel 3 in three omni-directional wheel groups 12 is in same level and three axis of middle omni-directional wheel 3
Intersect at a bit downwards；The upper and lower alignment in position of corresponding omni-directional wheel group 12 in upper and lower omni-directional wheel drive component, such as Fig. 1,
Shown in Fig. 2.
Operation principle of the invention and control method：
Coordinate system as shown in Figure 4 is set up to describe the position and three centres at the center of omni-directional wheel 3 in the middle of the next three
The position coordinates of the crossing point of axes of omni-directional wheel 3, rotation for spheroid 1 and omni-directional wheel 3 drive between relation, can according to mechanism it
Between geometry and kinematic constraint determine, take following steps：
Step 1：The coordinate system set up as shown in Figure 4, initial coordinate system is located at o', three center connections of omni-directional wheel 3
The equilateral triangle that line is formed, the vertical line for choosing any a line and the sideline is respectively its X ' axle and Y ' axles, and Z ' axles cross ball
The vertical line of the heart, the coordinate system is { 2 } system.By the translation of vertical direction so that the origin of coordinates is located at centre of sphere o, and big with initial
Ground coordinate overlaps, it is assumed that the coordinate system is { 1 } system.The axle center of omni-directional wheel 3 is respectively o1、o2、o3.For the ease of calculating, it is assumed that ball
Heart o is to the distance at the middle center of omni-directional wheel 3I.e.
Step 2：The Vector modulation of rotating speed is carried out for three omni-directional wheels on one group of arc wheel carrier 2, due between omni-directional wheel 3
Axle connected by constant velocity cardan joint 4, it is assumed that rotating speed is on first group of arc wheel carrier 2The omni-directional wheel 3 on both sides is on middle omni-directional wheel
3 is symmetrical, and the vector washout of velocity component on vertical direction, final first group of rotating speed is synthesized
Similarly, remaining two groups of rotating speed synthesis are respectively
Step 3：The centre of sphere of spheroid 1 and three lines at the center of omni-directional wheel 3 are considered, according to the symmetric relation of system, it is assumed that every
The angle of two lines is 2 α.For the center o of omni-directional wheel 31, the coordinate under { 1 } system is calculated as follows：In { 2 } system, o1Point
Abscissa is length of the equilateral triangle central point to sideline, is lsin α.And o1It is on the side of equilateral triangle and flat with Y ' axles
OK, its Y ' axial coordinate is the half of the length of sideZ ' axles are 0.Because { 1 } system is translated along Y-axis, its size isTherefore point o1Coordinate beIt can similarly be released
Coordinate of the center of his omni-directional wheel 3 under coordinate { 1 } system is respectively： The intersection point P coordinates of the axis of omni-directional wheel 3 are
The axis vector of middle omni-directional wheel 3 is
Step 4：This patent is mainly solved to be driven by omni-directional wheel 3 so that spheroid 1 is rotated around any axle.Assuming that ball is expected
Unit vector of the rotating shaft under { 1 } systemRotating speed size is expected for ω, then rotating speed vector isThe centre of sphere of spheroid 1 and three line vectors at the center of omni-directional wheel 3
It is computedIt is equal,
It isAccording to the radius of spheroid 1, with reference to vector(i=1,2,
3) radius vector of spheroid 1 has been obtained：
The linear velocity of each omni-directional wheel 3 and the sphere-contact point of spheroid 1It is as follows：
In view of the plane that the rotating shaft vector of omni-directional wheel 3 and the radius vector of spheroid 1 are constituted, its normal vector is：
Step 5：Because the rotating shaft K of spheroid 1 is not necessarily coplanar with the axis of rotation L of omni-directional wheel 3, their corresponding linear velocity vectors it
Between exist an angle.Assuming that the opposing spheres 1 of omni-directional wheel 3 are fricton-tight, the constraint of velocity relation according to contact point(i=1,2,3) speed of corresponding omni-directional wheel 3 can be obtained
If the rotating speed of known omni-directional wheel 3, respectivelySolve unit of the rotating shaft of spheroid 1 under { 1 } system
VectorIt is with rotating speedWherein known unit vectorCoordinate components meet relational expressionWill
The rotating speed of known omni-directional wheel 3Bring formula intoThe rotating speed and coordinate of same spheroid 1
The relation of axle is as follows：
AndFor：
Consolidated equationAnd equationThree points of rotating shaft K can be solved
Amount Kx,Ky,KzWith ball around axle K rotational speed omega.
Claims (6)
1. can omnidirectional's precession spherical top mechanism, including gyrorotor (7), it is characterised in that：The gyrorotor (7) is located at
In hollow spheroid (1), the spheroid (1) is placed in can make it described in upper and lower omni-directional wheel drive component of all-direction rotation
The upper and lower sphere that upper and lower omni-directional wheel drive component corresponds respectively to spheroid (1) is set, and each omni-directional wheel drive component includes circumference
Uniform multiple omni-directional wheel groups (12), each omni-directional wheel group include in correspondence arc wheel carrier (2) at least three and sphere
The omni-directional wheel (3) of contact, in each omni-directional wheel group, is connected between the rotating shaft of omni-directional wheel (3) by universal joint (4) two-by-two, and initial and end is complete
Connect the incremental encoder (6) of pancake motor (5) and detection omni-directional wheel (3) rotating speed respectively to the rotating shaft of wheel (3).
2. it is according to claim 1 can omnidirectional's precession spherical top mechanism, it is characterised in that：Upper and lower omnidirectional's wheel drive
Component is three omni-directional wheel groups (12).
3. it is according to claim 2 can omnidirectional's precession spherical top mechanism, it is characterised in that：Upper each omni-directional wheel group
(12) axis of middle omni-directional wheel (3) is intersected in a bit upwards；The axle of the middle omni-directional wheel (3) of each omni-directional wheel group (12) in lower section
Line is intersected in downwards a bit.
4. according to any one in claims 1 to 3 can omnidirectional's precession spherical top mechanism, it is characterised in that：Institute
State on the wheel face of omni-directional wheel (3) or be provided with glue-line with the sphere of spheroid (1).
5. according to any one in claims 1 to 3 can omnidirectional's precession spherical top mechanism, it is characterised in that：Institute
Stating omnidirectional's gyro includes gyrorotor (7) placed in the middle, and the upper and lower shaft end of the gyrorotor (7) is installed by Bearning mechanism, top
One shaft end of spiral shell rotor (7) connects gyro machine (8), the increment type coding of another shaft end connecting detection gyrorotor (7) rotating speed
Device (6).
6. can omnidirectional's precession spherical top mechanism control method, it is characterised in that employ as any one in claims 1 to 3
Described in can omnidirectional's precession spherical top mechanism, its control program is divided into three below step：
Step 1：Calculated by space geometry, Rotating Transition of Coordinate and contact point linear velocity are analyzed and set up omni-directional wheel (3) driving
The functional relation of angular speed and spheroid (1) rotational angular velocity；
Step 2：The drive of omni-directional wheel (3) is solved according to desired spheroid (1) rotor shaft direction and spheroid (1) rotational angular velocity size
Dynamic angular speed；
Step 3：With reference to incremental encoder (6) driving omni-directional wheel (3) speed closed loop control is carried out according to the angular speed that solution is obtained
System.
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| CN201710240488.9A CN106873645B (en) | 2017-04-13 | 2017-04-13 | Spherical gyro mechanism capable of conducting omnidirectional precession and control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
| CN109808792A (en) * | 2019-04-02 | 2019-05-28 | 北京邮电大学 | Modular logistics sorting platform and method based on gyroscopic procession effect |
| CN110639212A (en) * | 2019-10-12 | 2020-01-03 | 齐齐哈尔大学 | Manual eddy current gyro |
| CN110672314A (en) * | 2019-11-08 | 2020-01-10 | 桂林电子科技大学 | Device and method for detecting power characteristics of omnidirectional ball wheel |
| CN114355994A (en) * | 2021-11-24 | 2022-04-15 | 北京特种机械研究所 | Spherical attitude control method, spherical attitude control device, spherical attitude control equipment and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
| CN109808792A (en) * | 2019-04-02 | 2019-05-28 | 北京邮电大学 | Modular logistics sorting platform and method based on gyroscopic procession effect |
| CN110639212A (en) * | 2019-10-12 | 2020-01-03 | 齐齐哈尔大学 | Manual eddy current gyro |
| CN110672314A (en) * | 2019-11-08 | 2020-01-10 | 桂林电子科技大学 | Device and method for detecting power characteristics of omnidirectional ball wheel |
| CN114355994A (en) * | 2021-11-24 | 2022-04-15 | 北京特种机械研究所 | Spherical attitude control method, spherical attitude control device, spherical attitude control equipment and computer readable storage medium |
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| Publication number | Publication date |
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| CN106873645B (en) | 2023-06-20 |
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