CN107328415A - Push-bench gesture ambiguity control system and method based on MEMS gyroscope - Google Patents
Push-bench gesture ambiguity control system and method based on MEMS gyroscope Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses the push-bench gesture ambiguity control system based on MEMS gyroscope and method.The system includes：Posture detecting unit, detects that the real-time attitude of the head of push-bench changes using MEMS gyroscope：Obtain actual direction angle information of the head on mutually perpendicular three vertical axises two-by-two；Controller, stores up an object axis of head, three target direction angle informations of the controller by three actual direction angle informations respectively with object axis are contrasted and computing, and the stroke of the correction oil cylinder of control push-bench corrects the deviation of head.When contrast and computing, the input quantity and output quantity of controller are 1. defined；2. the input/output domain of controller is defined；3. the input/output fuzzy set of controller is defined；4. fuzzy control rule is set up；5. fuzzy polling list is set up.The present invention obtains the fuzzy value of correction oil cylinder stroke by fuzzy control technology, and correspondence correction oil cylinder stroke reaches that deviation is minimum.
Description
Technical field
The present invention relates to a kind of control system and its control method, more particularly to a kind of push-bench based on MEMS gyroscope
Gesture ambiguity control system and its control method, using the push-bench of the control system, if being stored with the control method
The storage device and electric terminal of dry instruction.
Background technology
Trenchless technology is the technological means using rock and soil drilling, earth's surface is with minimum excavated volume or need not excavate
Under the conditions of lay, change or repair a kind of construction techniques of various underground utilities.Jacking construction is a kind of for no-dig technique skill
The construction technology of new pipeline is laid in art.The continuous propulsion built with Chinese Urbanization and development, construction by pipeline jacking method with it not
Need excavation ground, floor space is few, traffic impact is small, a rate of advance is fast, economic, environmental protection advantage is in pipe gallery, underground
Constantly played a significant role in the project constructions such as passage.
But it is due to stratum soil property change, jack thrust is uneven, backfill slip casting is uneven, tail shield gap is uneven and has spelled
The factor such as tube coupling axis is inaccurate, push-bench is easy to the phenomenon for occurring lateral deflection, produces attitude misalignment.Existing pipe jacking tunnelling machine
By the control system for controlling deck plate to be operated manually, by detecting system display location difference, work people is fully relied on
Member is poor to manually adjusting hydraulic system, rectifying effect according to change in location, easily causes snakelike deviation, as shown in Figure 1.
The content of the invention
In order to improve rectifying effect, the present invention provides a kind of push-bench gesture ambiguity control system based on MEMS gyroscope
And its control method, using the push-bench of the control system, the storage device of some instructions for the control method that is stored with
With electric terminal.
The present invention solution be：A kind of push-bench gesture ambiguity control system based on MEMS gyroscope, it includes：
Posture detecting unit, detects that the real-time attitude of the head of push-bench changes using MEMS gyroscope：Head is obtained to exist
Actual direction angle information on mutually perpendicular three vertical axises two-by-two, wherein, three vertical axises represent head respectively
Orthogonal horizontal X and longitudinal direction Y, head in the horizontal plane is in the vertical Z on the horizontal plane；
Controller, it stores an object axis of head, and the object axis shows head respectively in horizontal X, longitudinal direction
Target direction angle information on Y, vertical Z, controller by three actual direction angle informations respectively with three target direction angles
Degree information is contrasted and computing, thus controls the stroke of the correction oil cylinder of the push-bench to correct the deviation of head；
Wherein, posture detecting unit and controller constitute the closed-loop control system for correcting head deviation, the contrast of controller
Comprise the following steps with operation method：
1. the input quantity and output quantity of controller are defined：By the change of the position deviation of head, angular deviation and deviation
Rate as controller input variable, using the stroke of correction oil cylinder as controller output variable；
2. the input/output domain of controller is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller is defined：By the position deviation of head, angular deviation, deviation rate of change
And the stroke of correction oil cylinder is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation to language
It is worth in manifold, forms fuzzy set；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is turned
Such a precise volume of stroke of correction oil cylinder is turned to, so that controller will be realized according to the fuzzy control quantity to correction oil
The control of cylinder.
As the further improvement of such scheme, in the input/output domain for defining controller, constructed according to push-bench
Specified in tolerance scope and surface uplift and the maximum permissible value of sedimentation, select the model of each input variable and output variable
Enclose.
As the further improvement of such scheme, in fuzzy control rule is set up, being used according to the fuzzy set has
The single rule of two premises, takes into account stability and response speed, and induction and conclusion goes out a plurality of control rule.
As the further improvement of such scheme, in fuzzy polling list is set up, using " it is maximum --- minimum " close
Into operation method, fuzzy judgment is carried out using " median method ", the fuzzy control inquiry for obtaining controller is calculated using Matlab
Table.
As the further improvement of such scheme, in the input/output domain for defining controller, domain is defined as 13
Individual grade：{ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }；
In input/output fuzzy set is defined, by the position deviation of head, angular deviation, the rate of change of deviation and correction
The stroke of oil cylinder is divided into seven grades of language Value Datas；
In fuzzy control rule is set up, induction and conclusion goes out 49 control rules.
Further, 7 class are expressed as with vocabulary：" negative big (NB) ", " in negative (NM) ", " bearing small (NS) ", " zero
(ZO) ", " just small (PS) ", " center (PM) ", " honest (PB) "；
49 control the rule to be：
The present invention also provides a kind of push-bench gesture ambiguity control method based on MEMS gyroscope, and it includes following step
Suddenly：
The real-time attitude change of the head of push-bench is detected using MEMS gyroscope：Head is obtained mutually perpendicular two-by-two
Actual direction angle information on three vertical axises, wherein, three vertical axises represent the phase of head in the horizontal plane respectively
Mutually vertical horizontal X and longitudinal direction Y, head are in the vertical Z on the horizontal plane；
An object axis of head is stored in the controller of push-bench, the object axis shows head respectively in horizontal stroke
Target direction angle information on X, longitudinal direction Y, vertical Z, controller by three actual direction angle informations respectively with three mesh
Mark orientation angle information is contrasted and computing, thus controls the stroke of the correction oil cylinder of the push-bench to correct head
Deviation；
Wherein, posture detecting unit and controller constitute the closed-loop control system for correcting head deviation, the contrast of controller
Comprise the following steps with operation method：
1. the input quantity and output quantity of controller are defined：By the change of the position deviation of head, angular deviation and deviation
Rate as controller input variable, using the stroke of correction oil cylinder as controller output variable；
2. the input/output domain of controller is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller is defined：By the position deviation of head, angular deviation, deviation rate of change
And the stroke of correction oil cylinder is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation to language
It is worth in manifold, forms fuzzy set；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is turned
Such a precise volume of stroke of correction oil cylinder is turned to, so that controller will be realized according to the fuzzy control quantity to correction oil
The control of cylinder.
The present invention also provides a kind of push-bench, and it includes：
Head；
Correction oil cylinder, the deviation of head is corrected by stroke；
Controller, the operation of error correct oil cylinder；
Any one above-mentioned push-bench gesture ambiguity control system based on MEMS gyroscope.
The present invention also provides a kind of storage device, wherein storing a plurality of instruction, the instruction is loaded and held suitable for controller
OK, a plurality of instruct is：
1. the input quantity and output quantity of controller are defined：The real-time appearance of the head of push-bench is detected by posture detecting unit
State changes：Actual direction angle information of the head on mutually perpendicular three vertical axises two-by-two is obtained, wherein, described three hang down
D-axis represents the orthogonal horizontal X of head in the horizontal plane and longitudinal direction Y, head on the horizontal plane respectively
Vertical Z；Using the rate of change of the position deviation of the head of push-bench, angular deviation and deviation as controller input variable,
Using the stroke of the correction oil cylinder of push-bench as controller output variable；
2. the input/output domain of controller is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller is defined：By the position deviation of head, angular deviation, deviation rate of change
And the stroke of correction oil cylinder is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation to language
It is worth in manifold, forms fuzzy set；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is turned
Such a precise volume of stroke of correction oil cylinder is turned to, so that controller will be realized according to the fuzzy control quantity to correction oil
The control of cylinder.
The present invention also carries a kind of electric terminal, and it includes：
Controller, is adapted for carrying out various instructions；And
Storage device, suitable for storing a plurality of instruction, the instruction is loaded and performed suitable for controller；
It is described it is a plurality of instruction be：
1. the input quantity and output quantity of controller are defined：The real-time appearance of the head of push-bench is detected by posture detecting unit
State changes：Actual direction angle information of the head on mutually perpendicular three vertical axises two-by-two is obtained, wherein, described three hang down
D-axis represents the orthogonal horizontal X of head in the horizontal plane and longitudinal direction Y, head on the horizontal plane respectively
Vertical Z；Using the rate of change of the position deviation of the head of push-bench, angular deviation and deviation as controller input variable,
Using the stroke of the correction oil cylinder of push-bench as controller output variable；
2. the input/output domain of controller is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller is defined：By the position deviation of head, angular deviation, deviation rate of change
And the stroke of correction oil cylinder is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation to language
It is worth in manifold, forms fuzzy set；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is turned
Such a precise volume of stroke of correction oil cylinder is turned to, so that controller will be realized according to the fuzzy control quantity to correction oil
The control of cylinder.
The present invention proposes that using MEMS gyroscope be posture detecting unit, and push-bench appearance is corrected by fuzzy control method
State, so as to measure three angle directions of push-bench, and realizes the automatic deviation rectifying function of push-bench.MEMS gyroscope will be surveyed
The three orientation angle information obtained pass to PLC, and PLC believes the angle information read with design axis angle
Breath is contrasted and computing, the fuzzy value of correction oil cylinder stroke is obtained by fuzzy control technology, PLC is according to fuzzy
Value control respective direction valve commutation, and correspondence correction oil cylinder are stretched, and reach that deviation is minimum；Cause MEMS gyro after attitudes vibration
Instrument is measured to the angle information after correction again, and so circulation forms closed-loop system, finally realizes the automatic deviation correction of push-bench.
Brief description of the drawings
Fig. 1 is the bending situation map that current conduit axis is present.
Fig. 2 is the push-bench gesture ambiguity control system block diagram based on MEMS gyroscope of the present invention.
Fig. 3 is the schematic flow sheet of the push-bench gesture ambiguity control method based on MEMS gyroscope of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The push-bench gesture ambiguity control system based on MEMS gyroscope of the present invention is R ＆ D design for push-bench
, it is posture detecting unit using MEMS gyroscope, three angle directions of the head of push-bench can be measured, pass through Fuzzy Control
Method processed corrects the posture of head, and realizes the automatic deviation rectifying function of head.
Referring to Fig. 2, the push-bench gesture ambiguity control system based on MEMS gyroscope of the present invention includes attitude detection
Unit 1, controller 3.
Posture detecting unit 1 detects the real-time attitude change of the head 2 of push-bench using MEMS gyroscope, is in particular,
Actual direction angle information of the head 2 on mutually perpendicular three vertical axises two-by-two is obtained, wherein, three vertical axises point
The orthogonal horizontal X of head 2 in the horizontal plane and longitudinal direction Y, head 2 are not represented vertical on the horizontal plane
Z。
MEMS gyroscope is a kind of inertial angular rate sensors based on Coriolis effect.With tradition machinery gyroscope not
Together, its internal no-rotary part, it is not necessary to bearing, all solid state device, with price is low, small volume, lightweight, reliability it is high,
The features such as being easy to digitlization, intelligent, anti-big overload impact, long working life, low-power consumption, wide range.Have been demonstrated to use
Micromachining technology is produced in enormous quantities.
The data of MEMS gyroscope collection are exported by RS232/RS485/TTL, are output as 8 16 system numbers, access computer
It is shown as angle information.Static accuracy：0.3 °, dynamic accuracy：2 °, resolution ratio：0.01 °, maximum output frequency 50Hz.Transmit number
According to common cable is only used, without shielding.
Controller 3 stores an object axis of head 2, and the object axis shows head 2 respectively in horizontal X, longitudinal direction
Target direction angle information on Y, vertical Z, controller 3 by three actual direction angle informations respectively with three target direction angles
Degree information is contrasted and computing, thus controls the stroke of the correction oil cylinder 4 of the push-bench to correct the deviation of head 2.
Posture detecting unit 1 and controller 3 constitute the closed-loop control system for correcting the deviation of head 2, the contrast of controller 3 and operation method
It is the emphasis of the present invention, can solves the smart blur control method of present invention problem using fuzzy control theory design, connect
Go down and this is described in detail.
Incorporated by reference to Fig. 3, the contrast of controller 3 and operation method (namely fuzzy control method of controller 3) are including following
Step：
1. the input quantity and output quantity of controller 3 are defined：By the change of the position deviation of head 2, angular deviation and deviation
Rate as controller 3 input variable, using the stroke of correction oil cylinder 4 as controller 3 output variable；
2. the input/output domain of controller 3 is defined：The scope of each input variable and output variable is selected, according to this model
Enclose the input/output domain for defining multiple grades；
3. the input/output fuzzy set of controller 3 is defined：By the position deviation of head 2, angular deviation, the change of deviation
The stroke of rate and correction oil cylinder 4 is divided into multi gear language Value Data, and input variable and output variable discretization and obfuscation are arrived
In Linguistic Value manifold, fuzzy set is formed；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is turned
Such a precise volume of stroke of correction oil cylinder 4 is turned to, so that controller 3 will be realized to correction according to the fuzzy control quantity
The control of oil cylinder 4.
Because the factor for the driving attitude for influenceing push-bench is a lot, and intercouple, non-linear, time variation, mould is presented
The characteristics of pasting randomness, it is difficult to set up accurate mathematical modeling to describe attitudes vibration mechanism during push-bench driving.Therefore, adopt
With the method for fuzzy control, fuzzy control rule, reasonable selection are determined according to the experience of expertise and skilled operation personnel
The membership function of input variable and output variable, sets up knowledge base (including database and knowledge base), carry out compositional rule of inference and
Control decision, so that posture when effectively control push-bench is tunneled.
In push-bench tunneling process, gesture ambiguity controller (i.e. controller 3 or PLC fuzzy controls are utilized
Device), intelligent amendment is constantly carried out to the driving attitude of push-bench according to attitude misalignment and geological condition, so as to realize push-bench
The intellectuality of gesture stability.
When carrying out the gesture ambiguity controller design of push-bench, it is necessary to which the problem of solving emphatically includes：The group of controller 3
Into and structure, and specific design step design；The determination of the input variable and output variable of controller 3；Realize the work(of controller 3
Can control algolithm program write.
Embodiment 1
Gesture ambiguity controller is that the design of controller 3 is comprised the following steps that.
1. input quantity and output quantity are defined：By horizontal direction and the position deviation of vertical direction, angular deviation and deviation
Rate of change as the input variable of controller 3, regard the controlled quentity controlled variable of correction oil cylinder 4 as output variable.
2. input/output domain is defined：According to specified in the construction of push-bench tolerance scope and surface uplift and
The maximum permissible value of sedimentation selects the domain of each input variable and output variable；Domain is defined as 13 grades：- 6, -5, -
4, -3, -2, -1,0,1,2,3,4,5,6 }.
3. input/output fuzzy set is defined：Error, error rate and correction oil cylinder controlled quentity controlled variable are divided into seven grades of Linguistic Values
Data, are expressed as with vocabulary：" negative big (NB) ", " in negative (NM) ", " bear small (NS) ", " zero (ZO) ", " just small (PS) ", " center
(PM) ", " honest (PB) " 7 class.By input quantity and output quantity discretization and obfuscation into Linguistic Value manifold, form fuzzy
Collection.
4. fuzzy control rule is set up：Using the single rule with two premises, stability and response speed are taken into account, is returned
Receive and sum up 49 control rules.
5. fuzzy polling list is set up：Using " maximum one is minimum " synthesis operation method, carried out using " median method "
Fuzzy judgment, the fuzzy polling list for obtaining controller 3 is calculated using Matlab.
6. the output quantity to fuzzy control makees sharpening processing, and fuzzy control quantity is converted into precise volume.Controller 3 is by root
Controlled quentity controlled variable realizes the control to controlled device (correction oil cylinder 4) accordingly.
In summary, it is core with controller 3 that the present invention, which proposes one kind, using MEMS gyro as the push pipe of detection unit 1
Machine gesture ambiguity control method.Can realize simultaneously in real time three shaft angle degree of collection, calculate in real time misalignment of axe and deviation variation rate,
The functions such as the real-time motion of error correct oil cylinder 4.Push-bench axis automatic deviation correction can be completed, push-bench construction quality is improved.
Measure three orientation angle information are passed to PLC by MEMS gyroscope, and PLC is by the angle read
Degree information is contrasted and computing with design axis angle information, and the stroke of correction oil cylinder 4 is obtained by fuzzy control technology
Fuzzy value, PLC controls respective direction valve to commutate according to fuzzy value, and corresponds to the flexible of correction oil cylinder 4, reaches deviation
It is minimum.MEMS gyroscope after attitudes vibration is caused to be measured again to the angle information after correction, so circulation forms closed loop system
System, finally realizes the automatic deviation correction of push-bench.
The method of the present invention, suitable for being performed in computer equipment, can make software installation bag in actual applications
Form, can also make APP form, such as mobile phone A PP.The method of the present invention is in the specific implementation, various meters can be used
Calculation machine language design is loaded and performed suitable for controller 3, can deposited using storage device into corresponding a plurality of instruction, the instruction
Store up these instructions.Therefore it can also be freely applied on electric terminal, as long as electric terminal, which exists, is adapted for carrying out various instructions
Controller 3, controller 3 load and perform these instruction.Electric terminal can also set the storage suitable for storing these instructions
Equipment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of push-bench gesture ambiguity control system based on MEMS gyroscope, it is characterised in that：It includes：
Posture detecting unit (1), detects that the real-time attitude of the head (2) of push-bench changes using MEMS gyroscope：Obtain head
(2) the actual direction angle information on mutually perpendicular three vertical axises two-by-two, wherein, three vertical axises are represented respectively
The orthogonal horizontal X of head (2) in the horizontal plane and longitudinal direction Y, head (2) are in the vertical Z on the horizontal plane；
Controller (3), it stores an object axis of head (2), the object axis show head (2) respectively horizontal X,
Target direction angle information on longitudinal Y, vertical Z, controller (3) by three actual direction angle informations respectively with three targets
Orientation angle information is contrasted and computing, thus controls the stroke of the correction oil cylinder (4) of the push-bench to correct head
(2) deviation；
Wherein, posture detecting unit (1) and controller (3) constitute the closed-loop control system for correcting head (2) deviation, controller
(3) contrast and operation method comprises the following steps：
1. the input quantity and output quantity of controller (3) are defined：By the change of the position deviation of head (2), angular deviation and deviation
Rate as controller (3) input variable, using the stroke of correction oil cylinder (4) as controller (3) output variable；
2. the input/output domain of controller (3) is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller (3) is defined：By the position deviation of head (2), angular deviation, the change of deviation
The stroke of rate and correction oil cylinder (4) is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation
Into Linguistic Value manifold, fuzzy set is formed；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is converted into
Such a precise volume of stroke of correction oil cylinder (4), so that controller (3) will be realized to correction according to the fuzzy control quantity
The control of oil cylinder (4).
2. the push-bench gesture ambiguity control system as claimed in claim 1 based on MEMS gyroscope, it is characterised in that：Fixed
In the input/output domain of adopted controller (3), tolerance scope and surface uplift and heavy according to specified in constructing push-bench
The maximum permissible value of drop, selects the scope of each input variable and output variable.
3. the push-bench gesture ambiguity control system as claimed in claim 1 based on MEMS gyroscope, it is characterised in that：Building
In vertical fuzzy control rule, the single rule with two premises is used according to the fuzzy set, stability and response speed is taken into account
Degree, induction and conclusion goes out a plurality of control rule.
4. the push-bench gesture ambiguity control system as claimed in claim 1 based on MEMS gyroscope, it is characterised in that：Building
In vertical fuzzy polling list, using " it is maximum --- minimum " synthesis operation method, fuzzy judgment is carried out using " median method ",
The fuzzy polling list for obtaining controller (3) is calculated using Matlab.
5. the push-bench gesture ambiguity control system as claimed in claim 1 based on MEMS gyroscope, it is characterised in that：Fixed
In the input/output domain of adopted controller (3), domain is defined as 13 grades：- 6, -5, -4, -3, -2, -1,0,1,2,3,
4,5,6 }；
In input/output fuzzy set is defined, by the position deviation of head (2), angular deviation, the rate of change of deviation and correction oil
The stroke of cylinder (4) is divided into seven grades of language Value Datas；
In fuzzy control rule is set up, induction and conclusion goes out 49 control rules.
6. the push-bench gesture ambiguity control system as claimed in claim 5 based on MEMS gyroscope, it is characterised in that：7
Class is expressed as with vocabulary：" negative big (NB) ", " in negative (NM) ", " bear small (NS) ", " zero (ZO) ", " just small (PS) ", " center
(PM) ", " honest (PB) "；
49 control the rule to be：
Rl：if Ey=PB andthen△PH1=NB；
R2：if Ey=PB andthen△PH1=NB；
R3：if Ey=PB andthen△PH1=NB；
……
R47：if Ey=NB andthenΔPH1=PB；
R48：if Ey=NB andthen△PH1=PB；
R49：if Ey=NB andthen△PH1=PB.
7. a kind of push-bench gesture ambiguity control method based on MEMS gyroscope, it is characterised in that：It comprises the following steps：
The real-time attitude change of the head (2) of push-bench is detected using MEMS gyroscope：Head (2) is obtained orthogonal two-by-two
Three vertical axises on actual direction angle information, wherein, three vertical axises represent head (2) in the horizontal plane respectively
Orthogonal horizontal X and longitudinal direction Y, head (2) in the vertical Z on the horizontal plane；
An object axis of storage head (2) in the controller (3) of push-bench, the object axis shows head (2) point
Target direction angle information not on horizontal X, longitudinal direction Y, vertical Z, controller (3) distinguishes three actual direction angle informations
Contrasted and computing with three target direction angle informations, thus control the stroke of the correction oil cylinder (4) of the push-bench
To correct the deviation of head (2)；
Wherein, posture detecting unit (1) and controller (3) constitute the closed-loop control system for correcting head (2) deviation, controller
(3) contrast and operation method comprises the following steps：
1. the input quantity and output quantity of controller (3) are defined：By the change of the position deviation of head (2), angular deviation and deviation
Rate as controller (3) input variable, using the stroke of correction oil cylinder (4) as controller (3) output variable；
2. the input/output domain of controller (3) is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller (3) is defined：By the position deviation of head (2), angular deviation, the change of deviation
The stroke of rate and correction oil cylinder (4) is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation
Into Linguistic Value manifold, fuzzy set is formed；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is converted into
Such a precise volume of stroke of correction oil cylinder (4), so that controller (3) will be realized to correction according to the fuzzy control quantity
The control of oil cylinder (4).
8. a kind of push-bench, it includes：
Head (2)；
Correction oil cylinder (4), the deviation of head (2) is corrected by stroke；
Controller (3), the operation of error correct oil cylinder (4)；
It is characterized in that：The push-bench also includes as claimed in any of claims 1 to 7 in one of claims based on MEMS gyroscope
Push-bench gesture ambiguity control system.
9. a kind of storage device, wherein storing a plurality of instruction, the instruction is suitable to controller (3) and loads and perform, and its feature exists
In：It is described it is a plurality of instruction be：
1. the input quantity and output quantity of controller (3) are defined：The head (2) of push-bench is detected by posture detecting unit (1)
Real-time attitude changes：Actual direction angle information of the head (2) on mutually perpendicular three vertical axises two-by-two is obtained, wherein,
Three vertical axises represent the orthogonal horizontal X of head (2) in the horizontal plane and longitudinal direction Y, head (2) vertical respectively
In the vertical Z on the horizontal plane；The rate of change of the position deviation of the head (2) of push-bench, angular deviation and deviation is made
For the input variable of controller (3), using the stroke of the correction oil cylinder (4) of push-bench as controller (3) output variable；
2. the input/output domain of controller (3) is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller (3) is defined：By the position deviation of head (2), angular deviation, the change of deviation
The stroke of rate and correction oil cylinder (4) is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation
Into Linguistic Value manifold, fuzzy set is formed；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is converted into
Such a precise volume of stroke of correction oil cylinder (4), so that controller (3) will be realized to correction according to the fuzzy control quantity
The control of oil cylinder (4).
10. a kind of electric terminal, it includes：
Controller (3), is adapted for carrying out various instructions；And
Storage device, suitable for storing a plurality of instruction, the instruction is suitable to controller (3) and loads and perform；
It is characterized in that：It is described it is a plurality of instruction be：
1. the input quantity and output quantity of controller (3) are defined：The head (2) of push-bench is detected by posture detecting unit (1)
Real-time attitude changes：Actual direction angle information of the head (2) on mutually perpendicular three vertical axises two-by-two is obtained, wherein,
Three vertical axises represent the orthogonal horizontal X of head (2) in the horizontal plane and longitudinal direction Y, head (2) vertical respectively
In the vertical Z on the horizontal plane；The rate of change of the position deviation of the head (2) of push-bench, angular deviation and deviation is made
For the input variable of controller (3), using the stroke of the correction oil cylinder (4) of push-bench as controller (3) output variable；
2. the input/output domain of controller (3) is defined：The scope of each input variable and output variable is selected, according to this scope
Define the input/output domain of multiple grades；
3. the input/output fuzzy set of controller (3) is defined：By the position deviation of head (2), angular deviation, the change of deviation
The stroke of rate and correction oil cylinder (4) is divided into multi gear language Value Data, by input variable and output variable discretization and obfuscation
Into Linguistic Value manifold, fuzzy set is formed；
4. fuzzy control rule is set up：A plurality of control rule is gone out according to the fuzzy set induction and conclusion；
5. fuzzy polling list is set up：Fuzzy polling list is set up according to the fuzzy control rule；
6. the output quantity to fuzzy control makees sharpening processing：Fuzzy control quantity in the fuzzy polling list is converted into
Such a precise volume of stroke of correction oil cylinder (4), so that controller (3) will be realized to correction according to the fuzzy control quantity
The control of oil cylinder (4).
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