CN107643761A - Multistage omnidirectional space handstand swinging mechanism and balance method - Google Patents
Multistage omnidirectional space handstand swinging mechanism and balance method Download PDFInfo
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- CN107643761A CN107643761A CN201711052462.8A CN201711052462A CN107643761A CN 107643761 A CN107643761 A CN 107643761A CN 201711052462 A CN201711052462 A CN 201711052462A CN 107643761 A CN107643761 A CN 107643761A
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Abstract
The invention discloses a kind of multistage omnidirectional space handstand swinging mechanism and balance method, including the multistage swing mechanism being made up of multiple swing units, the lower hemisphere of each swing unit swing ball is placed in ball-collecting rack, the center of top of swing ball upper hemisphere is provided with vertical latch, ball-collecting rack inner periphery is laid with three single omni-directional wheels with lower hemisphere CONTACT WITH FRICTION, each single omni-directional wheel is provided with the absolute type encoder of the corresponding single omni-directional wheel rotational angle of detection by corresponding wheel carrier installation and each wheel carrier, the locating part acted on upper hemisphere is provided with the top of ball-collecting rack, ball-collecting rack bottom is provided with the jack coaxial with latch；The inserting connection successively from bottom to top of multiple swing units, on horizontal revolving stage, horizontal revolving stage moves left and right platform and is located on movable platform most subordinate's swing unit located at moving left and right on platform.The present invention can the dynamic behaviour toppled in three dimensions of comprehensive simulated object, to examine certain multi-input multi-output system control theory or method to provide experiment porch.
Description
Technical field
The present invention relates to balance control technology, specially a kind of multistage omnidirectional space handstand swinging mechanism and balance method.
Background technology
Control System of Inverted Pendulum is a complicated, unstable nonlinear system, is widely used in teaching and science is ground
Study carefully, be the ideal platform for being used for examining certain control theory or method in control field.
The control problem of reversible pendulum system is exactly swing mechanism is reached an equilbrium position, and when swing mechanism reaches
Behind desired position, system can overcome random perturbation and keep stable.Due to increasing with swing rod series, control difficulty will be anxious
Play improves, so the prototype system control to multistage inverted pendulum is realized also into generally acknowledged problem.
Traditional handstand swinging mechanism is divided into one-dimensional pendulum, two dimension pendulum, rotation Bai Deng mechanisms, and these handstand swinging mechanisms are each have their own
Design feature and dimension advantage.However, existing handstand swinging mechanism combines together the characteristics of being less able to them.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of comprehensive simulated object to exist
Three dimensions topples over behavior dynamically multistage omnidirectional space handstand swinging mechanism and balance method.
The multistage omnidirectional space handstand swinging mechanism of above-mentioned technical problem is can solve the problem that, its technical scheme includes multistage oscillating machine
Structure, except that the multistage swing mechanism includes multiple swing units, each swing unit includes swing ball, under the swing ball
Hemisphere is placed in ball-collecting rack, and the center of top of swing ball upper hemisphere is provided with vertical latch, and the ball-collecting rack inner periphery is laid with three
It is individual that inspection is provided with by corresponding wheel carrier installation and each wheel carrier with the single omni-directional wheel of lower hemisphere CONTACT WITH FRICTION, each single omni-directional wheel
The absolute type encoder of corresponding single omni-directional wheel rotational angle is surveyed, the centre of gyration of three single omni-directional wheels is intersected in downwards one
Point, the intersection point are in the underface of the swing ball centre of sphere, the locating part acted on upper hemisphere, ball-collecting rack bottom are provided with the top of the ball-collecting rack
Portion is provided with the jack coaxial with latch；Inserting connection, most subordinate's swing unit are located at water to multiple swing units successively from bottom to top
On flat turn platform, located at moving left and right on platform, the platform that moves left and right is located on movable platform the horizontal revolving stage.
The conventional structure of the movable platform includes front and rear base and is slidably mounted on movable on front and rear base
Table top；The conventional structure for moving left and right platform includes left and right base and is slidably mounted on the base of left and right to move left and right platform
Face, left and right floor installation is on movable table top；The horizontal revolving stage includes rotating disk, and the rotating disk is installed by thrust bearing
Move left and right on table top on bearing spider, the bearing spider is installed on.
The front and rear screw nut driving pair for being driven to front and rear direct current generator and driving of the movable table top；The left and right
The left and right screw nut driving pair for being driven to left and right direct current generator and driving of mobile table top；Being driven to of the rotating disk is located at bearing
Rotary direct current electric motor in bearing.
A kind of structure of the locating part includes the annular retainer coaxial with swing ball upper hemisphere, the annular retainer
It is installed on by ring support at the top of ball-collecting rack, the ball of circumference uniform distribution is rolled with upper hemisphere and connected on annular retainer.
Use the equilibration control scheme of above-mentioned multistage omnidirectional space handstand swinging mechanism for：
1st, when any one swing ball due to external disturbance is vibrated when, three single omni-directional wheels being contacted with corresponding swing ball
An angle can be rotated, goes out to correspond to the rotational angle of single omni-directional wheel by the way that each absolute type encoder is measurable, and then pass through rotation
The posture that matrix obtains the swing ball is changed in transformation.
The 2nd, itself posture of each swing ball is obtained to the posture of end swing unit swing ball through a series of rotational transformation matrix.
3rd, by the swing ball gesture feedback of end swing unit to controller, direct current generator, a left side before and after the controller starts
Right direct current generator and rotary direct current electric motor cause movable table top, move left and right table top and rotating disk linkage and make it is multiple swing it is single
Member returns to balanced steady state.
Beneficial effects of the present invention：
1st, in the multistage omnidirectional space inverted pendulum mechanism structure of the present invention, multistage swing mechanism can realize omnidirectional spatially
Rotate, it is possible thereby to as the vague generalization gedanken experiment for examining certain multiple-input and multiple-output (MOMI) systems control theory or method
Platform.
2nd, in structure of the present invention, the single omni-directional wheel in swing unit uses uniform circle distribution, this circle distribution energy
Enough generations for reducing additional unbalanced moments.
3rd, in structure of the present invention, when needing the swing mechanism of higher level number, swing unit need to only be inserted upwards layer by layer
.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is horizontal revolving stage in Fig. 1 embodiments, moves left and right platform, the assembling axonometric drawing of movable platform.
Fig. 3 is the sectional view of Fig. 2 package assemblies.
Fig. 4 (a) is the structural representation of swing unit in Fig. 1 embodiments.
Fig. 4 (b) is the A-A sectional views in Fig. 4 (a).
Figure number identifies：1st, swing unit；2nd, swing ball；3rd, ball-collecting rack；4th, latch；5th, single omni-directional wheel；6th, wheel carrier；7th, absolute type
Encoder；8th, horizontal revolving stage；9th, platform is moved left and right；10th, platform is moved forward and backward；11st, front and rear base；12nd, ball；13rd, move forward and backward
Table top；14th, left and right base；15th, ring support；16th, table top is moved left and right；17th, rotating disk；18th, thrust bearing；19th, bearing spider；
20th, annular retainer；21st, front and rear screw nut driving pair；22nd, rotary direct current electric motor；23rd, left and right screw nut driving pair.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The multistage omnidirectional space handstand swinging mechanism of the present invention includes multistage swing mechanism, horizontal revolving stage 8, moves left and right the and of platform 9
Movable platform 10.
The movable platform 10 includes front and rear base 11 and the movable table top being slidably mounted on front and rear base 11
13；The platform 9 that moves left and right includes left and right base 14 and is slidably mounted on left and right base 14 to move left and right table top 16, left and right
Base 14 is installed on movable table top 13；The horizontal revolving stage 8 includes rotating disk 17, and the rotating disk 17 passes through thrust bearing 18
It is installed on bearing spider 19, the bearing spider 19, which is installed on, to be moved left and right on table top 16, as shown in Figure 1, Figure 2, Figure 3 shows.
The multistage swing mechanism includes the swing unit 1 of upper, middle and lower three, and the main body of each swing unit 1 is swing ball 2, institute
The lower hemisphere for stating swing ball 2 is placed in ball-collecting rack 3, and provided with vertical latch 4, (axis crosses swing ball 2 to the center of top of the upper hemisphere of swing ball 2
The centre of sphere), circumference uniform distribution is provided with three single omni-directional wheels with lower hemisphere CONTACT WITH FRICTION below lower hemisphere in the ball-collecting rack 3
5, each single omni-directional wheel 5 is installed and on each wheel carrier 6 by corresponding wheel carrier 6, and each wheel carrier 6 is provided with the corresponding single omni-directional wheel 5 of detection
The absolute type encoder 7 of rotational angle, the centre of gyration of three single omni-directional wheels 5 are intersected in downwards a bit, and the intersection point is in pendulum
The underface of the centre of sphere of ball 2, the top of ball-collecting rack 3 are close with single omni-directional wheel 5 downwards by swing ball 2 on upper hemisphere provided with acting on
The locating part of contact, the bottom of ball-collecting rack 3 are provided with the jack coaxial with latch 4；Inserting connects three swing units 1 successively from bottom to top
Connecing, on rotating disk 17, the vertical axis of three swing units 1 is on the centre of gyration of rotating disk 17 most subordinate's swing unit 1,
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4 (a), Fig. 4 (b) are shown.
The locating part includes the annular retainer 20 coaxial with the upper hemisphere of swing ball 2, and the annular retainer 20 passes through
Ring support 15 is installed at the top of ball-collecting rack 3, and the ball 12 of circumference uniform distribution is rolled with upper hemisphere and connected on annular retainer 20, such as
Shown in Fig. 4 (a), Fig. 4 (b).
The equilibration control scheme of the multistage omnidirectional space inverted pendulum balance method of the present invention is：
1st, when any one swing ball 2 due to external disturbance is vibrated when, three single omnidirectionals being contacted with corresponding swing ball 2
Wheel 5 can rotate an angle, go out to correspond to the rotational angle of single omni-directional wheel 5 by the way that each absolute type encoder 7 is measurable, Jin Ertong
Cross the posture that rotation transformation matrix obtains the swing ball 2.
The 2nd, itself posture of each swing ball 2 is obtained to the posture of the upper swing ball 2 of swing unit 1 through a series of rotational transformation matrix.
3rd, by the gesture feedback of swing ball 2 of upper swing unit 1 to controller, direct current generator, a left side before and after the controller starts
Right direct current generator and rotary direct current electric motor 22 cause movable table top 13, move left and right table top 16 and rotating disk 17 produces three respectively
Individual velocity, three velocities synthesize a velocity that can balance three swing units 1, finally recover system
To balanced steady state.
Claims (5)
1. multistage omnidirectional space handstand swinging mechanism, including multistage swing mechanism, it is characterised in that：The multistage swing mechanism includes
Multiple swing units (1), each swing unit (1) include swing ball (2), and the lower hemisphere of the swing ball (2) is placed in ball-collecting rack (3),
The center of top of swing ball (2) upper hemisphere is provided with vertical latch (4), and ball-collecting rack (3) inner periphery is laid with three and lower half
The single omni-directional wheel (5) of sphere friction contact, each single omni-directional wheel (5) on corresponding wheel carrier (6) installation and each wheel carrier (6) by setting
There are the absolute type encoder (7) of corresponding single omni-directional wheel (5) rotational angle of detection, the centre of gyration of three single omni-directional wheels (5)
It is intersected in a bit downwards, the intersection point is in the underface of swing ball (2) centre of sphere, is provided with the top of the ball-collecting rack (3) and acts on episphere
Locating part on body, ball-collecting rack (3) bottom are provided with the jack coaxial with latch (4)；Multiple swing units (1) are inserted successively from bottom to top
Load connects, and on horizontal revolving stage (8), the horizontal revolving stage (8) is located at and moved left and right on platform (9) most subordinate's swing unit (1),
The platform (9) that moves left and right is located on movable platform (10).
2. multistage omnidirectional space handstand swinging mechanism according to claim 1, it is characterised in that：The movable platform (10)
Including front and rear base (11) and the movable table top (13) being slidably mounted on front and rear base (11)；It is described to move left and right platform
(9) include left and right base (14) and be slidably mounted on left and right base (14) to move left and right table top (16), left and right base (14)
It is installed on movable table top (13)；The horizontal revolving stage (8) includes rotating disk (17), and the rotating disk (17) passes through thrust bearing
(18) it is installed on bearing spider (19), the bearing spider (19), which is installed on, to be moved left and right on table top (16).
3. multistage omnidirectional space handstand swinging mechanism according to claim 2, it is characterised in that：The movable table top
(13) the front and rear screw nut driving pair (21) for being driven to front and rear direct current generator and driving；The drive for moving left and right table top (16)
Move the left and right screw nut driving pair (23) driven for left and right direct current generator；Being driven to of the rotating disk (17) is located at bearing spider
(19) rotary direct current electric motor (22) in.
4. the multistage omnidirectional space handstand swinging mechanism according to any one in claims 1 to 3, it is characterised in that：It is described
Locating part includes the annular retainer (20) coaxial with swing ball (2) upper hemisphere, and the annular retainer (20) is propped up by annular
Frame (15) is installed at the top of ball-collecting rack (3), and the ball (12) of circumference uniform distribution is rolled with upper hemisphere and connected on annular retainer (20).
5. multistage omnidirectional space inverted pendulum balance method, it is characterised in that the multistage employed as described in any one in 1~3 is complete
To space handstand swinging mechanism, its equilibration control scheme is：
1., when any one swing ball (2) due to external disturbance is vibrated when, contact with corresponding swing ball (2) three it is single entirely
An angle can be rotated to wheel (5), goes out to correspond to the angle of rotation of single omni-directional wheel (5) by the way that each absolute type encoder (7) is measurable
Spend, and then the posture of the swing ball (2) is obtained by rotational transformation matrix；
2., itself posture of each swing ball (2) obtained into most higher level's swing unit (1) swing ball (2) through a series of rotational transformation matrix
Posture；
3., will most higher level's swing unit (1) swing ball (2) gesture feedback to controller, direct current before and after the controller starts
Machine, left and right direct current generator and rotary direct current electric motor (22) cause movable table top (13), move left and right table top (16) and rotating disk
(17) link and multiple swing units (1) is returned to balanced steady state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052462.8A CN107643761B (en) | 2017-10-30 | 2017-10-30 | Multi-stage omnidirectional space inverted pendulum mechanism and balancing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052462.8A CN107643761B (en) | 2017-10-30 | 2017-10-30 | Multi-stage omnidirectional space inverted pendulum mechanism and balancing method |
Publications (2)
| Publication Number | Publication Date |
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| CN107643761A true CN107643761A (en) | 2018-01-30 |
| CN107643761B CN107643761B (en) | 2023-06-20 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2731618Y (en) * | 2004-10-21 | 2005-10-05 | 北京师范大学 | Universal multi-stage upside down pendulum tester |
| US20100250001A1 (en) * | 2009-03-24 | 2010-09-30 | Disney Enterprises | Systems and methods for tracking and balancing robots for imitating motion capture data |
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN205959527U (en) * | 2016-04-20 | 2017-02-15 | 南京大学 | Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley |
| CN106843258A (en) * | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
| CN107063570A (en) * | 2017-04-13 | 2017-08-18 | 桂林电子科技大学 | Can omnibearing tilt exercise test platform and control method |
| CN207408831U (en) * | 2017-10-30 | 2018-05-25 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism |
-
2017
- 2017-10-30 CN CN201711052462.8A patent/CN107643761B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2731618Y (en) * | 2004-10-21 | 2005-10-05 | 北京师范大学 | Universal multi-stage upside down pendulum tester |
| US20100250001A1 (en) * | 2009-03-24 | 2010-09-30 | Disney Enterprises | Systems and methods for tracking and balancing robots for imitating motion capture data |
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN205959527U (en) * | 2016-04-20 | 2017-02-15 | 南京大学 | Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley |
| CN106843258A (en) * | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
| CN107063570A (en) * | 2017-04-13 | 2017-08-18 | 桂林电子科技大学 | Can omnibearing tilt exercise test platform and control method |
| CN207408831U (en) * | 2017-10-30 | 2018-05-25 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism |
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| CN107643761B (en) | 2023-06-20 |
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