CN109991990B - Balancing device and control method for multi-parallel control moment gyroscope with rotating holder - Google Patents

Balancing device and control method for multi-parallel control moment gyroscope with rotating holder Download PDF

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CN109991990B
CN109991990B CN201811617084.8A CN201811617084A CN109991990B CN 109991990 B CN109991990 B CN 109991990B CN 201811617084 A CN201811617084 A CN 201811617084A CN 109991990 B CN109991990 B CN 109991990B
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control moment
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outer frame
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牟海明
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Zhuoyide Robot (Henan) Co.,Ltd.
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Shenzhen Xingzhe Robot Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means

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Abstract

本发明公开了一种带旋转云台的多平行控制力矩陀螺的平衡装置及控制方法，包括本体、旋转云台以及至少一个动力模块，每一所述动力模块包括两个控制力矩陀螺，且两个所述控制力矩陀螺的飞轮均处于所述旋转云台的平面上；所述本体上设有控制器、用于驱动所述控制力矩陀螺的驱动模块以及用于获取所述本体姿态的姿态传感器；所述旋转云台安装在所述本体上，且所述动力模块安装在所述旋转云台上；所述旋转云台与所述驱动模块连接，所述驱动模块驱动所述旋转云台在所述本体上转动。本发明通过改进多平行控制力矩陀螺的平衡装置，以及优化所述平衡装置的控制方法，以增大力矩输出。

Figure 201811617084

The invention discloses a balancing device and a control method of a multi-parallel control moment gyroscope with a rotating pan-tilt, comprising a body, a rotary pan-tilt and at least one power module, each of the power modules comprising two control torque gyros, and the two The flywheels of each of the control torque gyroscopes are on the plane of the rotating head; the body is provided with a controller, a drive module for driving the control torque gyroscope, and an attitude sensor for acquiring the attitude of the body ; The rotating head is installed on the body, and the power module is installed on the rotating head; the rotating head is connected with the drive module, and the drive module drives the rotating head in The body rotates. The present invention increases the torque output by improving the balancing device of the multi-parallel control torque gyroscope and optimizing the control method of the balancing device.

Figure 201811617084

Description

带旋转云台的多平行控制力矩陀螺的平衡装置及控制方法Balancing device and control method of multi-parallel control moment gyroscope with rotating head

技术领域technical field

本发明涉及动量交换装置技术领域，尤其是涉及带旋转云台的多平行控制力 矩陀螺的平衡装置及控制方法。The present invention relates to the technical field of momentum exchange devices, and in particular, to a balancing device and a control method of a multi-parallel control torque gyroscope with a rotating head.

背景技术Background technique

近年来，外骨骼研究和类人机器人研究领域的专家学者们借鉴航空航天使用 动量交换装置(MEDs)来解决双足机器人平衡问题。所谓动量交换装置包括动 量轮、控制力矩陀螺、反作用轮；作为动量交换装置的一种，控制力矩陀螺(CMG)， 即陀螺驱动器，通过使用旋转陀螺仪产生的进动力而用作致动器，而不是传感器。 当扭矩施加到垂直于自旋转轴的轴上时，陀螺驱动器会产生陀螺仪进动，并且， 围绕扭矩轴与自旋轴正交的第三轴产生陀螺力矩。陀螺驱动器因其定轴性和稳定 性而被广泛应用在船舶、航天、车辆工程等领域。然而，将陀螺驱动器应用于机 器人领域时暴露出其局限性，主要原因在于小型结构难以实现大力矩输出。In recent years, experts and scholars in the field of exoskeleton research and humanoid robot research have used momentum exchange devices (MEDs) from aerospace to solve the balance problem of biped robots. The so-called momentum exchange device includes a momentum wheel, a control torque gyroscope, and a reaction wheel; as a kind of momentum exchange device, a control torque gyroscope (CMG), that is, a gyro driver, is used as an actuator by using the precession force generated by the rotating gyroscope, rather than sensors. The gyroscopic drive produces gyroscopic precession when torque is applied to an axis perpendicular to the spin axis, and a gyroscopic moment about a third axis that is orthogonal to the spin axis. Gyro drives are widely used in shipbuilding, aerospace, vehicle engineering and other fields because of their fixed axis and stability. However, the application of gyro driver in the field of robotics exposes its limitations, mainly because it is difficult to achieve large torque output with small structures.

发明内容SUMMARY OF THE INVENTION

本发明提供了一种带旋转云台的多平行控制力矩陀螺的平衡装置及控制方 法，所解决的技术问题是现有的陀螺驱动器的力矩输出不足，本发明通过改进多 平行控制力矩陀螺的平衡装置，以及优化所述平衡装置的控制方法，以增大力矩 输出。The invention provides a balancing device and a control method of a multi-parallel control torque gyroscope with a rotating head, and the technical problem solved is that the torque output of the existing gyro driver is insufficient. The invention improves the balance of the multi-parallel control torque gyroscope by improving the device, and a control method for optimizing the balancing device to increase torque output.

为了解决上述技术问题，本发明实施例提供了一种带旋转云台的多平行控制 力矩陀螺的平衡装置，包括本体、旋转云台以及至少一个动力模块，每一所述动 力模块包括两个控制力矩陀螺，且两个所述控制力矩陀螺的飞轮均处于所述旋转 云台的平面上；In order to solve the above technical problems, an embodiment of the present invention provides a multi-parallel control torque gyroscope balancing device with a rotating head, including a body, a rotating head and at least one power module, each of which includes two control a moment gyroscope, and the flywheels of the two control moment gyroscopes are on the plane of the rotating head;

所述本体上设有控制器、用于驱动所述控制力矩陀螺的驱动模块以及用于获 取所述本体姿态的姿态传感器；The body is provided with a controller, a drive module for driving the control torque gyro, and an attitude sensor for acquiring the attitude of the body;

所述旋转云台安装在所述本体上，且所述动力模块安装在所述旋转云台上； 所述旋转云台与所述驱动模块连接，所述驱动模块驱动所述旋转云台在所述本体 上转动。The rotating head is installed on the body, and the power module is installed on the rotating head; the rotating head is connected with the driving module, and the driving module drives the rotating head in the rotate on the body.

优选地，所述旋转云台为绕着自转轴旋转的旋转机构，并且所述自转轴固定 在本体上。Preferably, the rotating pan/tilt head is a rotating mechanism that rotates around an axis of rotation, and the axis of rotation is fixed on the body.

优选地，每一所述控制力矩陀螺包括万向轮偏转外框和安装在所述万向轮偏 转外框内的飞轮。Preferably, each of the control torque gyroscopes includes a gimbal deflection outer frame and a flywheel mounted within the gimbal deflection outer frame.

优选地，所述驱动模块包括第一电机、第二电机、第三电机以及第四电机， 所述第一电机、所述第二电机、所述第三电机的数量均为至少二个；Preferably, the drive module includes a first motor, a second motor, a third motor, and a fourth motor, and the number of the first motor, the second motor, and the third motor is at least two;

每一所述控制力矩陀螺的飞轮受对应的一个所述第一电机控制旋转；The flywheel of each of the control torque gyroscopes is controlled to rotate by a corresponding one of the first motors;

将每一所述动力模块的两个所述控制力矩陀螺的万向轮外框分别作为：The outer frames of the universal wheels of the two control torque gyroscopes of each of the power modules are respectively used as:

受一个所述第二电机控制偏转的左万向轮偏转外框，The outer frame is deflected by the left universal wheel deflected by one of the second motors,

受一个所述第三电机控制偏转的右万向轮偏转外框；The outer frame is deflected by the right universal wheel controlled and deflected by one of the third motors;

所述旋转云台受所述第四电机控制旋转。The rotation head is controlled by the fourth motor to rotate.

优选地，所述驱动模块包括第一电机、第二电机以及第三电机，所述第一电 机的数量为至少二个；Preferably, the drive module includes a first motor, a second motor and a third motor, and the number of the first motor is at least two;

每一所述飞轮受对应的一个所述第一电机控制旋转；Each of the flywheels is controlled to rotate by a corresponding one of the first motors;

两个所述控制力矩陀螺的万向轮偏转外框共同通过万向轮偏转外框连杆机 构连接在同一个所述第二电机的传动端上；The universal wheel deflection outer frames of the two described control torque gyroscopes are jointly connected on the transmission end of the same second motor by the universal wheel deflection outer frame link mechanism;

所述旋转云台受所述第三电机控制旋转。The rotation head is controlled by the third motor to rotate.

优选地，所述带旋转云台的多平行控制力矩陀螺的平衡装置还包括：Preferably, the balancing device for the multi-parallel control moment gyroscope with a rotating head further comprises:

安装在所述旋转云台上的第一角度传感器和第一编码器；a first angle sensor and a first encoder installed on the rotating head;

所述第一角度传感器，与所述控制器的第一角度数据输入端连接，用于检测 所述旋转云台的角度；The first angle sensor, connected with the first angle data input end of the controller, is used to detect the angle of the rotating pan-tilt;

所述第一编码器，与所述控制器的第一角速度数据输入端连接，用于检测所 述旋转云台的角速度。The first encoder is connected to the first angular velocity data input end of the controller, and is used for detecting the angular velocity of the rotating pan/tilt head.

优选地，所述带旋转云台的多平行控制力矩陀螺的平衡装置还包括：Preferably, the balancing device for the multi-parallel control moment gyroscope with a rotating head further comprises:

安装在所述万向轮偏转外框上的第二角度传感器和第二编码器；a second angle sensor and a second encoder mounted on the outer frame of the universal wheel deflection;

所述第二角度传感器，与所述控制器的第二角度数据输入端连接，用于检测 所述万向轮偏转外框的角度；The second angle sensor, connected with the second angle data input end of the controller, is used to detect the angle at which the universal wheel deflects the outer frame;

所述第二编码器，与所述控制器的第二角速度数据输入端连接，用于检测所 述万向轮偏转外框的角速度。The second encoder is connected to the second angular velocity data input end of the controller, and is used for detecting the angular velocity of the outer frame of the universal wheel deflected.

本发明提供一种用于对如上所述的带旋转云台的多平行控制力矩陀螺的平 衡装置的控制方法，其特征在于，所述方法由控制器执行，至少包括以下步骤：The present invention provides a kind of control method for the balancing device of the multi-parallel control moment gyroscope with the above-mentioned rotating head, it is characterized in that, described method is carried out by controller, at least comprises the following steps:

在所述平衡装置运行时，通过所述驱动模块驱动每一所述控制力矩陀螺的飞 轮匀速自转；When the balancing device is running, the flywheel of each of the control torque gyroscopes is driven by the drive module to rotate at a constant speed;

同时，通过所述驱动模块驱动旋转云台匀速自转；At the same time, the rotating head is driven to rotate at a constant speed by the driving module;

实时通过姿态传感器采集所述本体前、后、左、右方向的倾倒角度数据和角 速度数据，并根据所述倾倒角度数据和角速度数据计算得到本体恢复平衡的力 矩；Real-time collection of the tilt angle data and angular velocity data of the front, rear, left and right directions of the body through the attitude sensor, and calculate the torque for restoring the balance of the body according to the tilt angle data and the angular velocity data;

根据所述本体恢复平衡的力矩向所述驱动模块发送控制指令，以驱动所述控 制力矩陀螺的万向轮偏转外框带动对应的飞轮发生偏转产生平衡恢复力矩。Send a control command to the drive module according to the torque for restoring the balance of the body, so as to drive the gyro of the control torque gyro to deflect the outer frame and drive the corresponding flywheel to deflect to generate a balance restoring torque.

优选地，所述在所述平衡装置运行时，通过所述驱动模块控制每一所述控制 力矩陀螺的飞轮匀速自转，具体为：Preferably, when the described balancing device is in operation, the uniform rotation of the flywheel of each described control torque gyro is controlled by the drive module, specifically:

将所述动力模块的一个控制力矩陀螺作为左控制力矩陀螺，另一个控制力矩 陀螺作为右控制力矩陀螺；A control moment gyroscope of the power module is used as the left control moment gyroscope, and another control moment gyroscope is used as the right control moment gyroscope;

在所述平衡装置运行时，通过所述驱动模块控制每一所述动力模块的左控制 力矩陀螺的飞轮匀速自转、万向轮偏转外框顺时针匀速转动，右控制力矩陀螺的 飞轮匀速自转、万向轮偏转外框逆时针匀速转动。When the balancing device is in operation, the drive module controls the left control torque gyro of each power module to rotate at a constant speed, the universal wheel deflects the outer frame to rotate at a constant speed clockwise, the flywheel of the right control torque gyro rotates at a constant speed, The universal wheel deflects the outer frame to rotate at a constant speed counterclockwise.

相比于现有技术，本发明实施例具有如下有益效果：Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

本发明实施例提供了一种带旋转云台的多平行控制力矩陀螺的平衡装置及 控制方法，所述平衡装置包括本体、旋转云台和控制力矩陀螺，所述旋转云台通 过匀速自转产生力矩，与控制力矩陀螺产生的力矩合成更大的力矩，从而增大所 述平衡装置的力矩输出；当所述本体的姿态传感器检测到所述本体左右方向、前 后方向的倾倒角度和角速度后，在旋转云台与控制力矩陀螺合成的力矩区间内控 制万向轮偏转外框偏转到对应的位置，令所述本体恢复到平衡位置，进而增大力 矩输出并且提高平衡装置的稳定性。Embodiments of the present invention provide a balancing device and a control method for a multi-parallel control torque gyroscope with a rotating pan-tilt. The balancing device includes a main body, a rotary pan-tilt and a control torque gyroscope. The rotary pan-tilt generates a torque by rotating at a constant speed. , synthesizing a larger torque with the torque generated by the control torque gyroscope, thereby increasing the torque output of the balance device; when the attitude sensor of the body detects the tilt angle and angular velocity of the body in the left-right direction, the front-rear direction, and the The gimbal is controlled to deflect the outer frame to the corresponding position within the torque range synthesized by the rotating pan/tilt head and the control torque gyro, so that the body is restored to the equilibrium position, thereby increasing the torque output and improving the stability of the balancing device.

附图说明Description of drawings

图1是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的第 一角度的结构图；Fig. 1 is the structure diagram of the first angle of the balancing device of the multi-parallel control moment gyro with rotating head in the embodiment of the present invention;

图2是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的第 二角度的结构图；Fig. 2 is the structural diagram of the second angle of the balancing device of the multi-parallel control moment gyro with rotating head in the embodiment of the present invention;

图3是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的第 三角度的结构图；Fig. 3 is the structure diagram of the third angle of the balancing device of the multi-parallel control moment gyro with rotating head in the embodiment of the present invention;

图4是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的控 制方法的步骤流程图；Fig. 4 is the step flow chart of the control method of the balancing device of the multi-parallel control moment gyroscope with rotating head in the embodiment of the present invention;

图4是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的控 制方法的控制流程图；Fig. 4 is the control flow chart of the control method of the balancing device of the multi-parallel control moment gyroscope with rotating pan/tilt head in the embodiment of the present invention;

图5是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的控 制方法的防摔倒控制流程图；Fig. 5 is the anti-fall control flow chart of the control method of the balancing device of the multi-parallel control moment gyroscope with rotating head in the embodiment of the present invention;

图6是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的控 制方法的防摔倒控制流程图；Fig. 6 is the anti-fall control flow chart of the control method of the balancing device of the multi-parallel control moment gyroscope with rotating head in the embodiment of the present invention;

图7是本发明实施例中的带旋转云台的多平行控制力矩陀螺的平衡装置的控 制方法的反馈调节原理图；Fig. 7 is the feedback adjustment principle diagram of the control method of the balancing device of the multi-parallel control moment gyroscope with rotating head in the embodiment of the present invention;

其中，1、飞轮；2、万向轮偏转外框；3、旋转云台；4、本体。Among them, 1. the flywheel; 2. the universal wheel deflects the outer frame; 3. the rotating head; 4. the body.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清 楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全 部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳 动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

请参见图1至图3，本发明实施例提供了一种带旋转云台3的多平行控制力矩 陀螺的平衡装置，包括本体4、旋转云台3以及至少一个动力模块，每一所述动力 模块包括两个控制力矩陀螺，且两个所述控制力矩陀螺的飞轮1均处于所述旋转 云台3的平面上；Referring to FIGS. 1 to 3 , an embodiment of the present invention provides a multi-parallel control moment gyroscope balancing device with a rotating head 3 , including a main body 4 , a rotating head 3 and at least one power module, each of the power The module includes two control torque gyroscopes, and the flywheels 1 of the two control torque gyroscopes are all on the plane of the rotating head 3;

所述本体4上设有控制器、用于驱动所述控制力矩陀螺的驱动模块以及用于 获取所述本体4姿态的姿态传感器；The body 4 is provided with a controller, a drive module for driving the control torque gyro and an attitude sensor for acquiring the attitude of the body 4;

所述旋转云台3安装在所述本体4上，且所述动力模块安装在所述旋转云台3 上；所述旋转云台3与所述驱动模块连接，所述驱动模块驱动所述旋转云台3在所 述本体4上转动。The rotating head 3 is installed on the main body 4, and the power module is installed on the rotating head 3; the rotating head 3 is connected with the driving module, and the driving module drives the rotation The head 3 rotates on the body 4 .

作为优选实施例，所述旋转云台3为绕着自转轴旋转的旋转机构，并且所述 自转轴固定在本体4上。As a preferred embodiment, the rotating head 3 is a rotating mechanism that rotates around an axis of rotation, and the axis of rotation is fixed on the body 4 .

作为优选实施例，每一所述控制力矩陀螺包括万向轮偏转外框2和安装在所 述万向轮偏转外框2内的飞轮1。As a preferred embodiment, each of the control torque gyroscopes includes a gimbal deflection outer frame 2 and a flywheel 1 installed in the gimbal deflection outer frame 2.

作为优选实施例，所述带旋转云台3的多平行控制力矩陀螺的平衡装置还包 括：As a preferred embodiment, the balancing device of the multi-parallel control moment gyro with rotating head 3 also includes:

安装在所述旋转云台3上的第一角度传感器和第一编码器；a first angle sensor and a first encoder installed on the rotating pan/tilt head 3;

所述第一角度传感器，与所述控制器的第一角度数据输入端连接，用于检测 所述旋转云台3的角度；The first angle sensor, connected with the first angle data input end of the controller, is used to detect the angle of the rotating head 3;

所述第一编码器，与所述控制器的第一角速度数据输入端连接，用于检测所 述旋转云台3的角速度。The first encoder is connected to the first angular velocity data input end of the controller, and is used to detect the angular velocity of the rotating pan/tilt head 3.

作为优选实施例，所述带旋转云台3的多平行控制力矩陀螺的平衡装置还包 括：As a preferred embodiment, the balancing device of the multi-parallel control moment gyro with rotating head 3 also includes:

安装在所述万向轮偏转外框2上的第二角度传感器和第二编码器；a second angle sensor and a second encoder installed on the outer frame 2 of the universal wheel deflection;

所述第二角度传感器，与所述控制器的第二角度数据输入端连接，用于检测 所述万向轮偏转外框2的角度；The second angle sensor, connected with the second angle data input end of the controller, is used to detect the angle at which the universal wheel deflects the outer frame 2;

所述第二编码器，与所述控制器的第二角速度数据输入端连接，用于检测所 述万向轮偏转外框2的角速度。The second encoder is connected to the second angular velocity data input end of the controller, and is used for detecting the angular velocity of the outer frame 2 of the universal wheel deflected.

作为第一优选实施例，所述驱动模块包括第一电机、第二电机、第三电机以 及第四电机，所述第一电机、所述第二电机、所述第三电机的数量均为至少二个；As a first preferred embodiment, the driving module includes a first motor, a second motor, a third motor and a fourth motor, and the numbers of the first motor, the second motor and the third motor are all at least two;

每一所述控制力矩陀螺的飞轮1受对应的一个所述第一电机控制旋转；The flywheel 1 of each of the control torque gyroscopes is controlled to rotate by a corresponding one of the first motors;

将每一所述动力模块的两个所述控制力矩陀螺的万向轮外框分别作为：The outer frames of the universal wheels of the two control torque gyroscopes of each of the power modules are respectively used as:

受一个所述第二电机控制偏转的左万向轮偏转外框2，The left universal wheel deflected by a said second motor deflects the outer frame 2,

受一个所述第三电机控制偏转的右万向轮偏转外框2；The outer frame 2 is deflected by the right universal wheel controlled and deflected by one of the third motors;

所述旋转云台3受所述第四电机控制旋转。The rotation head 3 is controlled by the fourth motor to rotate.

作为第二优选实施例，所述驱动模块包括第一电机、第二电机以及第三电机， 所述第一电机的数量为至少二个；As a second preferred embodiment, the drive module includes a first motor, a second motor and a third motor, and the number of the first motors is at least two;

每一所述飞轮1受对应的一个所述第一电机控制旋转；Each of the flywheels 1 is controlled to rotate by a corresponding one of the first motors;

两个所述控制力矩陀螺的万向轮偏转外框2共同通过万向轮偏转外框2连杆 机构连接在同一个所述第二电机的传动端上；The universal wheel deflection outer frame 2 of the two described control torque gyroscopes is jointly connected on the transmission end of the same second motor by the universal wheel deflection outer frame 2 linkage mechanism;

所述旋转云台3受所述第三电机控制旋转。The rotation head 3 is controlled by the third motor to rotate.

请参见图4至图7，本发明提供一种用于对如上所述的带旋转云台3的多平 行控制力矩陀螺的平衡装置的控制方法，其特征在于，所述方法由控制器执行， 至少包括以下步骤：Referring to FIGS. 4 to 7 , the present invention provides a method for controlling the balancing device of the multi-parallel control moment gyroscope with the rotating head 3 as described above, characterized in that the method is executed by a controller, At least the following steps are included:

S101、在所述平衡装置运行时，通过所述驱动模块驱动每一所述控制力矩陀 螺的飞轮1匀速自转；S101, when the balancing device is running, drive the flywheel 1 of each described control torque gyro to rotate at a constant speed by the drive module;

S102、同时，通过所述驱动模块驱动旋转云台3匀速自转；S102, at the same time, drive the rotary head 3 to rotate at a constant speed through the drive module;

S103、实时通过姿态传感器采集所述本体4前、后、左、右方向的倾倒角度 数据和角速度数据，并根据所述倾倒角度数据和角速度数据计算得到本体4恢复 平衡的力矩；S103, collect the pouring angle data and the angular velocity data of the front, rear, left and right directions of the body 4 in real time by the attitude sensor, and calculate the torque that the body 4 restores balance according to the pouring angle data and the angular velocity data;

S104、根据所述本体4恢复平衡的力矩向所述驱动模块发送控制指令，以驱 动所述控制力矩陀螺的万向轮偏转外框2带动对应的飞轮1发生偏转产生平衡恢 复力矩。S104, send a control command to the drive module according to the torque that restores the balance of the body 4, to drive the corresponding flywheel 1 to deflect and generate a balance restoration torque to drive the universal wheel deflection outer frame 2 of the control torque gyro.

其中，所述实时通过姿态传感器采集所述本体4前、后、左、右方向的倾倒 角度数据和角速度数据，并根据所述倾倒角度数据和角速度数据计算得到本体4 恢复平衡的力矩，具体为：Wherein, the tilt angle data and angular velocity data of the front, rear, left and right directions of the body 4 are collected in real time through the attitude sensor, and the torque for restoring the balance of the body 4 is calculated according to the tilt angle data and the angular velocity data, specifically: :

根据本体4倾倒角度和角速度，计算出万向轮偏转外框2的偏转角度和角速 度，根据本体4倾倒角度，即公式1，计算需要多大平均恢复力矩；根据公式4 计算出对应的外框偏转速度转到对应的目标角度。According to the tipping angle and angular velocity of the main body 4, the deflection angle and angular velocity of the universal wheel deflecting the outer frame 2 are calculated. According to the tipping angle of the main body 4, that is, formula 1, the average restoring moment is calculated; according to formula 4, the corresponding outer frame deflection is calculated. The speed goes to the corresponding target angle.

公式1：Formula 1:

Figure BDA0001925206840000071
Figure BDA0001925206840000071

其中，mi为每个部件的质量，li为其对应的长度，θ为本体4在某个方向的 倾倒角度。Among them, m i is the mass of each component, li is its corresponding length, and θ is the tipping angle of the body 4 in a certain direction.

公式2:Formula 2:

Figure BDA0001925206840000072
Figure BDA0001925206840000072

其中，k是一个合成周期的积分常数，取

Figure BDA0001925206840000073
m、r分别为单个陀螺驱动 器的质量和半径，ωA为飞轮1匀速自转角速度，
Figure BDA0001925206840000074
为偏转外框平均偏转角速度。where k is the integral constant of a synthesis period, take
Figure BDA0001925206840000073
m and r are the mass and radius of a single gyro driver, respectively, ω A is the uniform rotation angular velocity of flywheel 1,
Figure BDA0001925206840000074
is the average deflection angular velocity of the deflection frame.

公式3:Formula 3:

Figure BDA0001925206840000075
Figure BDA0001925206840000075

公式4:Formula 4:

Figure BDA0001925206840000076
Figure BDA0001925206840000076

作为优选实施例，所述在所述平衡装置运行时，通过所述驱动模块控制每一 所述控制力矩陀螺的飞轮1匀速自转，具体为：As a preferred embodiment, when the balancing device is in operation, the flywheel 1 of each described control torque gyro is controlled by the drive module to rotate at a constant speed, specifically:

将所述动力模块的一个控制力矩陀螺作为左控制力矩陀螺，另一个控制力矩 陀螺作为右控制力矩陀螺；A control moment gyroscope of the power module is used as the left control moment gyroscope, and another control moment gyroscope is used as the right control moment gyroscope;

在所述平衡装置运行时，通过所述驱动模块控制每一所述动力模块的左控制 力矩陀螺的飞轮1匀速自转、万向轮偏转外框2顺时针匀速转动，右控制力矩陀螺 的飞轮1匀速自转、万向轮偏转外框2逆时针匀速转动。When the balancing device is running, the drive module controls the flywheel 1 of the left control torque gyro of each power module to rotate at a constant speed, the universal wheel deflects the outer frame 2 to rotate at a constant speed clockwise, and the flywheel 1 of the right control torque gyro rotates at a constant speed. Uniform rotation and universal wheel deflection The outer frame 2 rotates counterclockwise at a uniform speed.

相比于现有技术，本发明实施例具有如下有益效果：Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

本发明实施例提供了一种带旋转云台3的多平行控制力矩陀螺的平衡装置及 控制方法，所述平衡装置包括本体4、旋转云台3和控制力矩陀螺，所述旋转云台 3通过匀速自转产生力矩，与控制力矩陀螺产生的力矩合成更大的力矩，从而增 大所述平衡装置的力矩输出；当所述本体4的姿态传感器检测到所述本体4左右方 向、前后方向的倾倒角度和角速度后，在旋转云台3与控制力矩陀螺合成的力矩 区间内控制万向轮偏转外框2偏转到对应的位置，令所述本体4恢复到平衡位置， 进而增大力矩输出并且提高平衡装置的稳定性。The embodiment of the present invention provides a balancing device and a control method for a multi-parallel control torque gyroscope with a rotating head 3. The balancing device includes a main body 4, a rotating head 3 and a control torque gyro. The rotating head 3 passes through The uniform rotation generates a torque, which is combined with the torque generated by the control torque gyro to synthesize a larger torque, thereby increasing the torque output of the balance device; After the angle and the angular velocity, the universal wheel is controlled to deflect the outer frame 2 to the corresponding position within the moment interval synthesized by the rotating head 3 and the control moment gyro, so that the body 4 is restored to the equilibrium position, thereby increasing the torque output and increasing the torque output. Balance the stability of the device.

以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术 人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改 进和润饰也视为本发明的保护范围。The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made, and these improvements and modifications may also be regarded as It is the protection scope of the present invention.

Claims (6)

1. A balancing device of a plurality of parallel control moment gyros with a rotating holder is characterized by comprising a body, the rotating holder and at least one power module, wherein each power module comprises two control moment gyros, and flywheels of the two control moment gyros are positioned on the plane of the rotating holder;
the body is provided with a controller, a driving module for driving the control moment gyroscope and an attitude sensor for acquiring the attitude of the body;
the rotating cloud deck is installed on the body, and the power module is installed on the rotating cloud deck; the rotating holder is connected with the driving module, and the driving module drives the rotating holder to rotate on the body;
the rotating holder is a rotating mechanism rotating around a rotating shaft, and the rotating shaft is fixed on the body; each control moment gyroscope comprises a universal wheel deflection outer frame and a flywheel arranged in the universal wheel deflection outer frame;
a second angle sensor and a second encoder are arranged on the universal wheel deflection outer frame
The second angle sensor is connected with a second angle data input end of the controller and used for detecting the angle of the universal wheel deflection outer frame;
and the second encoder is connected with a second angular speed data input end of the controller and is used for detecting the angular speed of the universal wheel deflection outer frame.
2. The balance device of a multi-parallel control moment gyro with a rotary pan-tilt head as claimed in claim 1, wherein the driving module comprises a first motor, a second motor, a third motor and a fourth motor, and the number of the first motor, the second motor and the third motor is at least two;
the flywheel of each control moment gyroscope is controlled to rotate by the corresponding first motor;
and respectively taking the universal wheel outer frames of the two control moment gyros of each power module as:
a left universal wheel deflection outer frame controlled by the second motor to deflect,
the right universal wheel deflection outer frame is controlled to deflect by one third motor;
the rotating holder is controlled by the fourth motor to rotate.
3. The balance device of a multi-parallel control moment gyro with a rotary pan-tilt head as claimed in claim 1, wherein the driving module comprises a first motor, a second motor and a third motor, the number of the first motors is at least two;
each flywheel is controlled to rotate by a corresponding first motor;
the universal wheel deflection outer frames of the two control moment gyroscopes are connected to the transmission end of the same second motor through a universal wheel deflection outer frame connecting rod mechanism;
the rotating holder is controlled by the third motor to rotate.
4. The apparatus for balancing a multi-parallel control moment gyro with a rotary pan/tilt head according to claim 1, wherein the apparatus for balancing a multi-parallel control moment gyro with a rotary pan/tilt head further comprises:
a first angle sensor and a first encoder mounted on the rotating pan/tilt head;
the first angle sensor is connected with a first angle data input end of the controller and used for detecting the angle of the rotating holder;
and the first encoder is connected with a first angular speed data input end of the controller and used for detecting the angular speed of the rotary holder.
5. A control method for a balancing device for a multi-parallel control moment gyro with a rotating head according to claim 1, characterized in that it is executed by a controller, comprising at least the following steps:
when the balancing device runs, the driving module drives the flywheel of each control moment gyroscope to rotate at a constant speed;
meanwhile, the driving module drives the rotating holder to rotate at a constant speed;
acquiring the inclination angle data and the angular speed data of the body in the front, back, left and right directions in real time through an attitude sensor, and calculating to obtain the moment for restoring balance of the body according to the inclination angle data and the angular speed data;
and sending a control instruction to the driving module according to the moment for restoring the balance of the body so as to drive a universal wheel deflection outer frame of the control moment gyroscope to drive a corresponding flywheel to deflect to generate balance restoring moment.
6. The method for controlling the balancing apparatus of the multi-parallel control moment gyroscope with the rotating pan/tilt head as claimed in claim 5, wherein when the balancing apparatus is in operation, the driving module controls the flywheel of each control moment gyroscope to rotate at a constant speed, specifically:
one control moment gyro of the power module is used as a left control moment gyro, and the other control moment gyro is used as a right control moment gyro;
when the balancing device operates, the driving module controls the flywheel of the left control moment gyro of each power module to rotate at a constant speed and the universal wheel deflection outer frame to rotate clockwise at a constant speed, and the flywheel of the right control moment gyro to rotate at a constant speed and the universal wheel deflection outer frame to rotate anticlockwise at a constant speed.
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