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 PDFInfo
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- 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
Abstract
The invention discloses a balancing device and a control method of a multi-parallel control moment gyro with a rotating holder, which comprises 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 invention improves the balancing device of a multi-parallel control moment gyro and optimizes the control method of the balancing device to increase the moment output.
Description
Technical Field
The invention relates to the technical field of momentum exchange devices, in particular to a balancing device and a control method of a multi-parallel control moment gyro with a rotary holder.
Background
In recent years, experts and scholars in the fields of exoskeleton research and humanoid robot research use Momentum Exchange Devices (MEDs) for reference in aerospace to solve the balance problem of biped robots. The momentum exchange device comprises a momentum wheel, a control moment gyro and a reaction wheel; as one of the momentum exchange devices, a Control Moment Gyro (CMG), i.e., a gyro driver, is used as an actuator by using a driving force generated by a rotating gyro, instead of a sensor. The gyro drive produces gyro precession when a torque is applied to an axis perpendicular to the spin axis, and produces a gyro moment about a third axis of the torque axis orthogonal to the spin axis. The gyro driver is widely applied to the fields of ships, spaceflight, vehicle engineering and the like due to the axis fixation and stability. However, the gyro driver is exposed to its limitation in the field of robots, mainly because it is difficult to achieve a large torque output with a small structure.
Disclosure of Invention
The invention provides a balancing device and a control method of a multi-parallel control moment gyro with a rotary holder, aiming at solving the technical problem that the moment output of the existing gyro driver is insufficient.
In order to solve the technical problem, an embodiment of the present invention provides a balancing apparatus with a rotating pan-tilt and multiple parallel control moment gyroscopes, which includes a body, a rotating pan-tilt and at least one power module, wherein each power module includes two control moment gyroscopes, and flywheels of the two control moment gyroscopes are located on a plane of the rotating pan-tilt;
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.
Preferably, the rotating head is a rotating mechanism rotating around an autorotation shaft, and the autorotation shaft is fixed on the body.
Preferably, each control moment gyro comprises a universal wheel deflection outer frame and a flywheel installed in the universal wheel deflection outer frame.
Preferably, 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.
Preferably, the driving module comprises a first motor, a second motor and a third motor, and 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.
Preferably, the balancing device of the multi-parallel control moment gyro with the rotating pan-tilt 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 is used for detecting the angular speed of the rotating holder.
Preferably, the balancing device of the multi-parallel control moment gyro with the rotating pan-tilt further comprises:
the second angle sensor and the 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.
The invention provides a control method for a balancing device of a multi-parallel control moment gyro with a rotating pan-tilt head, which is characterized in that the method is executed by a controller and at least comprises the following steps:
when the balance device runs, the driving module drives the flywheel of each control moment gyro 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 the 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.
Preferably, when the balancing device operates, 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.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a balancing device and a control method of a multi-parallel control moment gyro with a rotating holder, wherein the balancing device comprises a body, the rotating holder and a control moment gyro, the rotating holder generates moment through uniform rotation and synthesizes the moment with the moment generated by the control moment gyro to generate larger moment, so that the moment output of the balancing device is increased; after the attitude sensor of the body detects the inclination angles and the angular velocities in the left-right direction and the front-back direction of the body, the universal wheel deflection outer frame is controlled to deflect to a corresponding position in a moment interval formed by the rotating holder and the control moment gyroscope, so that the body is restored to a balance position, the output of the large moment is increased, and the stability of the balance device is improved.
Drawings
Fig. 1 is a first angle configuration diagram of a balancing device of a multi-parallel control moment gyro with a rotating pan-tilt in an embodiment of the present invention;
FIG. 2 is a second angle configuration diagram of a balancing device of a multi-parallel control moment gyro with a rotating pan/tilt head according to an embodiment of the present invention;
FIG. 3 is a third angle configuration diagram of a balancing device of a multi-parallel control moment gyro with a rotating pan/tilt head according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the steps of a method for controlling a balancing device of a multi-parallel control moment gyro with a rotating pan/tilt head according to an embodiment of the present invention;
FIG. 4 is a control flow chart of a control method of a balancing device of a multi-parallel control moment gyro with a rotary pan-tilt in the embodiment of the invention;
FIG. 5 is a flow chart of an anti-falling control method of a balancing device of a multi-parallel control moment gyro with a rotating pan-tilt in the embodiment of the invention;
FIG. 6 is a flow chart of an anti-falling control method of a balancing device of a multi-parallel control moment gyro with a rotating pan-tilt in the embodiment of the invention;
FIG. 7 is a schematic diagram of the feedback adjustment of the control method of the balancing device of the multi-parallel control moment gyro with the rotating pan/tilt head in the embodiment of the present invention;
wherein, 1, a flywheel; 2. a universal wheel deflection outer frame; 3. rotating the holder; 4. a body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides a balancing apparatus with a rotating pan-tilt 3 for multiple parallel control moment gyroscopes, which includes a body 4, a rotating pan-tilt 3, and at least one power module, where each power module includes two control moment gyroscopes, and flywheels 1 of the two control moment gyroscopes are both located on a plane of the rotating pan-tilt 3;
the body 4 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 4;
the rotating tripod head 3 is mounted on the body 4, and the power module is mounted on the rotating tripod head 3; the rotating tripod head 3 is connected with the driving module, and the driving module drives the rotating tripod head 3 to rotate on the body 4.
As a preferred embodiment, the rotating head 3 is a rotating mechanism that rotates around a rotation axis, and the rotation axis is fixed on the body 4.
As a preferred embodiment, each of the control moment gyros includes a gimbal deflection frame 2 and a flywheel 1 mounted within the gimbal deflection frame 2.
As a preferred embodiment, the balancing device of the multi-parallel control moment gyro with the rotating pan-tilt 3 further comprises:
a first angle sensor and a first encoder mounted on the rotating head 3;
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 3;
the first encoder is connected with a first angular velocity data input end of the controller and is used for detecting the angular velocity of the rotating holder 3.
As a preferred embodiment, the balancing device of the multi-parallel control moment gyro with the rotating pan-tilt 3 further comprises:
a second angle sensor and a second encoder which are arranged on the universal wheel deflection outer frame 2;
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 2;
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.
As a first preferred embodiment, the driving 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;
the flywheel 1 of each control moment gyro is controlled to rotate by a 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 2 controlled by one second motor to deflect,
a right universal wheel deflection outer frame 2 controlled by a third motor to deflect;
the rotating tripod head 3 is controlled by the fourth motor to rotate.
As a second preferred embodiment, the driving module includes a first motor, a second motor and a third motor, and the number of the first motors is at least two;
each flywheel 1 is controlled to rotate by a corresponding first motor;
the universal wheel deflection outer frames 2 of the two control moment gyroscopes are connected to the transmission end of the same second motor through a universal wheel deflection outer frame 2 link mechanism;
the rotating tripod head 3 is controlled by the third motor to rotate.
Referring to fig. 4 to 7, the present invention provides a control method for a balancing device of a multi-parallel control moment gyro with a rotating pan/tilt head 3, which is characterized in that the method is executed by a controller and at least comprises the following steps:
s101, when the balancing device runs, the driving module drives the flywheel 1 of each control moment gyroscope to rotate at a constant speed;
s102, simultaneously, the driving module drives the rotating holder 3 to rotate at a constant speed;
s103, acquiring dumping angle data and angular velocity data of the body 4 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 4 according to the dumping angle data and the angular velocity data;
and S104, sending a control instruction to the driving module according to the moment for restoring the balance of the body 4 so as to drive the universal wheel deflection outer frame 2 of the control moment gyroscope to drive the corresponding flywheel 1 to deflect to generate balance restoring moment.
The method comprises the following steps of acquiring dumping angle data and angular velocity data of the body 4 in the front direction, the rear direction, the left direction and the right direction through an attitude sensor in real time, and calculating to obtain the moment of restoring balance of the body 4 according to the dumping angle data and the angular velocity data, and specifically comprises the following steps:
calculating the deflection angle and the angular speed of the universal wheel deflection outer frame 2 according to the inclination angle and the angular speed of the body 4, and calculating how large average restoring moment is required according to the inclination angle of the body 4, namely a formula 1; and calculating the corresponding deflection speed of the outer frame to the corresponding target angle according to the formula 4.
Equation 1:
wherein m isiFor the mass of each part, /)iθ is the inclination angle of the body 4 in a certain direction, which is the corresponding length.
Equation 2:
where k is the integration constant of one synthesis period, taken
m, r are the mass and radius, omega, of a single gyro driver, respectivelyAThe flywheel 1 rotates at a constant speed,
the average yaw angle velocity is the yaw frame.
Equation 3:
equation 4:
as a preferred embodiment, when the balancing apparatus operates, the driving module controls the flywheel 1 of each control moment gyro 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 1 of the left control moment gyro of each power module to rotate at a constant speed and the universal wheel deflection outer frame 2 to rotate clockwise at a constant speed, and the flywheel 1 of the right control moment gyro to rotate at a constant speed and the universal wheel deflection outer frame 2 to rotate anticlockwise at a constant speed.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a balancing device and a control method of a multi-parallel control moment gyro with a rotating tripod head 3, wherein the balancing device comprises a body 4, the rotating tripod head 3 and a control moment gyro, the rotating tripod head 3 generates moment through uniform-speed autorotation and synthesizes the moment with the moment generated by the control moment gyro to generate larger moment, so that the moment output of the balancing device is increased; after the attitude sensor of the body 4 detects the inclination angles and the angular velocities in the left-right direction, the front-back direction of the body 4, the universal wheel deflection outer frame 2 is controlled to deflect to a corresponding position in a moment interval formed by the rotating holder 3 and the control moment gyroscope, so that the body 4 is restored to a balance position, the moment output is increased, and the stability of the balance device is improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the 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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| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
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| US20100243344A1 (en) * | 2006-09-25 | 2010-09-30 | Board Of Trustees Of Leland Stanford Junior University | Electromechanically counterbalanced humanoid robotic system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
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