CN110968030A - Synchronization method of multi-axis linkage rail car motion trail based on local modeling - Google Patents
Synchronization method of multi-axis linkage rail car motion trail based on local modeling Download PDFInfo
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Abstract
The invention discloses a method for synchronizing motion tracks of a multi-axis linkage rail car based on local modeling, which at least comprises the following steps: acquiring the parameters of a traveling mechanism of a rail car motion system, and establishing a mathematical model for the traveling mechanism of the rail car; dividing a rail car travelling track into a plurality of areas, and carrying out local modeling on the rail car travelling track of each area by a least square method on the basis of the established mathematical model; on the basis of least square local modeling, difference compensation is carried out on key points of each area through a table look-up method, and the advancing route of the rail car is compensated through an S-shaped curve acceleration and deceleration algorithm, so that the fluency of the advancing mechanism of the rail car is guaranteed, and the fluency of the moving track of the rail car is guaranteed. The technical scheme further reduces the error that the multi-axis linkage rail car runs along the route of the story, improves the synchronism of the movement track of the rail car and the route of the story, and enhances the body feeling of the amusement.
Description
Technical Field
The invention relates to the technical field of rail cars, in particular to a method for synchronizing motion tracks of a multi-axis linkage rail car based on local modeling.
Background
Dark ride (DarkRide) refers to a large indoor entertainment item which is experienced by tourists in a multi-degree-of-freedom dynamic rail car along a given story line in a simulation environment combining virtual scenes and real scenes, and is the most attractive entertainment item in the world at present. At present, the major theme parks at home and abroad, such as the city of the world-wide movie, the disneyland, the fantodian myth and the like, are vigorously developing dark ride projects, such as the transformers of the city of the los angeles-of-the-world movie, the spider knight surprise adventure story-story of the city of the osaka-of-the-world movie, the charles of the shanghai disney, the caribbean of the shanghai disney, and the nu snail complement of the Ningbo fangte, and have great economic benefits and social influences.
The running track of the existing dark riding rail car at least comprises a rail car rotating shaft, a six-degree-of-freedom moving shaft and a rail clamping walking double shaft, and the motion curves are represented by real-time linkage of nine moving shafts in total. In the whole experience process of the nine motion axes of the dark riding track car, any position real-time linkage is needed, namely, information of each frame of motion codes preset by the track car at least comprises motion information and time information of all the axes, the nine motion axes are linked in real time, the motion of a walking mechanism cannot jump or leak frames, accurate and smooth are guaranteed, particularly, some key experience points, such as walking to a screen area, need a tourist on the track car to obliquely enter the screen area from the side, the content of the screen area is high altitude dropping, all the motion axes needing walking, six degrees of freedom, rotation and the like are restored according to the preset motion code height, and the tourist is immersed in a relatively stimulated rapid falling scene, namely, the motion tracks (the linkage of the nine motion axes) and the set route (which can be equivalent to motion code data) are kept synchronous. However, the control system for dark riding is very complex, and is particularly susceptible to the influence of the motion trajectory to generate virtual-real combined asynchrony, which affects the experience effect of the tourists, so that a relatively high synchronism between the motion trajectory of the rail car and the given story line is required.
In order to solve the problem of synchronism of the movement track of the rail car and the story line, the applicant researches and applies a synchronization method of the movement track of the multi-axis linkage rail car (application number is 2019), and controls the advancing deviation of the rail car within a reasonable range by performing weighted average modeling on the movement track of a walking shaft of the rail car and key point compensation of a walking mechanism, thereby reducing the asynchronous influence of the movement of the rail car and the story line; and an S-shaped curve acceleration and deceleration algorithm is adopted to ensure the smoothness and continuity of the running track of the rail car and enhance the experience effect.
However, when the weighted average modeling and the key point compensation are carried out, the modeling and the compensation are carried out after the integral of the rail car running routes of all the areas on the site is scaled in equal proportion. Because the radian conditions of all areas of the on-site track are inconsistent, the integral zooming method cannot take into account a plurality of areas, and particularly when resistance and slippage occur, the subsequent motion track cannot be synchronized with the on-site environment.
In addition, because the input information sequence of the walking part needs to be completely read according to the action code, the execution of the walking part is in coordination and synchronization with other six-degree-of-freedom shafts and the rotating shaft, and the walking part cannot be independently positioned, so that the synchronization of the execution of the walking part, the rotating part and the six-degree-of-freedom part with the field environment can be ensured, and the problem of the synchronization of the motion track and the field environment is finally solved.
Therefore, those skilled in the art are devoted to develop a method for synchronizing the motion tracks of the multi-axis linkage railcar based on local modeling, so as to improve the synchronism of the walking track of the railcar and the given story line.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for synchronizing the motion trail of a multi-axis linkage rail car based on local modeling so as to solve the problems in the background technology.
In order to solve the above problems, the present invention provides a method for synchronizing a motion trajectory of a multi-axis linked railcar based on local modeling, which at least comprises:
step 1: acquiring the parameters of a traveling mechanism of a rail car motion system, and establishing a mathematical model for the traveling mechanism of the rail car;
step 2: dividing the rail vehicle travelling track into a plurality of areas, and independently carrying out local modeling on the rail vehicle travelling track of each area by a least square method on the basis of a mathematical model established by Step 1;
step 3: on the basis of Step2 least square local modeling, difference compensation is carried out on key points of each area through a table look-up method, and the travelling route of the rail car is compensated through an S-shaped curve acceleration and deceleration algorithm, so that the fluency of a travelling mechanism of the rail car is ensured, and the fluency of the travelling track of the rail car is ensured.
Further, in Step1, the traveling mechanism of the rail car motion system at least includes a control PLC, a servo driver, a servo motor, a traveling reducer, a clamping traveling wheel, a guide rail, and an auxiliary element.
Further, in Step2, the position information of the rail car running track is calibrated and read in the form of a two-dimensional code.
Further, in Step2, the division of the rail car running track is divided in the form of dividing the two-dimensional code position equally, and each divided two-dimensional code position is modeled by the least square method.
Further, in Step2, the implementation Step of local modeling by using the least square method at least includes:
step 20: sending a specified control rail car to run at a constant speed in a full field, acquiring feedback data and two-dimensional code position information of a servo driver of a running part of the rail car in real time through a control PLC, and storing the feedback data and the two-dimensional code position information in a TXT (transmission X-ray transform) file mode;
step 21: exporting the TXT file stored in Step20 from the control PLC;
step 22: segmenting data through equally dividing two-dimensional code positions, and performing least square method identification on each segment of area, wherein an independent variable identified by the least square method is a difference value of feedback data of a servo driver of a walking part, and a dependent variable is corresponding two-dimensional code position information to obtain a motion model of each segment of area;
step 23: after data is segmented, the initial position value of each segment is used as a key word, and a table is established with corresponding motion model parameters so as to be convenient to search.
Further, due to uncertainty factors of the rail, the rail car and other field devices, key point compensation needs to be added on the basis of least square local modeling to ensure that the error of each section of area is compensated in subsequent movement, and the compensation method at least comprises the following steps:
step 30: importing a table obtained by the least square method local modeling in Step2 into a control PLC, wherein the key words of the table are initial position values of each section, and the table contains model parameters of the local modeling;
step 31: the rail car moves according to the set action code, actual two-dimensional code data are read, and if the actual two-dimensional code data are larger than the initial position value of a certain section of area in the table and smaller than or equal to the initial value of the next section of area, the motion model parameters of the section of area are used;
step 32: observing the actual effect in real time during the movement of the rail car, and recording the motion code data corresponding to the initial position of each section of area after the effect is stable;
step 33: the action code serial number corresponding to the initial position of each section and the position data of the walking part are added into the table of the PLC to complete table filling;
step 34: when the rail car moves, each section of initial position is reached, whether the actual action code serial number is consistent with the serial number in the table or not is calculated, and otherwise, the difference value of the set position and the actual position data is calculated;
step 35: in a new position segment, the previous position difference value is decomposed by using an S-shaped curve acceleration and deceleration algorithm, and then the position difference value is superposed into subsequent motion data in a carrier wave mode, so that the synchronism of the motion track is ensured.
Further, the position information of the two-dimensional code of the key point of the rail car is read by reading the optical code reader.
Further, in Step35, the implementation method of the S-shaped curve acceleration and deceleration algorithm is as follows:
step 350: an S-shaped curve acceleration and deceleration algorithm is used, and the formula is as follows:
Y＝A+B/(1+e-ax+b)
in the formula, A, B, a and B are constants respectively and represent translation and lifting in the directions of an X axis and a Y axis;
step 351: in actual useAssuming that the configured coefficients are fixed values, the above X isiData Y corresponding to frameiAll are stored in a control PLC;
step 352: after the movement starts, detecting that the starting position of a certain section of area has a position difference value, and superposing Yi、Yi+1、Yi+2..Yi+nUntil the superimposed value is greater than or equal to the error value;
step 353: if the starting position of a certain section of subsequent area has a position difference value, Y is continuously superposedi+n+1..
Step 354: if a cycle is over, Y is superimposed again1、Y2..
The present invention also provides a computer-readable storage medium in which a program is stored, which, when executed, can perform the aforementioned method of synchronizing the trajectory of a railcar motion in which the local modeling is performed based on the least square method and the key point compensation is performed by the table look-up method.
By implementing the method for synchronizing the motion trail of the multi-axis linkage railcar based on the local modeling, the method has the following technical effects:
(1) according to the technical scheme, the rail car running track is divided into areas, each divided area is modeled and compensated locally, rail car running errors caused by local uncertain factors of the track during integral modeling and compensation are avoided, the running precision of the rail car is further improved, and the synchronism of the rail car running and story lines is improved;
(2) according to the technical scheme, error comparison is carried out through a table look-up method, real-time difference compensation is carried out, the synchronism of the walking part and the field environment is guaranteed, and the synchronism of the rotation and six-degree-of-freedom part and the field environment is guaranteed due to the fact that an input information sequence of the walking part is completely read according to the action code, and the problems of the synchronism of the motion track and the field environment are solved finally;
(3) the technical scheme performs the operation track synchronization of the rail car by using a local modeling and key point compensation method of a least square method, has self-balancing error capability, and meets the industrial requirement of dark riding;
(4) the rail vehicle running tracks designed based on the technical scheme are synchronous, so that the coordination consistency of the rail vehicle running and the story line is effectively improved, and the activity impression of an experiencer is enhanced;
(5) in the technical scheme, the key point compensation adopts an S-shaped curve acceleration and deceleration algorithm to control the difference value within a reasonable range, so that the smoothness and continuity of the running track of the rail car are effectively guaranteed, and the experience effect is enhanced.
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The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
FIG. 1 is a schematic view of a dark ride vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of the railcar travel guidance system of FIG. 1;
fig. 3 is a diagram illustrating a situation that a code reader reads the position of a track car according to an embodiment of the present invention.
In the figure:
1. a rail car; 10. a driven wheel; 11. a guide rail; 12. a trolley line; 13. a clamping wheel; 14. a clamping cylinder; 15. a driving wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The specific embodiment provides a method for synchronizing motion tracks of a multi-axis linkage rail car based on local modeling, which at least comprises the following steps:
step 1: acquiring the parameters of a traveling mechanism of a rail car motion system, and constructing a mathematical model for a transmission, wherein the traveling mechanism of the rail car motion system at least comprises a control PLC, a servo driver, a servo motor, a traveling speed reducer, a clamping traveling wheel, a guide rail and an auxiliary element;
step 2: the method comprises the steps that position information of a rail car running track is calibrated and read in a two-dimensional code mode, the obtained position information of the two-dimensional code is divided into a plurality of areas in equal parts, and local modeling is independently carried out on the rail car running track in each area through a least square method on the basis of a mathematical model established by Step 1;
step 3: due to uncertainty factors of the rail, the rail car and other field devices, key point compensation needs to be added on the basis of Step2 least square local modeling to ensure that errors of each section of area are compensated in subsequent movement, difference compensation is performed on key points of each area through a table look-up method, and the rail car travelling route is compensated through an S-shaped curve acceleration and deceleration algorithm to ensure the fluency of a rail car travelling mechanism and the fluency of the rail car travelling track.
Here, technical terms among the above schemes are explained:
① least squares method, the best function match of the data is found by minimizing the sum of the squares of the errors, mainly for motion curve fitting.
② partial modeling, the actual track is divided into a number of segments of a particular length, each segment being modeled separately.
③ table look-up method, wherein each segment of motion model of local modeling and position measurement data of the last frame of each segment are compiled into a table for real-time search.
Based on the above method, the following examples are used to describe the technical solution of the present invention in detail.
As shown in fig. 1-2, the dark riding railcar 1 is provided with a walking guide system, the walking guide system at least comprises a control PLC, a clamping wheel 13, a clamping cylinder 14, a driving wheel 15, a servo motor, a walking reducer, a driven wheel 10, a guide track 11, a trolley line 12 and other auxiliary elements, and the railcar structure belongs to the existing structure and is not described in detail herein.
The mathematical model for the running mechanism of the motion system of the rail car can be represented by the following formula:
Pi＝G(·)*A(xi) (formula 1)
In the formula, PiRepresenting the number of movement turns of the walking servo motor, G (-) representing the walking mechanism parameter, xiWalking axis information, A (x), of line i in motion file representing predetermined story linei) And representing a conversion model of the walking data in the action file and the number of turns of the actual motor.
In an actual dark riding railcar system, a PLC, a clamping wheel 13, a servo motor and a speed reducer are controlled to be standard equipment in a traveling system, and although a driven wheel 10 and a driving wheel 15 are nonstandard equipment, the perimeter difference between individuals cannot exceed +/-5%; the change of the length of the whole track can be ignored along with the change of the walking track, so that the analysis can be carried out by using a one-dimensional equation model.
However, due to the limitations of the clamping walking scheme and the two-dimensional code position information tape-sticking installation scheme, and the practical difference of products is considered, the average value of the system error proportionality coefficient needs to be increased to describe the input and output relation of the rail car walking:
here, PiRepresenting the number of turns, x, of the movement of the walking servomotoriX is 0 or more than x, representing position data of the walking axis in the motion filei≥10000，LmaxRepresents the actual range of motion, L, of the walking axis of the motion filemaxThe unit is mm, 10000 is the actual walking coefficient, S represents the perimeter of the clamped walking wheel, the unit of S is mm, and R represents the reduction ratio of the walking reducer.
Because the radians of each region of the on-site orbit are not consistent, the unified modeling of all experience regions can not effectively reflect the orbit characteristics of all regions, the on-site orbit is divided into a plurality of equally-divided small blocks, each segment of region is modeled by a least square method, and the method mainly comprises the following steps:
step1, sending a command to enable the rail car to run at a constant speed in a full field, acquiring feedback data and two-dimensional code position information of a servo driver of a walking part in real time by controlling a PLC (programmable logic controller), and storing the feedback data and the two-dimensional code position information in a TXT (transmission X-ray) file mode;
step2, exporting the TXT file in the step1 from the PLC;
3, segmenting data by equally dividing two-dimensional code positions (for example, 50 cm/segment), identifying each segment of area by using a fit (x, y, n) function of MATLAB by a least square method, wherein the identified independent variable is the difference value of feedback data of a servo driver of a walking part, and the dependent variable is the corresponding two-dimensional code position information to obtain a motion model of each segment of area;
and 4, segmenting the data, and establishing a table with the corresponding motion model parameters by taking the initial position value of each segment as a keyword, so as to facilitate searching.
Due to uncertainty factors of the track, the rail car and other field devices, key point compensation needs to be added on the basis of least square local modeling to ensure that the error of each section of area is compensated in subsequent movement, and the formula after compensation is
In the formula, ω represents a key point compensation value and is a dynamic value.
The table lookup difference compensation method comprises the following steps:
step1, importing a table obtained by local modeling of a least square method into a control PLC, wherein keywords of the table are initial position values of each section, and the table also comprises local motion model parameters;
step2, the rail car moves according to the set action code, actual two-dimensional code data are read through an optical code reader (as shown in figure 3, which is a reading position schematic diagram of the optical code reader), and if the actual two-dimensional code data are larger than the initial position value of a certain section in the table and smaller than or equal to the initial value of the next section, the motion model parameters of the section are used;
step3, observing the actual effect in real time in the moving process of the rail car, and recording the motion code data corresponding to the initial position of each section after the effect is stable;
step 4, controlling a table in the PLC to add the action code serial number corresponding to the initial position of each section and the position data of the walking part to complete table filling;
5, in the moving process of the rail car, when each section of initial position is reached, calculating whether the serial number of the actual action code is consistent with the serial number in the table or not, and otherwise, calculating the difference value of the data of the set position and the actual position;
and 6, in a new position segment, decomposing the previous position difference value by using an S-shaped curve acceleration and deceleration algorithm, and then superposing the position difference value to subsequent motion data in a carrier wave form to ensure the synchronism of the motion track. Further, the position information of the two-dimensional code of the key point of the rail car is read by reading the optical code reader.
The S-shaped curve acceleration and deceleration algorithm is realized by the following steps:
step1, using an S-shaped curve acceleration and deceleration algorithm, wherein the formula is as follows:
Y＝A+B/(1+e-ax+b) (formula 4)
In the formula, A, B, a and B are constants respectively and represent translation and lifting in the X-axis and Y-axis directions;
step2, in actual use, assuming that the configured coefficient is a fixed value, and dividing the value by XiData Y corresponding to frameiAll are stored in the PLC;
step3, after the movement starts, a position difference value is detected at a certain section of starting position, and Y is superposedi、Yi+1、Yi+ 2..Yi+nUntil the superimposed value is greater than or equal to the error value;
step 4, if a certain section of subsequent initial position has a position difference value, continuously superposing Yi+n+1..
Step 5, if a cycle is finished, superposing Y again1、Y2..
It is to be understood that unless otherwise defined, technical or scientific terms used herein have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any uses or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the present invention is not limited to the structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. The method for synchronizing the motion trail of the multi-axis linkage rail car based on local modeling is characterized by at least comprising the following steps:
step 1: acquiring the parameters of a traveling mechanism of a rail car motion system, and establishing a mathematical model for the traveling mechanism of the rail car;
step 2: dividing the rail vehicle traveling track into a plurality of areas, and carrying out local modeling on the rail vehicle traveling track of each area by a least square method on the basis of a mathematical model established by Step 1;
step 3: on the basis of Step2 least square local modeling, difference compensation is carried out on key points of each area through a table look-up method, and the travelling route of the rail car is compensated through an S-shaped curve acceleration and deceleration algorithm, so that the fluency of a travelling mechanism of the rail car is ensured, and the fluency of the travelling track of the rail car is ensured.
2. The synchronization method as claimed in claim 1, wherein in Step1, the traveling mechanism of the rail car moving system comprises at least a control PLC, a servo driver, a servo motor, a traveling reducer, a gripping traveling wheel, a guide rail and an auxiliary member.
3. The synchronization method as claimed in claim 1, wherein the position information of the rail car running track is calibrated and read in the form of a two-dimensional code at Step 2.
4. The synchronization method as claimed in claim 3, wherein in Step2, the division of the rail car running track is divided in the form of equally dividing two-dimensional code positions, and each divided two-dimensional code position is modeled by a least square method.
5. The synchronization method of claim 4, wherein the Step of local modeling using least squares in Step2 comprises at least:
step 20: sending a specified control rail car to run at a constant speed in a full field, acquiring feedback data and two-dimensional code position information of a servo driver of a running part of the rail car in real time through a control PLC, and storing the feedback data and the two-dimensional code position information in a TXT (transmission X-ray transform) file mode;
step 21: exporting the TXT file stored in Step20 from the control PLC;
step 22: segmenting data through equally dividing two-dimensional code positions, and performing least square method identification on each segment of area, wherein an independent variable identified by the least square method is a difference value of feedback data of a servo driver of a walking part, and a dependent variable is corresponding two-dimensional code position information to obtain a motion model of each segment of area;
step 23: after data is segmented, the initial position value of each segment is used as a key word, and a table is established with corresponding motion model parameters so as to be convenient to search.
6. The synchronization method of claim 1, wherein due to uncertainty factors of the rail, rail car, and other field devices, a key point compensation is added based on least squares local modeling to ensure that the error of each segment will be compensated in subsequent motion, the compensation method comprising at least the steps of:
step 30: importing a table obtained by the least square method local modeling in Step2 into a control PLC, wherein the key words of the table are initial position values of each section, and the table contains model parameters of the local modeling;
step 31: the rail car moves according to the set action code, actual two-dimensional code data are read, and if the actual two-dimensional code data are larger than the initial position value of a certain section of area in the table and smaller than or equal to the initial value of the next section of area, the motion model parameters of the section of area are used;
step 32: observing the actual effect in real time during the movement of the rail car, and recording the motion code data corresponding to the initial position of each section of area after the effect is stable;
step 33: the action code serial number corresponding to the initial position of each section and the position data of the walking part are added into the table of the PLC to complete table filling;
step 34: when the rail car moves, each section of initial position is reached, whether the actual action code serial number is consistent with the serial number in the table or not is calculated, and otherwise, the difference value of the set position and the actual position data is calculated;
step 35: in a new position segment, the previous position difference value is decomposed by using an S-shaped curve acceleration and deceleration algorithm, and then the position difference value is superposed into subsequent motion data in a carrier wave mode, so that the synchronism of the motion track is ensured.
7. The synchronization method of claim 6, wherein the position information of the two-dimensional code of the key points of the rail car is read by reading an optical code reader.
8. The synchronization method of claim 6, wherein in Step35, the S-shaped curve acceleration and deceleration algorithm is implemented by:
step 350: an S-shaped curve acceleration and deceleration algorithm is used, and the formula is as follows:
Y＝A+B/(1+e-ax+b)
in the formula, A, B, a and B are constants respectively and represent translation and lifting in the directions of an X axis and a Y axis;
step 351: in actual use, assuming that the configured coefficient is a fixed value, the above XiData Y corresponding to frameiAll are stored in a control PLC;
step 352: after the movement starts, detecting that the starting position of a certain section of area has a position difference value, and superposing Yi、Yi+1、Yi+2..Yi+nUntil the superimposed value is greater than or equal to the error value;
step 353: if a certain one followsIf the initial position of the segment area has a position difference value, Y is continuously superposedi+n+1..
Step 354: if a cycle is over, Y is superimposed again1、Y2..。
9. A computer-readable storage medium, in which a program is stored, which when executed performs a synchronization method of multi-axis linked railcar trajectories based on a least squares method for local modeling and a table lookup method for key point compensation according to any of the preceding claims 1-8.
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