CN111761584A - Closed-loop control system with reference points, closed-loop control method with reference points, moving robot and medium - Google Patents
Closed-loop control system with reference points, closed-loop control method with reference points, moving robot and medium Download PDFInfo
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- CN111761584A CN111761584A CN202010693693.2A CN202010693693A CN111761584A CN 111761584 A CN111761584 A CN 111761584A CN 202010693693 A CN202010693693 A CN 202010693693A CN 111761584 A CN111761584 A CN 111761584A
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- trigger
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- photoelectric switch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
Abstract
The invention provides a closed-loop control system with a reference point, a closed-loop control method, a motion robot and a medium, wherein the closed-loop control system comprises: the device comprises a motor, a moving piece, a first photoelectric switch, a second photoelectric switch, a first trigger piece and a second trigger piece; the first trigger comprises a plurality of trigger structures and the second trigger comprises one or more trigger structures; the first trigger piece is arranged on a rotating shaft of the motor and synchronously rotates along with the rotating shaft of the motor, and the transmitting end and the receiving end of the first photoelectric switch are positioned on one side or two sides of the first trigger piece; the moving part is in driving connection with a rotating shaft of the motor, the second trigger part is connected to the moving part, and the transmitting end and the receiving end of the second photoelectric switch are located on one side or two sides of the second trigger part. The closed-loop control system with the reference point can realize accurate control of speed and output shaft position, and is simple and convenient.
Description
Technical Field
The invention relates to the technical field of closed-loop control, in particular to a closed-loop control system with a reference point, a closed-loop control method with a reference point, a mobile robot and a medium.
Background
In the prior art, a photoelectric sensor is generally used in a robot, an aircraft, an unmanned vehicle, and other devices to measure the distance, direction, and the like of an obstacle.
However, the conventional measuring instrument cannot accurately control the speed and the position of the moving part.
Patent document CN206609891U (application number: 201720117462.0) discloses an optoelectronic speed sensor, which includes: the code disc comprises a plurality of coaxial rotating rings, each rotating ring comprises physical grids and grid gaps located between the physical grids, and each rotating ring is provided with at least one photoelectric switch. Because the number of the turns is multiple, and each turn is provided with one light spot switch, in the process that the rotating shaft rotates for one turn, the calculation can be carried out for multiple times through the multiple turns, and the calculation precision is improved through the increase of the calculation times.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a closed-loop control system with a reference point, a method, a moving robot and a medium.
Referring to fig. 1 and fig. 2, the closed-loop control system with reference points according to the present invention includes: the device comprises a motor, a moving piece, a first photoelectric switch, a second photoelectric switch, a first trigger piece and a second trigger piece;
the first trigger comprises a plurality of trigger structures and the second trigger comprises one or more trigger structures;
the first trigger piece is arranged on a rotating shaft of the motor and synchronously rotates along with the rotating shaft of the motor, and the transmitting end and the receiving end of the first photoelectric switch are positioned on one side or two sides of the first trigger piece;
the moving part is in driving connection with a rotating shaft of the motor, the second trigger part is connected to the moving part, and the transmitting end and the receiving end of the second photoelectric switch are located on one side or two sides of the second trigger part.
Preferably, the first trigger piece or the second trigger piece comprises a code wheel, and the trigger structure comprises a trigger hole or a trigger rod.
Preferably, the device further comprises a controller;
the first photoelectric switch outputs a first signal with corresponding frequency to the controller along with the rotation of the first trigger piece, and the second photoelectric switch outputs a second signal with corresponding frequency to the controller according to the rotation of the second trigger piece;
the motor carries out speed control through PWM waves, the controller calculates the actual rotating speed of the motor according to the frequency of the first signal, and the duty ratio of the PWM waves is adjusted according to the actual rotating speed, so that the actual rotating speed of the motor is consistent with the preset rotating speed.
Preferably, the device further comprises a controller;
and the controller calculates the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the time of being triggered to the time of being triggered for the next n times, wherein n is the number of trigger structures on the second trigger part, so that the rotation position of the moving part can be controlled.
Preferably, the first or second photoelectric switch comprises a reflective photoelectric switch or a groove-type photoelectric switch.
According to the closed-loop control method with the reference point, which is provided by the invention, the closed-loop control system with the reference point is adopted to execute any one or more of the following steps:
and a rotating speed adjusting step: calculating the actual rotating speed of the motor according to the frequency of the signal output by the first photoelectric switch, and adjusting a speed control signal input into the motor according to the actual rotating speed to enable the actual rotating speed of the motor to be consistent with a preset rotating speed;
adjusting the rotating position: and calculating the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the triggering to the next n triggering processes, wherein n is the number of trigger structures on the second trigger part, so that the moving part is controlled to rotate to a required position.
Preferably, the first trigger piece or the second trigger piece comprises a code wheel, and the trigger structure comprises a trigger hole or a trigger rod.
Preferably, the speed control signal includes a PWM wave, and the controller adjusts a duty ratio of the PWM wave according to the actual rotation speed, so that the actual rotation speed of the motor is consistent with a preset rotation speed.
According to the invention, the moving robot comprises the closed-loop control system with the reference point.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above.
Compared with the prior art, the invention has the following beneficial effects:
1. the closed-loop control system with the reference point can realize accurate control of speed;
2. according to the invention, the rotating position is adjusted, so that the position is accurately controlled.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a sensor according to the present invention;
FIG. 2 is a schematic diagram of a sensor according to the present invention;
in the figure, 1-code disc; 2-trigger lever.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
according to the present invention, there is provided a closed loop control system with a reference point, comprising: the device comprises a motor, a moving piece, a first photoelectric switch, a second photoelectric switch, a first trigger piece and a second trigger piece;
the first trigger comprises a plurality of trigger structures and the second trigger comprises one or more trigger structures;
the first trigger piece is arranged on a rotating shaft of the motor and synchronously rotates along with the rotating shaft of the motor, and the transmitting end and the receiving end of the first photoelectric switch are positioned on one side or two sides of the first trigger piece;
the moving part is in driving connection with a rotating shaft of the motor, the second trigger part is connected to the moving part, and the transmitting end and the receiving end of the second photoelectric switch are located on one side or two sides of the second trigger part.
Preferably, the first trigger piece or the second trigger piece comprises a code wheel 1, and the trigger structure comprises a trigger hole or a trigger rod 2.
Preferably, the device further comprises a controller;
the first photoelectric switch outputs a first signal with corresponding frequency to the controller along with the rotation of the first trigger piece, and the second photoelectric switch outputs a second signal with corresponding frequency to the controller according to the rotation of the second trigger piece;
the motor carries out speed control through PWM waves, the controller calculates the actual rotating speed of the motor according to the frequency of the first signal, and the duty ratio of the PWM waves is adjusted according to the actual rotating speed, so that the actual rotating speed of the motor is consistent with the preset rotating speed.
Preferably, the device further comprises a controller;
and the controller calculates the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the time of being triggered to the time of being triggered for the next n times, wherein n is the number of trigger structures on the second trigger part, so that the rotation position of the moving part can be controlled.
Preferably, the first or second photoelectric switch comprises a reflective photoelectric switch or a groove-type photoelectric switch.
According to the closed-loop control method with the reference point, which is provided by the invention, the closed-loop control system with the reference point is adopted to execute any one or more of the following steps:
and a rotating speed adjusting step: calculating the actual rotating speed of the motor according to the frequency of the signal output by the first photoelectric switch, and adjusting a speed control signal input into the motor according to the actual rotating speed to enable the actual rotating speed of the motor to be consistent with a preset rotating speed;
adjusting the rotating position: and calculating the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the triggering to the next n triggering processes, wherein n is the number of trigger structures on the second trigger part, so that the moving part is controlled to rotate to a required position.
Preferably, the first trigger piece or the second trigger piece comprises a code wheel 1, and the trigger structure comprises a trigger hole or a trigger rod 2.
Preferably, the speed control signal includes a PWM wave, and the controller adjusts a duty ratio of the PWM wave according to the actual rotation speed, so that the actual rotation speed of the motor is consistent with a preset rotation speed.
According to the invention, the moving robot comprises the closed-loop control system with the reference point.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above.
Example 2:
according to the present invention, there is provided a closed loop control system with a reference point, comprising:
a closed loop control system with reference points, comprising: the device comprises a motor, a coded disc 1, a trigger rod 2, a reflective photoelectric switch and a groove-type photoelectric switch;
the coded disc 1 is arranged on a rotating shaft of the motor, and the coded disc 1 rotates along with the motor when the motor rotates;
the coded disc 1 is embedded in a groove-shaped photoelectric switch arranged on a circuit board;
the reflective photoelectric switch is arranged at the output shaft of the circuit board gearbox;
the trigger rod 2 is arranged at an output shaft of the gearbox.
Preferably, the motor is a direct current motor, and speed control is performed in a PWM manner.
Preferably, the photoelectric switch outputs square wave signals with different frequencies to the singlechip along with the rotation of the code disc 1;
the single chip microcomputer calculates the current motor rotating speed according to the frequency of the square wave signal.
Preferably, the current motor speed is fed back to a control algorithm to adjust the duty ratio of the PWM wave to realize the speed regulation of the motor, and the current motor speed is regulated to be consistent with the set motor speed through a feedback regulation system.
The closed-loop control method with the reference point provided by the invention comprises the following steps:
step 1: when the trigger rod 2 rotates to the upper part of the reflection-type photoelectric switch along with the gearbox output shaft, the reflection-type photoelectric switch outputs a conducting signal; on the contrary, the reflective photoelectric switch outputs a signal of turn-off;
when the reflective photoelectric switch outputs a conducting signal, setting the position of the trigger rod 2 as a zero reference point;
step 2: according to the code disc 1 and a zero reference point, the number of times that the code disc 1 triggers the photoelectric switch signal when the output shaft rotates for a circle is determined, and the number of turns of the output shaft corresponding to the reflection type photoelectric switch when the rotating shaft rotates to any position with the interval of the code disc 1 as the minimum unit is calculated by taking the zero reference point as a starting point.
Preferably, the groove-type photoelectric switch and the reflection-type photoelectric switch have a proportional relation on the number of turns, and the groove-type photoelectric switch records the number of turns of the rotating shaft.
Preferably, the motor is a direct current motor, and speed control is performed in a PWM manner.
Preferably, the photoelectric switch outputs square wave signals with different frequencies to the singlechip along with the rotation of the code disc 1;
the single chip microcomputer calculates the current motor rotating speed according to the frequency of the square wave signal.
Preferably, the current motor speed is fed back to a control algorithm to adjust the duty ratio of the PWM wave to realize the speed regulation of the motor, and the current motor speed is regulated to be consistent with the set motor speed through a feedback regulation system.
After a control system is electrified, a motor instruction is given, the motor rotates to drive a code wheel 1 on the motor to synchronously rotate, a groove type photoelectric switch starts to record the number of turns, an output shaft of a motor gearbox drives a trigger rod 2 of a gearbox output end sensor to synchronously rotate, a reflection type photoelectric switch starts to record the number of turns of the gearbox output shaft, the reflection type photoelectric switch rotates for one turn (or half turn, 90 degrees and is not limited to a certain angle), and the reflection type photoelectric switch records one number.
The coded disc 1 has 36 slot positions, namely 10 degrees of rotation, the groove-shaped photoelectric switch records one number, the coded disc 1 rotates one circle, and the groove-shaped photoelectric switch records 36 numbers.
Position accuracy: the groove type photoelectric switch and the reflection type photoelectric switch have a proportional relation on the number of turns, and the number of turns of the output shaft corresponding to the reflection type photoelectric switch can be obtained all the time because the groove type photoelectric switch records the number of turns all the time, so that the position precision is realized.
Speed precision: the singlechip calculates the current motor speed through the signal frequency output by the photoelectric switch.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A closed loop control system with a reference point, comprising: the device comprises a motor, a moving piece, a first photoelectric switch, a second photoelectric switch, a first trigger piece and a second trigger piece;
the first trigger comprises a plurality of trigger structures and the second trigger comprises one or more trigger structures;
the first trigger piece is arranged on a rotating shaft of the motor and synchronously rotates along with the rotating shaft of the motor, and the transmitting end and the receiving end of the first photoelectric switch are positioned on one side or two sides of the first trigger piece;
the moving part is in driving connection with a rotating shaft of the motor, the second trigger part is connected to the moving part, and the transmitting end and the receiving end of the second photoelectric switch are located on one side or two sides of the second trigger part.
2. The closed-loop control system with reference point of claim 1, wherein said first trigger or said second trigger comprises a code wheel and said trigger structure comprises a trigger hole or a trigger lever.
3. The closed-loop control system with reference point of claim 1, further comprising a controller;
the first photoelectric switch outputs a first signal with corresponding frequency to the controller along with the rotation of the first trigger piece, and the second photoelectric switch outputs a second signal with corresponding frequency to the controller according to the rotation of the second trigger piece;
the motor carries out speed control through PWM waves, the controller calculates the actual rotating speed of the motor according to the frequency of the first signal, and the duty ratio of the PWM waves is adjusted according to the actual rotating speed, so that the actual rotating speed of the motor is consistent with the preset rotating speed.
4. The closed-loop control system with reference point of claim 1, further comprising a controller;
and the controller calculates the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the time of being triggered to the time of being triggered for the next n times, wherein n is the number of trigger structures on the second trigger part, so that the rotation position of the moving part can be controlled.
5. The closed-loop control system with reference point of claim 1, wherein the first opto-electronic switch or the second opto-electronic switch comprises a reflective opto-electronic switch or a slot opto-electronic switch.
6. A closed-loop control method with a reference point, characterized in that, by using the closed-loop control system with a reference point of claim 1, any one or more of the following steps are executed:
and a rotating speed adjusting step: calculating the actual rotating speed of the motor according to the frequency of the signal output by the first photoelectric switch, and adjusting a speed control signal input into the motor according to the actual rotating speed to enable the actual rotating speed of the motor to be consistent with a preset rotating speed;
adjusting the rotating position: and calculating the corresponding relation between two adjacent trigger structures on the first trigger part and the rotation angle of the rotating part according to the number of times that the second photoelectric switch is triggered from the triggering to the next n triggering processes, wherein n is the number of trigger structures on the second trigger part, so that the moving part is controlled to rotate to a required position.
7. The closed-loop control method with reference point of claim 6, wherein said first or second trigger piece comprises a code wheel and said trigger structure comprises a trigger hole or a trigger lever.
8. The closed-loop control method with reference point as claimed in claim 6, wherein the speed control signal comprises a PWM wave, and the controller adjusts a duty ratio of the PWM wave according to the actual rotation speed to make the actual rotation speed of the motor coincide with a preset rotation speed.
9. A mobile robot, characterized in that it comprises a closed-loop control system with reference points according to any one of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 6 to 8.
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| CN202010693693.2A CN111761584A (en) | 2020-07-17 | 2020-07-17 | Closed-loop control system with reference points, closed-loop control method with reference points, moving robot and medium |
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| CN202010693693.2A CN111761584A (en) | 2020-07-17 | 2020-07-17 | Closed-loop control system with reference points, closed-loop control method with reference points, moving robot and medium |
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2020
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