CN112506241B - Force application member control method, force application member control device, constant force system, medium, and electronic device - Google Patents
Force application member control method, force application member control device, constant force system, medium, and electronic device Download PDFInfo
- Publication number
- CN112506241B CN112506241B CN202011458098.7A CN202011458098A CN112506241B CN 112506241 B CN112506241 B CN 112506241B CN 202011458098 A CN202011458098 A CN 202011458098A CN 112506241 B CN112506241 B CN 112506241B
- Authority
- CN
- China
- Prior art keywords
- force
- voltage signal
- actual
- component
- acting force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004659 sterilization and disinfection Methods 0.000 abstract description 10
- 238000002955 isolation Methods 0.000 abstract description 7
- 238000009413 insulation Methods 0.000 abstract description 6
- 230000001954 sterilising effect Effects 0.000 abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 230000005236 sound signal Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The disclosure relates to a force application member control method, a force application member control device, a constant force system, a medium and an electronic device. The method comprises the following steps: converting the analog voltage signal into a digital voltage signal; when an elastic element is arranged at a position on the abutting component, which is abutted against the stress point, the deformation quantity of the elastic element is obtained; determining an actual force applied by the force application member to the abutment member based on the digital voltage signal and the amount of deformation; and carrying out PID control on the force application component according to the actual acting force and the preset acting force. Like this, can guarantee the degree of accuracy of actual effort, and then realize the accurate control of application of force component for the effort that the application of force component was applyed to the butt component reaches and keeps presetting the effort, thereby makes the butt component applyed on the stress point with presetting the effort, can guarantee the invariable predetermined effort of constant force system output, in order to satisfy the operation demand that needs the constant force output. In addition, the constant force system can be used in special scenes such as water resistance, isolation, heat insulation, vacuum, disinfection and sterilization.
Description
Technical Field
The disclosure relates to the field of mechanical control, and in particular to a force application member control method and device, a constant force system, a medium and an electronic device.
Background
At this stage, in order to reduce the detection error of the pressure sensor in the constant force system for providing the constant force, the pressure sensor is usually mounted on a rigid connection contacting the force application point and the force receiving point (i.e. arranged in front of the force application point). However, in some specific environments, the pressure sensor is not allowed to be installed on a rigid connection, and even in some special use scenarios, such as water resistance, isolation, heat insulation, vacuum, sterilization, and the like, an elastic material is required to be added between the force application point and the force bearing point for isolation or sealing. At this time, the pressure sensor may be disposed behind the point of application of force, which undoubtedly may introduce an error in the elastic force, resulting in inaccuracy in the applied force actually detected by the pressure sensor. Then, if the controller in the constant force system still performs PID control on the force application member based on the detected acting force, the accuracy of PID control cannot be ensured, so that the acting force applied by the force application member to the force application point cannot reach a constant value expected to be output by the force application member.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a force application member control method, device, constant force system, medium, and electronic apparatus.
In order to achieve the above object, in a first aspect, the present disclosure provides a force application member control method applied to a controller, opposite ends of the force application member are respectively provided with a pressure sensor and an abutment member, the abutment member is used for abutting against a force-receiving point, and the pressure sensor is used for converting a sensed acting force between the abutment member and the force-receiving point into an analog voltage signal and outputting the analog voltage signal to the controller;
the method comprises the following steps:
converting the analog voltage signal into a digital voltage signal;
acquiring the deformation amount of an elastic element under the condition that the elastic element is arranged at the position, abutted against the stress point, of the abutting component;
determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation;
and performing PID control on the force application component according to the actual acting force and a preset acting force, so that the acting force applied to the abutting component by the force application component reaches and is kept at the preset acting force.
Optionally, the determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation comprises:
determining the elastic compensation amount according to the deformation amount;
and determining the actual acting force according to the digital voltage signal and the elastic force compensation quantity.
Optionally, the elastic force compensation amount is determined by the following formula according to the deformation amount:
F b ＝K A ·D 2 +K B ·D+K C
wherein, F b The elastic force compensation amount; d is the deformation amount; k A 、K B 、K C Are all constants;
the actual acting force is determined according to the digital voltage signal and the elastic force compensation quantity through the following formula:
F＝K X ·U+F b
wherein F is the actual force; u is a voltage value corresponding to the digital voltage signal; k is X Is a constant.
Optionally, the performing PID control on the force application member according to the actual acting force and a preset acting force includes:
determining the duty ratio of the force application component according to the actual acting force and the preset acting force;
and performing PID control on the force application member according to the duty ratio.
Optionally, the determining the duty ratio of the force application member according to the actual acting force and the preset acting force includes:
determining an integral coefficient of PID control according to the actual acting force and the preset acting force;
and determining the duty ratio of the force application component according to the actual acting force, the preset acting force and the integral coefficient.
Optionally, the integral coefficient of PID control is determined by the following formula according to the actual acting force and the preset acting force:
wherein, K A Is the integral coefficient; e (k) is the difference between the preset acting force and the actual acting force, and A, B and C are constants; k P Is a proportional parameter in the PID parameter.
Optionally, the method further comprises:
determining an actual force applied by the force application member to the abutment member from the digital voltage signal without the resilient element being provided at the location;
and performing PID control on the force application component according to the actual acting force and the preset acting force so that the acting force applied to the abutting component by the force application component reaches and is kept at the preset acting force.
Optionally, the determining an actual force applied by the force application member to the abutment member from the digital voltage signal by the following formula comprises:
F＝K F ·U+B F
wherein F is the actual acting force; u is a voltage value corresponding to the digital voltage signal; k F 、B F Are all constants.
Optionally, before the step of determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation, the method further comprises:
calibrating the digital voltage signal;
the determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation comprises:
and determining the actual acting force applied to the abutting component by the force applying component according to the digital voltage signal obtained after calibration and the deformation amount.
In a second aspect, the present disclosure provides a force application member control device applied to a controller, wherein opposite ends of the force application member are respectively provided with a pressure sensor and an abutting member, the abutting member is used for abutting against a force receiving point, and the pressure sensor is used for converting sensed acting force between the abutting member and the force receiving point into an analog voltage signal and outputting the analog voltage signal to the controller;
the device comprises:
the conversion module is used for converting the analog voltage signal into a digital voltage signal;
an acquisition module for acquiring a deformation amount of an elastic element provided at a position on the abutting member abutting against the force receiving point;
the determining module is used for determining the actual acting force applied to the abutting component by the force applying component according to the digital voltage signal obtained by the converting module and the deformation quantity obtained by the obtaining module;
and the control module is used for carrying out PID control on the force application component according to the actual acting force and the preset acting force determined by the determination module so as to enable the acting force applied to the abutting component by the force application component to reach and be kept at the preset acting force.
In a third aspect, the present disclosure provides a constant force system comprising:
a force application component, a controller, a pressure sensor and an abutting component which are arranged at the opposite ends of the force application component;
wherein the abutting component is used for abutting with a force bearing point;
the pressure sensor is connected with the controller and used for converting the sensed acting force between the abutting component and the force bearing point into an analog voltage signal and outputting the analog voltage signal to the controller;
the controller, coupled to the force applying member, is configured to perform the steps of the method provided by the first aspect of the present disclosure.
In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
In a fifth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
In the technical scheme, confirm the actual effort that the application of force component applyed to the butt component according to digital voltage signal and deformation volume simultaneously, can guarantee the degree of accuracy of the actual effort of determining, and then realize the accurate PID control of application of force component, make the effort that the application of force component applyed to the butt component reach and keep at preset effort, thereby can make the butt component exert on the stress point with preset effort, can be in order to guarantee the invariable preset effort of constant force system output, in order to satisfy the operation demand that needs the constant force output. In addition, the constant force system can be used in special scenes such as water resistance, isolation, heat insulation, vacuum, disinfection and sterilization.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1A is a schematic diagram illustrating a constant force system according to an exemplary embodiment.
FIG. 1B is a schematic diagram illustrating a constant force system according to another exemplary embodiment.
FIG. 2 is a flow chart illustrating a method of controlling a force applying member according to an exemplary embodiment.
FIG. 3 is a flow chart illustrating a method of controlling a force applying member according to another exemplary embodiment.
FIG. 4 is a block diagram illustrating a force applying member control apparatus according to an exemplary embodiment.
FIG. 5 is a block diagram of an electronic device shown in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
The present disclosure provides a constant force system for providing a constant force, as shown in fig. 1A, comprising: the force application member 1, the controller 2, and the pressure sensor 3 and the abutment member 4 provided at opposite ends of the force application member 1.
In the present disclosure, the urging member 1 is a generation source of an operation reaction of the abutment member 4, wherein the abutment member 4 is for abutment with the force receiving point. The urging member 1 applies an urging force to the abutment member 4, so that the abutment member 4 is exerted on the force receiving point with the urging force. The urging member 1 may be a driving motor, or may be a gas or liquid as an urging device for transmitting power. The abutting component 4 can be a water pressure linkage rod, an air pressure linkage rod and the like.
The pressure sensor 3 is connected with the controller 2 and used for converting the sensed acting force between the abutting component and the stress point into an analog voltage signal and outputting the analog voltage signal to the controller 2; and a controller 2 connected to the urging member 1 for controlling the urging member 1 to apply a constant preset urging force to the abutment member 4 based on the analog voltage signal output from the pressure sensor 3.
In addition, in order to enable the constant system to be used in special environments such as water-proof, isolation, heat insulation, vacuum, sterilization, etc., as shown in fig. 1B, an elastic element 41 may be provided on the abutment member 4 to isolate or seal between the point of application and the point of application. Preferably, the elastic element 41 is detachable, so that the user can select whether to mount the elastic element 41 on the abutment member 4 or not according to the use environment.
A specific embodiment in which the controller controls the urging member to apply the predetermined urging force to the abutment member at a constant value will be described in detail below. Specifically, the controller may control the urging member to apply the constant preset urging force to the abutment member through S201 to S204 shown in fig. 2.
In S201, the analog voltage signal is converted into a digital voltage signal.
In the present disclosure, an analog voltage signal output by the pressure sensor may be collected by an AD converter in the controller and converted into a digital voltage signal.
For example, the AD converter may convert the analog voltage signal into the digital voltage signal by the following equation (1):
wherein U is a voltage value corresponding to the digital voltage signal, U ref Is a reference voltage of the AD converter; x is the number of bits of the AD converter; a. The AD Analog voltage signals collected for the AD converter.
In S202, in the case where an elastic element is provided on the abutment member at a position of abutment with the force receiving point, the amount of deformation of the elastic element is acquired.
In the present disclosure, a strain measuring unit for detecting a strain amount of the elastic element may be provided on the abutment member, so that the strain amount of the elastic element can be acquired by the strain measuring unit.
In S203, an actual urging force applied to the abutment member by the urging member is determined from the digital voltage signal and the amount of deformation.
In S204, PID control is performed on the urging member so that the urging force exerted by the urging member to the abutment member reaches and is maintained at the preset urging force, based on the actual urging force and the preset urging force.
In the technical scheme, confirm the actual effort that the application of force component applyed to the butt component according to digital voltage signal and deformation volume simultaneously, can guarantee the degree of accuracy of the actual effort of determining, and then realize the accurate PID control of application of force component, make the effort that the application of force component applyed to the butt component reach and keep at preset effort, thereby can make the butt component exert on the stress point with preset effort, can be in order to guarantee the invariable preset effort of constant force system output, in order to satisfy the operation demand that needs the constant force output. In addition, the constant force system can be used in special scenes such as water resistance, isolation, heat insulation, vacuum, disinfection and sterilization.
Next, a specific embodiment of determining the actual urging force applied by the urging member to the abutment member based on the digital voltage signal and the amount of deformation in S203 will be described in detail. Specifically, this can be achieved by:
firstly, determining an elastic compensation amount according to a deformation amount; then, the actual acting force is determined according to the digital voltage signal and the elastic force compensation amount.
For example, the elastic force compensation amount may be determined by the following equation (2) according to the deformation amount:
F b ＝K A ·D 2 +K B ·D+K C (2)
wherein, F b The elastic compensation quantity is obtained; d is a deformation amount; k A 、K B 、K C Are all constants.
For example, the actual force can be determined by the following equation (3) according to the digital voltage signal and the elastic force compensation amount:
F＝K X ·U+F b (3)
wherein F is the actual acting force; u is a voltage value corresponding to the digital voltage signal; k X Is a constant.
In addition, the constant K is A 、K B 、K C This may be determined by:
first, 4 equally divided points are selected in the range of the force application stroke, for example, the force application stroke is 0 to L (wherein L is the maximum deformation amount of the elastic element), and L/5, 2L/5, 3L/5, 4L/5 and L are selected as force application position points.
Then, for each force application position point: fixing a high-precision push-pull force meter at the force application position point, then pushing the abutting component to the force application position point, and respectively applying 5 acting forces F1, F2, F3, F4 and F5 to the force application position point, wherein the F1, the F2, the F3, the F4 and the F5 are all positioned in the measuring range [ Fmin, fmax ] of the pressure sensor]Fmin is the minimum pressure exerted on the pressure sensor, fmax is the maximum pressure exerted on the pressure sensor; then, each of the forces F1, F2, F3, F4, and F5 is respectively substituted into the relational expression F = K F ·U+B F (wherein, K F 、B F All are constants), the voltage corresponding to each acting force, namely U1, U2, U3, U4 and U5, is obtained. Thus, 5 voltage-pressure pairs, i.e., (U1, F1), (U2, F2), (U3, F3), (U4, F4), and (U5, F5), are available for each force application location point.
Illustratively, the 5 voltage-pressure pairs corresponding to the force application position point L/5 are (U11, F11), (U12, F12), (U13, F13), (U14, F14), (U15, F15), respectively; the 5 voltage-pressure pairs corresponding to the force application position point 2L/5 are respectively (U21, F21), (U22, F22), (U23, F23), (U24, F24) and (U25, F25); the 5 voltage-pressure pairs corresponding to the force application position point 3L/5 are respectively (U31, F31), (U32, F32), (U33, F33), (U34, F34), (U35, F35); the 5 voltage-pressure pairs corresponding to the force application position point 4L/5 are (U41, F41), (U42, F42), (U43, F43), (U44, F44), (U45, F45), respectively; the 5 voltage-pressure pairs corresponding to the force application position point L are (U51, F51), (U52, F52), (U53, F53), (U54, F54), and (U55, F55), respectively.
Next, for each force application position point, a straight line fitting is performed with 5 voltage-pressure pairs corresponding to the force application position point as coordinate points.
Illustratively, taking 5 voltage-pressure pairs (U11, F11), (U12, F12), (U13, F13), (U14, F14), and (U15, F15) corresponding to the force application position point L/5 as coordinate points, straight line fitting is performed to obtain F 1y ＝K 1 ×U 1X +B 1 (ii) a Using 5 voltage-pressure pairs (U21, F21), (U22, F22), (U23, F23), (U24, F24) and (U25, F25) corresponding to the force application position point 2L/5 as coordinate points to perform straight line fitting to obtain F 2y ＝K 2 ×U 2X +B 2 (ii) a Using 5 voltage-pressure pairs (U31, F31), (U32, F32), (U33, F33), (U34, F34) and (U35, F35) corresponding to the force application position point 3L/5 as coordinate points to perform straight line fitting to obtain F 3y ＝K 3 ×U 3X +B 3 (ii) a Using 5 voltage-pressure pairs (U41, F41), (U42, F42), (U43, F43), (U44, F44) and (U45, F45) corresponding to the force application position point 4L/5 as coordinate points to perform straight line fitting to obtain F 4y ＝K 4 ×U 4X +B 4 (ii) a Using 5 voltage-pressure pairs (U51, F51), (U52, F52), (U53, F53), (U54, F54) and (U55, F55) corresponding to the force application position point L as coordinate points, performing straight line fitting to obtain F 5y ＝K 5 ×U 5X +B 5 。
Finally, with (L/5 1 )、(2L/5，B 2 )、(3L/5，B 3 )、(4L/5，B 4 )、(L，B 5 ) Performing curve fitting for the coordinate point to obtain F b ＝K A ·D 2 +K B ·D+K C Wherein, K is X Is K 1 、K 2 、K 3 、K 4 、K 5 Average value of (a).
In addition, the above relational expression F = K F ·U+B F Can be obtained by the following method:
firstly, a constant maximum pressure Fmax is applied to a pressure sensor, an analog voltage signal output by the pressure sensor is collected through an AD converter in a controller, the analog voltage signal is converted into a digital voltage signal, and a maximum voltage value U corresponding to the digital voltage signal is obtained Fmax (ii) a In the same way, a constant minimum pressure Fmin is applied to the pressure sensor to obtain a corresponding minimum voltage value U Fmin So that 2 voltage-pressure pairs (U) can be obtained Fmin ，Fmin)、(U Fmax Fmax); then with (U) Fmin ，Fmin)、(U Fmax Fmax) as coordinate points, and fitting a straight line to obtain F = K F ·U+B F 。
A specific embodiment of PID control of the urging member based on the actual urging force and the preset urging force in S204 will be described in detail below. Specifically, firstly, the duty ratio of the force application member is determined according to the actual acting force and the preset acting force; then, the biasing member is PID-controlled in accordance with the duty ratio.
In the disclosure, before performing PID control on a force application member, PID parameters including a proportional parameter, an integral parameter and a differential parameter need to be self-tuned, and then the tuned PID parameters are input into a controller, and then the controller performs PID control on the force application member by using the tuned PID parameters. Since the specific manner of the PID parameter self-tuning is well known to those skilled in the art, it is not described in detail in this disclosure.
The following is a detailed description of the specific embodiment of determining the duty ratio of the biasing member based on the actual biasing force and the preset biasing force.
In one embodiment, the duty ratio of the force application member may be determined according to the actual force and the preset force by the following equation (4):
wherein u (k) is the duty cycle of the biasing member; k is the number of times of adjustment of the urging force applied to the abutment member by the urging member; e (k) is the difference value between the preset acting force and the actual acting force; e (k-1) is the difference between the preset acting force and the historical acting force applied to the abutting component by the force applying component last time; k P Proportional parameters in PID parameters; k I Is an integral parameter in the PID parameter; k D Is a differential parameter in the PID parameters.
In the above embodiment, since the control of the biasing member is performed using the self-tuning PID parameter, the overshoot problem is likely to occur, and for this reason, one integral coefficient may be applied to the integral parameter of the PID control. Specifically, in another embodiment, the integral coefficient of the PID control may be determined according to the actual acting force and the preset acting force; and determining the duty ratio of the force application component according to the actual acting force, the preset acting force and the integral coefficient.
For example, the integral coefficient of the PID control may be determined by the following equation (5) according to the actual acting force and the preset acting force:
wherein, K A Is an integral coefficient; A. both B and C are constants.
For example, the duty ratio of the force application member may be determined by the following equation (6) according to the actual force, the preset force, and the integral coefficient:
further, the above constants a, B, and C may be determined by:
assuming the predetermined force is 60%
For each of the actual applied forces, PID control is performed on the force application member in such a manner that the duty ratio is calculated as shown in the above equation (4), and overshoot amounts Y1, Y2, \8230;, Y10 are obtained.
Then, in
Curve fitting is carried out on the coordinate points to obtain K A ＝Ae 2 (k)+Be(k)+C。
In addition, since the force application member 1 is in a movable state, the gravity of the force application member acts on the pressure sensor 3, thereby affecting the accuracy of the force control, the constant force system may further include an angle sensor for acquiring an angle between a Z-axis (i.e. an axis perpendicular to the ground upward) of the angle sensor and a gravity line of the force application member 1, wherein when the force application member 1 is placed horizontally, the Z-axis of the angle sensor is parallel to the gravity line of the force application member 1, at this time, the angle detected by the angle sensor is zero, and when the force application member 1 is used in an inclined state or perpendicular to the ground, the Z-axis of the angle sensor forms an angle η with the gravity line of the force application member 1, i.e. the angle detected by the angle sensor is η, the force Fx = Fv × cos η applied by the pressure sensor 3 along the axial direction of the force application member 1, where Fv is the gravity of the force application member 1. At the moment, the duty ratio of the force application component can be determined according to the actual acting force, the preset acting force, the stress of the pressure sensor along the axial direction of the force application component and the integral coefficient, so that the PID control accuracy of the force application component is improved.
For example, the duty ratio of the force application member may be determined by the following equation (7) according to the actual acting force, the preset acting force, the force applied by the pressure sensor in the axial direction of the force application member, and the integral coefficient:
where e' (k) = preset action force-actual action force + Fx; e' (k-1) = preset force-historical force + Fx that the force application member last applied to the abutment member.
Furthermore, the above method may further include the steps of:
determining an actual acting force applied to the abutting member by the force applying member according to the digital voltage signal under the condition that no elastic element is arranged on the abutting member at the position abutting against the force bearing point; and performing PID control on the force application member according to the actual acting force and the preset acting force, so that the acting force applied to the abutting member by the force application member reaches and is kept at the preset acting force.
For example, the actual force applied by the force application member to the abutment member may be determined from the digital voltage signal by the following equation (8):
F＝K F ·U+B F (8)
wherein F is the actual acting force; u is a voltage value corresponding to the digital voltage signal; k is F 、B F Are all constants.
In order to further improve the accuracy of the actual applied force, after the analog voltage signal is converted into the digital voltage signal in S201, the analog voltage signal may be calibrated. Specifically, as shown in fig. 3, before S203, the method further includes S205.
In S205, the digital voltage signal is calibrated.
Illustratively, the digital voltage signal may be calibrated by the following equation (9):
U'＝k'·U+b (9)
wherein, U' is a voltage value corresponding to the digital voltage signal obtained after calibration; u is a voltage value corresponding to the digital voltage signal; b. k' are all constants.
After the digital voltage signal is calibrated, in S204, the actual urging force applied by the urging member to the abutment member may be determined based on the digital voltage signal and the amount of deformation obtained after the calibration.
Based on the same inventive concept, the present disclosure also provides a force application member control device. Fig. 4 is a block diagram illustrating a force application member control apparatus according to an exemplary embodiment, in which the apparatus 400 may be applied to a controller, and opposite ends of the force application member are respectively provided with a pressure sensor and an abutment member for abutment with a force receiving point, and the pressure sensor is configured to convert a sensed force between the abutment member and the force receiving point into an analog voltage signal and output the analog voltage signal to the controller.
As shown in fig. 4, the apparatus 400 includes: a conversion module 401, configured to convert the analog voltage signal into a digital voltage signal; an obtaining module 402, configured to obtain a deformation amount of an elastic element when the elastic element is disposed at a position on the abutting member, where the abutting member abuts against the force-bearing point; a determining module 403, configured to determine an actual acting force applied to the abutment member by the force application member according to the digital voltage signal obtained by the converting module 401 and the deformation amount obtained by the obtaining module 402; a control module 404, configured to perform PID control on the force application member according to the actual acting force and the preset acting force determined by the determination module 403, so that the acting force applied to the abutment member by the force application member reaches and is maintained at the preset acting force.
In above-mentioned technical scheme, confirm the actual effort that the application of force component applyed to the butt component according to digital voltage signal and deformation volume simultaneously, can guarantee the degree of accuracy of the actual effort of determining, and then realize the accurate PID control of application of force component, make the effort that the application of force component applyed to the butt component reach and keep presetting the effort, thereby can make the butt component applyed on the stress point with presetting the effort, can be in order to guarantee the invariable predetermined effort of constant force system output, in order to satisfy the operation demand that needs the constant force output. In addition, the constant force system can be used in special scenes such as water resistance, isolation, heat insulation, vacuum, disinfection and sterilization.
Optionally, the determining module 403 includes: the first determining submodule is used for determining the elastic compensation quantity according to the deformation quantity; and the second determining submodule is used for determining the actual acting force according to the digital voltage signal and the elastic compensation quantity.
Optionally, the first determining submodule is used for determining an elastic force compensation amount according to the deformation amount through the above equation (2);
the second determining submodule is used for determining the actual acting force according to the digital voltage signal and the elastic force compensation quantity through the equation (3).
Optionally, the control module 404 includes: the third determining submodule is used for determining the duty ratio of the force application component according to the actual acting force and the preset acting force; and the control submodule is used for carrying out PID control on the force application component according to the duty ratio.
Optionally, the third determining sub-module includes: the integral coefficient determining submodule is used for determining an integral coefficient controlled by the PID according to the actual acting force and the preset acting force; and the duty ratio determining submodule is used for determining the duty ratio of the force application component according to the actual acting force, the preset acting force and the integral coefficient.
Optionally, the integral coefficient determination sub-module is configured to determine an integral coefficient of PID control according to the actual acting force and the preset acting force by the above equation (5).
Optionally, the determining module 403 is further configured to: determining an actual force applied by the force application member to the abutment member from the digital voltage signal without the resilient element being provided at the location; the control module 404 is further configured to perform PID control on the force application member according to the actual acting force and the preset acting force, so that the acting force applied to the abutment member by the force application member reaches and is maintained at the preset acting force.
Optionally, the determining module 403 is configured to determine the actual force applied by the force applying member to the abutment member according to the digital voltage signal by the above equation (9).
Optionally, the apparatus 400 further comprises: a calibration module for calibrating the digital voltage signal before the determination module 403 determines the actual acting force applied by the force application member to the abutment member from the digital voltage signal and the deformation amount; the determining module 403 is configured to determine an actual acting force applied by the force applying member to the abutment member according to the calibrated digital voltage signal and the deformation amount.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described force application member control method provided by the present disclosure.
Fig. 5 is a block diagram of an electronic device 500 shown in accordance with an example embodiment. As shown in fig. 5, the electronic device 500 may include: a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input/output (I/O) interface 504, and a communication component 505.
The processor 501 is configured to control the overall operation of the electronic device 500, so as to complete all or part of the steps in the force application member control method. The memory 502 is used to store various types of data to support operation at the electronic device 500, such as instructions for any application or method operating on the electronic device 500 and application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory 502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 502 or transmitted through the communication component 505. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 504 provides an interface between the processor 501 and other interface modules, such as a keyboard, mouse, buttons, and the like. These buttons may be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, or combinations thereof, which is not limited herein. The corresponding communication component 505 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the force Application member control method described above.
In another exemplary embodiment, a computer readable storage medium is also provided comprising program instructions which, when executed by a processor, implement the steps of the force application member control method described above. For example, the computer readable storage medium may be the memory 502 described above including program instructions executable by the processor 501 of the electronic device 500 to perform the force applying member control method described above.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.
Claims (9)
1. A force application member control method is applied to a controller and is characterized in that opposite ends of the force application member are respectively provided with a pressure sensor and an abutting member, the abutting member is used for abutting against a force bearing point, and the pressure sensor is used for converting sensed acting force between the abutting member and the force bearing point into an analog voltage signal and outputting the analog voltage signal to the controller;
the method comprises the following steps:
converting the analog voltage signal to a digital voltage signal;
acquiring the deformation amount of an elastic element when the elastic element is arranged on the abutting component at the position abutting against the force bearing point;
determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation;
according to the actual acting force and a preset acting force, carrying out PID control on the force application component so that the acting force applied to the abutting component by the force application component reaches and is kept at the preset acting force;
wherein said determining an actual force applied by said force applying member to said abutment member from said digital voltage signal and said amount of deformation comprises:
determining an amount of compensation for the spring force based on the amount of deformation by:
F b ＝K A ·D 2 +K B ·D+K C
wherein, F b The elastic compensation quantity is obtained; d is a deformation quantity; k A 、K B 、K C Are all constants;
determining the actual acting force according to the elastic force compensation quantity and the digital voltage signal by the following formula:
F＝K X ·U+F b
wherein F is the actual acting force; u is a voltage value corresponding to the digital voltage signal; k X Is a constant.
2. The method of claim 1, wherein the PID controlling the force application member based on the actual force and a preset force comprises:
determining the duty ratio of the force application component according to the actual acting force and the preset acting force;
and performing PID control on the force application member according to the duty ratio.
3. The method of claim 2, wherein determining the duty cycle of the force applying member based on the actual force and the preset force comprises:
determining an integral coefficient of PID control according to the actual acting force and the preset acting force;
and determining the duty ratio of the force application component according to the actual acting force, the preset acting force and the integral coefficient.
4. The method according to any one of claims 1-3, further comprising:
determining an actual force applied by the force application member to the abutment member from the digital voltage signal without the resilient element being provided at the location;
and performing PID control on the force application component according to the actual acting force and the preset acting force, so that the acting force applied to the abutting component by the force application component reaches and is kept at the preset acting force.
5. The method according to any one of claims 1-3, wherein prior to the step of determining the actual force applied by the force applying member to the abutment member from the digital voltage signal and the amount of deformation, the method further comprises:
calibrating the digital voltage signal;
the determining an actual force applied by the force application member to the abutment member from the digital voltage signal and the amount of deformation comprises:
and determining the actual acting force applied to the abutting component by the force applying component according to the digital voltage signal and the deformation quantity obtained after calibration.
6. A force application component control device is applied to a controller and is characterized in that opposite ends of the force application component are respectively provided with a pressure sensor and an abutting component, the abutting component is used for abutting against a force bearing point, and the pressure sensor is used for converting sensed acting force between the abutting component and the force bearing point into an analog voltage signal and outputting the analog voltage signal to the controller;
the device comprises:
the conversion module is used for converting the analog voltage signal into a digital voltage signal;
the acquisition module is used for acquiring the deformation quantity of the elastic element under the condition that the elastic element is arranged on the abutting component and at the position abutting against the stress point;
the determining module is used for determining the actual acting force applied to the abutting component by the force applying component according to the digital voltage signal obtained by the converting module and the deformation quantity obtained by the obtaining module;
the control module is used for carrying out PID control on the force application component according to the actual acting force and the preset acting force determined by the determination module so that the acting force applied to the abutting component by the force application component reaches and is kept at the preset acting force;
wherein the determining module comprises:
a first determining submodule, configured to determine an elastic force compensation amount according to the deformation amount by using the following formula:
F b ＝K A ·D 2 +K B ·D+K C
wherein, F b The elastic compensation quantity is obtained; d is a deformation amount; k is A 、K B 、K C Are all constants;
the second determining submodule is used for determining the actual acting force according to the digital voltage signal and the elastic force compensation quantity through the following formula:
F＝K X ·U+F b
wherein F is the actual acting force; u is a voltage value corresponding to the digital voltage signal; k is X Is a constant.
7. A constant force system, comprising:
a force application member, a controller, and a pressure sensor and an abutment member provided at opposite ends of the force application member;
wherein the abutting component is used for abutting with a force bearing point;
the pressure sensor is connected with the controller and used for converting the sensed acting force between the abutting component and the force bearing point into an analog voltage signal and outputting the analog voltage signal to the controller;
the controller, coupled to the force applying member, configured to perform the steps of the method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458098.7A CN112506241B (en) | 2020-12-10 | 2020-12-10 | Force application member control method, force application member control device, constant force system, medium, and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458098.7A CN112506241B (en) | 2020-12-10 | 2020-12-10 | Force application member control method, force application member control device, constant force system, medium, and electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112506241A CN112506241A (en) | 2021-03-16 |
| CN112506241B true CN112506241B (en) | 2023-01-20 |
Family
ID=74973705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011458098.7A Active CN112506241B (en) | 2020-12-10 | 2020-12-10 | Force application member control method, force application member control device, constant force system, medium, and electronic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112506241B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4547859A (en) * | 1981-05-11 | 1985-10-15 | S & W Instruments, Inc. | Methods for scaling and calibrating predetermined signals |
| CN2274768Y (en) * | 1995-05-19 | 1998-02-18 | 中国兵器工业第二○二研究所 | Self compensating pressure sensor for three freedom of motion acceleration |
| US6295875B1 (en) * | 1999-05-14 | 2001-10-02 | Rosemount Inc. | Process pressure measurement devices with improved error compensation |
| CN101430236B (en) * | 2008-12-17 | 2010-09-22 | 安徽巨一自动化装备有限公司 | Steel plate spring stiffness and arc height measuring system and measurement compensation method |
| CN103353364B (en) * | 2013-06-20 | 2014-09-03 | 西安交通大学 | Load sensor possessing deformation compensation function |
| CN209085806U (en) * | 2018-11-02 | 2019-07-09 | 医博科技股份有限公司 | Pressure sensing module |
-
2020
- 2020-12-10 CN CN202011458098.7A patent/CN112506241B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112506241A (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5682798B2 (en) | Position detection device | |
| US20180249082A1 (en) | Actuator driver, imaging device and calibration method | |
| JP2003194648A (en) | Pressure sensor, pressure controller, and temperature drift correction device of pressure type flow controller | |
| CN109791058B (en) | Method for calibrating a rotary encoder and rotary encoder | |
| CN112506241B (en) | Force application member control method, force application member control device, constant force system, medium, and electronic device | |
| JP2018503098A (en) | Sensor | |
| JP2009288153A (en) | Air flow measuring device, air flow correction method, and program | |
| US8443675B2 (en) | Dual physical quantity sensor | |
| CN103528714A (en) | Temperature calibration device and method of integrated CMOS (Complementary Metal Oxide Semiconductor) temperature sensor | |
| JP6125989B2 (en) | Sensor control device and gas detection system | |
| US10670024B2 (en) | Direct numeric affinity pumps sensorless converter | |
| JP2009276242A (en) | Angular velocity detector and angular velocity detection method | |
| JP2015219103A (en) | Immersion type water level gauge calibration system, calibration method thereof, calibration program thereof, and immersion type water level gauge with calibration function | |
| KR940018652A (en) | Exothermic Resistance Air Flow Meter | |
| JP5229802B2 (en) | Gas detector | |
| JP5314386B2 (en) | Leak detection system and leak detection method for sealed container | |
| JP4659632B2 (en) | SENSOR CONTROL DEVICE, GAS SENSOR SYSTEM, SENSOR CONTROL DEVICE CONTROL METHOD, AND CONCENTRATION INFORMATION FOR DETECTING CONCENTRATION GAS COMPONENT | |
| KR20110091995A (en) | Control device for hydraulic servo valve | |
| JP2009260626A (en) | Temperature correcting device for analog input data | |
| JP2006329785A (en) | Liquid level detector for well | |
| US20230175500A1 (en) | Control apparatus and method for controlling a volume flow of a fluid in a drive train of a motor vehicle | |
| JP2011081548A (en) | Pressure control device | |
| JP2005291861A (en) | Temperature characteristic compensation method and measuring instrument | |
| KR102588967B1 (en) | Method of calibrating gas sensor and self-calibrating system performing method | |
| JPH07229776A (en) | Air flow rate measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |