CN113031657B - Signal processing method for direct position control of handle - Google Patents
Signal processing method for direct position control of handle Download PDFInfo
- Publication number
- CN113031657B CN113031657B CN202110270946.XA CN202110270946A CN113031657B CN 113031657 B CN113031657 B CN 113031657B CN 202110270946 A CN202110270946 A CN 202110270946A CN 113031657 B CN113031657 B CN 113031657B
- Authority
- CN
- China
- Prior art keywords
- handle
- signal
- angle signal
- max
- position control
- 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
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention relates to the technical field of motion control, and discloses a signal processing method for direct handle position control, which comprises the steps of carrying out distortion correction processing on a handle angle signal to obtain an effective handle angle signal after the distortion correction processing; converting the processed handle effective angle signal into a position signal; carrying out speed constraint on the position signals to obtain target position signals after the speed constraint is carried out; and smoothing the target position signal subjected to the speed restriction to obtain a smoothed position signal, and performing direct position control on the servo system according to the smoothed handle position signal. The invention realizes absolute position control, meets the application scene needing direct position control, sets the handle change sensitivity, and not only avoids disturbance of gear switching, but also has high position control precision compared with the direct gear setting.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a signal processing method for direct position control of a handle.
Background
In the prior art, an operating handle is used as an operating component in a position control system, and is widely applied to instruments or equipment such as engineering machinery, transportation vehicles, medical equipment, measuring devices and the like, and is used for operating the instruments or equipment. The operating handle is provided with a central position and can swing back and forth and left and right relative to the central position, when the operating handle swings left and right or back and forth, an angle sensor arranged on the handle measures a handle angle signal in real time and sends the handle angle signal to a controller for processing, however, the operating handle signal processing method in the existing position control system integrates the handle angle signal as speed and then performs position control, only relative position control can be realized, the position control precision is poor, and the industrial position control application scene needing direct position control cannot be met.
Disclosure of Invention
The present invention provides a signal processing method for direct position control of a handle, thereby solving the above-mentioned problems of the prior art.
The invention provides a signal processing method for direct position control of a handle, which comprises the following steps:
s1) acquiring a handle angle signal, and carrying out distortion correction processing on the handle angle signal to obtain a handle effective angle signal theta (k) after the distortion correction processing;
s2) converting the processed effective handle angle signal into a position signal x temp (k)；
S3) carrying out speed constraint on the position signals to obtain target position signals x (k) after the speed constraint is carried out;
and S4) smoothing the target position signal subjected to the speed restriction to obtain a smoothed position signal x '(k), and performing direct position control by the servo system according to the smoothed position signal x' (k).
Further, in step S1), the distortion-corrected effective handle angle signal
u (k) is a sampling value of the handle angle signal at the current moment; theta (k-1) is the effective handle angle signal after processing at the previous moment, delta theta min Is the handle change sensitivity.
Further, handle variation sensitivity Δ θ min Greater than the distortion value Deltau of the handle angle signal max Said handle angle signal distortion value Deltau max ＝max{u-u real U is the sampled value of the handle angle signal, u real A real handle angle signal representing the real need.
The handle angle signal sampling value u can be analog quantity or digital quantity, the signal fluctuation caused by sampling Gaussian white noise of a sensor and hand jitter is contained in the handle angle signal sampling value u, the handle angle signal sampling value u is distorted, and when the handle directly performs position control, the distortion can cause equipment to shake or be unstable. The invention defines the handle angle signal distortion value delta u max ＝max{u-u real }, setting Δ θ min >△u max Thus, the distortion correction processing is carried out on the handle angle signal to obtain the distortionThe invention effectively avoids the adverse effect caused by the distortion of the handle angle signal sampling value u.
Further, in step S2), the position signal
θ lower Is the lower limit of the handle angle, θ upper Is the upper limit value of the handle angle, x lower Is the lower limit of the equipment position, x upper Is the device location upper limit value.
Further, in step S3), the target position signal after the speed restriction is performed is
Δ x is a position period variation corresponding to the target position, and Δ x = x temp (k)-x(k-1)，△x max For maximum cyclic variation of position, Δ x max ＝V max △T，V max At maximum speed, V max >0 and Δ T is the sampling period.
Further, in step S4), the method further includes smoothing the target position signal after the speed constraint is performed by using a low-pass filter to obtain a smoothed position signal x' (k) = a × x (k) + (1-a) × x (k-1), where a is a low-pass filter setting parameter.
Further, in step S4), a tracking differentiator is further used to smooth the target position signal after the velocity reduction, and the position signal after the smoothing process satisfies the requirement
v 1,k 、v 2,k Respectively representing a first system state quantity at the current moment and a second system state quantity at the current moment; v. of 1,k-1 、v 2,k-1 Is a first system state quantity at the previous moment and a second system state quantity at the previous moment; r is a tracking differentiator setting parameter; Δ T is the sampling period.
For motor servo and other systems, the speed cannot be changed suddenly, and the invention realizes the compliance of speed signals by filtering and smoothing position signals. In addition, the invention can not only directly process the signals aiming at the position, but also realize the speed control of the handle, and the position signal is used as the speed signal, so that the speed constraint of the position signal is changed into the acceleration constraint of the speed signal.
The beneficial effects of the invention are: the signal processing method for direct handle position control firstly eliminates signal noise and hand shaking disturbance by setting handle angle signal change sensitivity, namely the minimum effective change of the handle angle signal; secondly, converting the acquired handle angle signal into a position signal according to requirements and limiting the amplitude of the speed, so that the speed can meet the requirements of equipment while ensuring direct position control; and finally, smoothing the position signal for a quick servo system with high signal requirement, and finally, directly controlling the position of the handle by the servo system according to the position signal after smoothing. In the prior art, most handle angle signals are used as speed to carry out integration and then carry out position control, and only relative position control can be realized, however, absolute position control is realized, and the application scene needing direct position control is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a signal processing method for controlling a direct position of a handle according to a first embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
In a first embodiment, a signal processing method for direct position control of a handle, as shown in fig. 1, includes the following steps:
s1) acquiring a handle angle signal, and carrying out distortion correction processing on the handle angle signal to obtain a handle effective angle signal theta (k) after the distortion correction processing; handle effective angle signal after distortion correction processing
u (k) is a sampling value of the handle angle signal at the current moment; theta (k-1) is the processed effective handle angle signal at the previous moment, delta theta min Is the handle change sensitivity. Handle variation sensitivity Δ θ min Greater than the distortion value Deltau of the handle angle signal max Said handle angle signal distortion value Deltau max ＝max{u-u real U is a sampling value of a handle angle signal, u real A real handle angle signal representing the real need.
S2) converting the processed handle effective angle signal into a position signal x temp (k) (ii) a Position signal
θ lower Is the lower limit of the handle angle, θ upper Is the upper limit value of the handle angle, x lower Is the lower limit of the equipment position, x upper Is the device location upper limit value.
S3) carrying out speed constraint on the position signals to obtain target position signals x (k) subjected to speed constraint; in step S3), the target position signal after the speed restriction is performed
Δ x is a position period variation amount corresponding to the target position, and Δ x = x temp (k)-x(k-1)，△x max For maximum cyclic variation of position, Δ x max ＝V max △T，V max At maximum speed, V max >0, Δ T is the sampling period.
And S4) smoothing the target position signal subjected to the speed restriction to obtain a smoothed position signal x '(k), and performing direct position control by the servo system according to the smoothed position signal x' (k).
The handle angle signal sampling value u can be analog quantity or digital quantity, the signal fluctuation caused by sampling Gaussian white noise of a sensor and hand jitter is contained in the handle angle signal sampling value u, the handle angle signal sampling value u is distorted, and when the handle directly performs position control, the distortion can cause equipment to shake or be unstable. The invention defines the handle angle signal distortion value delta u max ＝max{u-u real Is set at [ Delta ] theta min >△u max Therefore, the handle effective angle signal theta (k) after the distortion correction processing can be obtained after the distortion correction processing is carried out on the handle angle signal, and the adverse effect caused by the distortion of the handle angle signal sampling value u is effectively avoided.
Step S4) further includes smoothing the target position signal after the speed restriction by using a low-pass filter to obtain a smoothed position signal x' (k) = a × x (k) + (1-a) × x (k-1), where a is a low-pass filter setting parameter.
In step S4), the method further includes performing smoothing processing on the target position signal after the velocity constraint by using a tracking differentiator, where the position signal after the smoothing processing satisfies the requirement
v 1,k 、v 2,k Respectively representing a first system state quantity at the current moment and a second system state quantity at the current moment; v. of 1,k-1 、v 2,k-1 Is a first system state quantity at the previous moment and a second system state quantity at the previous moment; r is a tracking differentiator setting parameter; Δ T is the sampling period.
For systems such as motor servo and the like, the speed cannot be changed suddenly, and the method realizes the compliance of speed signals by filtering and smoothing position signals. In addition, the invention can not only directly process the signals aiming at the position, but also realize the speed control of the handle, and the position signal is used as the speed signal, so that the speed constraint of the position signal is changed into the acceleration constraint of the speed signal.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the signal processing method for direct handle position control firstly eliminates signal noise and hand shaking disturbance by setting handle angle signal change sensitivity, namely the minimum effective change of the handle angle signal; secondly, converting the acquired handle angle signal into a position signal according to requirements and limiting the amplitude of the speed, so that the speed can meet the requirements of equipment while ensuring direct position control; and finally, smoothing the position signal of the quick servo system with high signal requirement, and finally, directly controlling the position of the handle by the servo system according to the position signal after smoothing. In the prior art, most handle angle signals are used as speed to carry out integration and then position control, and only relative position control can be realized, however, absolute position control is realized, and the application scene needing direct position control is met.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (5)
1. A signal processing method for direct position control of a handle is characterized by comprising the following steps:
s1) acquiring a handle angle signal u (k), and carrying out distortion correction processing on the handle angle signal to obtain a handle effective angle signal theta (k) after the distortion correction processing;
s2) converting the processed handle effective angle signal into a position signal x temp (k)；
S3) carrying out speed constraint on the position signals to obtain target position signals x (k) after the speed constraint is carried out;
s4) smoothing the target position signal subjected to the speed restriction to obtain a smoothed position signal x '(k), and performing direct position control by the servo system according to the smoothed position signal x' (k);
in step S1), the handle effective angle signal after distortion correction processing
u (k) is a sampling value of the handle angle signal at the current moment; theta (k-1) is the effective handle angle signal after processing at the previous time, delta theta min Is handle change sensitivity;
the handle change sensitivity Δ θ min Greater than the handle angle signal distortion value Deltau max The handle angle signal distortion value Deltau max ＝max{u-u real U is a sampling value of a handle angle signal, u real A real angle signal of the handle representing the real need.
2. The signal processing method of direct handle position control according to claim 1, wherein in step S2), the position signal
θ lower Is the lower limit of the handle angle, θ upper Is the upper limit value of the handle angle, x lower Is the lower limit value of the equipment position, x upper Is the device location upper limit value.
3. The signal processing method for direct handle position control according to claim 2, wherein in step S3), the target position signal after the speed restriction is performed is processed
Δ x is a position cycle variation amount corresponding to the target position, and Δ x = x temp (k)-x(k-1)，Δx max For maximum cyclic variation of position, Δ x max ＝V max ΔT，V max At maximum speed, V max > 0, and Δ T is the sampling period.
4. The method for processing signals of direct handle position control according to claim 1, further comprising smoothing the target position signal after the speed constraint is performed by using a low pass filter in step S4) to obtain a smoothed position signal x' (k) = a x (k) + (1-a) × x (k-1), where a is a low pass filter setting parameter.
5. The signal processing method for direct handle position control according to claim 1, further comprising smoothing the target position signal after the speed constraint by using a tracking differentiator in step S4), wherein the smoothed position signal satisfies the requirement
v 1,k 、v 2,k Respectively representing a first system state quantity at the current moment and a second system state quantity at the current moment; v. of 1,k-1 、v 2,k-1 Is a first system state quantity at the previous moment and a second system state quantity at the previous moment; r is a tracking differentiator setting parameter; Δ T is the sampling period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110270946.XA CN113031657B (en) | 2021-03-12 | 2021-03-12 | Signal processing method for direct position control of handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110270946.XA CN113031657B (en) | 2021-03-12 | 2021-03-12 | Signal processing method for direct position control of handle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113031657A CN113031657A (en) | 2021-06-25 |
| CN113031657B true CN113031657B (en) | 2022-11-25 |
Family
ID=76470399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110270946.XA Active CN113031657B (en) | 2021-03-12 | 2021-03-12 | Signal processing method for direct position control of handle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113031657B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114295335B (en) * | 2021-11-11 | 2023-12-08 | 江苏徐工工程机械研究院有限公司 | Engineering machinery control handle working area test system and analysis method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823404A (en) * | 2014-02-21 | 2014-05-28 | 中联重科股份有限公司 | Method, device and system for processing handle signals |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4199776B2 (en) * | 2006-03-03 | 2008-12-17 | 株式会社Ａｃｃｅｓｓ | Joystick signal processing method and apparatus |
| CN101976048B (en) * | 2010-08-25 | 2012-07-04 | 中国兵器工业第二〇五研究所 | Handle controller signal processing method |
| WO2014120984A2 (en) * | 2013-01-30 | 2014-08-07 | David Paul Smith | Operator controlled electrical output signal device with variable feel and hold feedback and automated calibration and learnable performance optimization |
| KR101494771B1 (en) * | 2013-09-24 | 2015-03-02 | 두산중공업 주식회사 | Apparatus for controlling continuous ship unloader |
| CN110465942A (en) * | 2019-07-26 | 2019-11-19 | 深圳前海达闼云端智能科技有限公司 | Pose compensation method, device, storage medium and electronic equipment |
-
2021
- 2021-03-12 CN CN202110270946.XA patent/CN113031657B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823404A (en) * | 2014-02-21 | 2014-05-28 | 中联重科股份有限公司 | Method, device and system for processing handle signals |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113031657A (en) | 2021-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8965188B2 (en) | Shake correction apparatus and control method thereof | |
| US8279292B2 (en) | Image stabilization control circuit | |
| CN113031657B (en) | Signal processing method for direct position control of handle | |
| CN101470313B (en) | Vibration prevention control circuit of imaging device | |
| EP2889577B1 (en) | Signal processing device, detection device, sensor, electronic apparatus and moving object | |
| JP2014128015A (en) | Image pick-up apparatus and control method and program thereof, storage medium | |
| US7633526B2 (en) | Camera systems with vibration compensation and methods thereof | |
| CN104913783A (en) | Method for achieving automatic navigation of vehicle based on self-adaptive filtering algorithm | |
| CN112356683B (en) | Anti-shaking method, device and equipment based on electric automobile and storage medium | |
| WO2014155559A1 (en) | Notch filter, external force estimator, motor controller, and robot system | |
| CN110569767B (en) | Motion parameter identification method, system, equipment and computer readable storage medium | |
| CN101464610A (en) | Image stabilization control circuit and imaging device having image stabilization control circuit | |
| JP6330309B2 (en) | Signal processing device, detection device, sensor, electronic device, and moving object | |
| JP6516042B2 (en) | Signal processing device, detection device, sensor, electronic device and moving body | |
| CN102111539B (en) | Image capturing apparatus and method of controlling image capturing apparatus | |
| JPH1164917A (en) | Image blur correcting device and panning deciding device | |
| KR20150137788A (en) | Apparatus for control a voice coil actuator | |
| CN109856964B (en) | Moving object control method and system based on miss distance processing | |
| US11897442B2 (en) | Brake controller and method for controlling brake | |
| CN116164786A (en) | Method and device for determining sensor external parameters, electronic equipment and storage medium | |
| KR101569823B1 (en) | Gyro sensor module for vibration compensation | |
| CN113093519A (en) | Control method and system for electrically adjusting steering column, storage medium and electronic device | |
| CN112180834A (en) | Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device | |
| JP6273814B2 (en) | Signal processing device, detection device, sensor, electronic device, and moving object | |
| CN114035436B (en) | Backstepping control method, storage medium and device based on saturation adaptive law |
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 |