CN114578864A - Method for controlling pointing attitude of upper fixed point of multi-point supporting platform - Google Patents
Method for controlling pointing attitude of upper fixed point of multi-point supporting platform Download PDFInfo
- Publication number
- CN114578864A CN114578864A CN202210197473.XA CN202210197473A CN114578864A CN 114578864 A CN114578864 A CN 114578864A CN 202210197473 A CN202210197473 A CN 202210197473A CN 114578864 A CN114578864 A CN 114578864A
- Authority
- CN
- China
- Prior art keywords
- load
- supporting leg
- pitch
- supporting
- point
- 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.)
- Withdrawn
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method for controlling an upper fixed point pointing attitude of a multi-point supporting platform. Respectively measuring a bearing interaction matrix and a deformation interaction matrix of the platform, and constructing a bearing and deformation combined control matrix; measuring the current load of each support leg, and calculating the optimal load of each support leg; generating side-tipping and pitching parameters based on an operator instruction, and constructing a top-loading geometry and leg load combined control equation together with a leg load, bearing and deformation combined control matrix; calculating and correcting to obtain the total motion amount of the support leg under the corresponding instruction, and executing synchronous motion leveling; and circularly monitoring the operator instruction until all the operator instructions are set to 0, and finishing the attitude control. According to the method, on the premise that the laser ray points to the target point at the initial moment, the laser ray can be guaranteed to always point to the target point in the whole pitching and side-tipping action process of the operating platform, the load of each supporting leg is always the theoretical optimal load, and flexible, accurate, rapid, stable and safe supporting control is provided for ultra-precision machining and ultra-precision assembly.
Description
Technical Field
The invention belongs to the field of attitude control, and particularly relates to a method for controlling an upper fixed point pointing attitude of a multi-point supporting platform.
Background
The multi-point support platform attitude control is commonly used in high-precision machining and assembling processes such as large-caliber optical mirror surface machining, aircraft engine assembly, large aircraft digital assembly, large component segmented machining and then folding, and often has more than 3 support points and even dozens of support points. Meanwhile, the attitude adjusting device is widely applied to agricultural machinery equipment for mountain land operation, non-road multi-axle vehicles and other vehicles needing to be subjected to attitude adjustment. Taking large airplane assembly as an example, the conventional attitude control technology cannot consider the disturbance of large airplane component deformation to the attitude, and needs repeated iterative adjustment, so that the assembly period is long and the precision is low; the load born by each support is uneven and uncontrollable, which causes large deformation and local stress concentration of large airplane components on one hand and causes accelerated damage and reduced precision of the support structure on the other hand.
For example, chinese patent CN201010169552.7 discloses an automatic leveling device and method, which uses an angle and displacement calculation unit to detect the horizontal offset of a loading platform and generate an electrical signal, and the electrical signal is processed to form a driving control signal for iterative adjustment. Chinese patent CN201410800478.2 discloses a leveling method and device for a support platform, which is used for a large-span four-point support platform, and the method is to mount dual-axis leveling sensors on the front and rear launching platforms, respectively, and adjust the horizontal and longitudinal angles of the front and rear platforms according to a regular sequence to make them meet a set threshold. Chinese patent No. cn202010002450.x discloses a leveling control system and method, which comprises adjusting the height of the legs to make the first inclination meet the accuracy requirement, then making the second inclination meet the accuracy requirement, repeating the whole process until the first and second inclinations are both smaller than the limit inclination, and ending the leveling. These patents all realize the leveling function through repeated iteration test and actuation, and cannot well ensure the leveling precision and speed, and even cannot simultaneously realize the complete control of the supporting leg load.
The attitude control of the support larger than 3 points belongs to the typical hyperstatic problem, and each support leg in actual bearing and the elastic deformation and the support load of the upper device influence each other, so that the accurate leveling of the support leg action quantity determined by the traditional rigid attitude adjusting method can not be realized at all, and the support leg load control can not be realized at all. At present, the posture adjusting function is realized by repeated measurement and continuous iterative adjustment. Such a control process requires many times of cyclic judgment, is time-consuming and labor-consuming, and may cause non-convergence of iteration. Meanwhile, the existing control strategy only considers the posture adjustment and neglects the control of the supporting leg load, which may cause the internal stress on the upper assembly due to the inconsistent elastic deformation in the adjustment process and influence the assembly precision and result; or the load is not uniform for a long time, so that the upper mounting structure is damaged. To solve this problem, it is necessary to perform a combined control of the top loading geometry and the leg load. Therefore, the patent provides a method for realizing combined control of the top-loading geometry and the supporting leg load at high speed and synchronously, on the premise that the laser ray points to the target point at the initial moment, the laser ray can always point to the target point in the whole process of pitching and rolling movement generated by an operator for operating the platform, the load of each supporting leg is always the theoretical optimal load, and flexible, accurate, fast, stable and safe support control is provided for ultra-precision machining and ultra-precision assembly.
Disclosure of Invention
In view of the importance of the combined control of the upper-mounted geometry and the supporting leg load of the multi-point support and the defects of the existing precision assembly field, the invention provides an attitude adjustment method for quickly and synchronously realizing the combined control of the upper-mounted geometry and the supporting leg load in the aspect of fixed-point pointing attitude control.
In order to achieve the purpose, the specific technical scheme of the invention is as follows:
the invention discloses a method for controlling an upper fixed point pointing attitude of a multi-point supporting platform. The upper part of the platform is of a longitudinal symmetrical structure and is vertically supported by more than four supporting legs, and the supporting legs are symmetrically distributed along the longitudinal symmetrical plane of the upper part; the supporting legs are hydraulic supporting legs, the upper ends of the supporting legs are fixedly connected with the lower horizontal surface of the upper garment, the lower ends of the supporting legs are vertically supported and fixed on the ground and only perform telescopic motion in the direction vertical to the ground, and the structural size of each supporting leg is completely the same as that of the upper garment; the maximum actuating stroke and the expansion rate of each supporting leg are completely the same; the row of the supporting legs closest to the target point is called a first row of supporting legs; each supporting leg is provided with a force sensor for measuring vertical load and a displacement sensor for measuring working amount; the front end of the upper part is provided with a laser emitter, and the ray of the laser emitter is coaxial with the longitudinal center line of the upper part; the upper surface of the upper assembly is provided with a two-dimensional inclination angle sensor for measuring the longitudinal and transverse inclination angles of the upper assembly; at the initial moment, the ray of the laser emitter points to a target point; the operator inputs instructions by controlling the side stop lever and the pitching stop lever, and obtains the total action amount of each supporting leg through analysis and calculation of the controller, so as to adjust the upper-mounted posture, and the method is characterized by comprising the following steps of:
step 1, assigning serial numbers 1-n to n supporting legs, taking the geometric center of the upper garment as the origin of a coordinate system, setting the vertical direction, the horizontal direction and the vertical direction of the upper garment as x, y and z axes according to the right-hand rule, and marking the coordinate of the connecting point of each supporting leg and the upper garment as (x)i，yi，zi) I is 1 to n, and the positive direction judgment of the inclination angle and the moment is determined by a right-hand screw rule;
step 2, driving the ith supporting leg to vertically actuate and extend, keeping other supporting legs still, measuring in real time by the displacement sensor until a set displacement is generated, measuring the load increment of each supporting leg by the force sensor according to the sequence from 1 to n, dividing each load increment by the set displacement and sequentially placing the load increments into the 1 st row to the n th row of the ith column of the n x n dimensional matrix; cyclically driving each supporting leg and measuring the load increment of each supporting leg until constructing a load-bearing interaction matrix with dimension of n multiplied by n
And 3, respectively measuring inclination angle increments of the platform around an x axis and a y axis by a two-dimensional inclination angle sensor while driving the ith supporting leg to generate the specific displacement in the step 2, dividing each inclination angle increment by the set displacement, and sequentially placing the inclination angle increments into the 1 st row and the 2 nd row of the ith column of a 2 x n dimensional matrix until a 2 x n dimensional deformation interaction matrix is constructed
Step 4, inputting the load-bearing interaction matrix into the 1 st row to the nth row of the (n +2) x n dimensional matrix in sequence; inputting the deformation interaction matrix into the last two rows of the (n +2) x n dimensional matrix in sequence to construct a load bearing and deformation combined control matrix
Step 5, measuring the current load F of each supporting leg by using a force sensori t；
Step 6, recording the total weight of the upper assembly as G, and using the load of each supporting leg Fi tThe minimum mean square error of the ideal load G/n is taken as a target, the moment balance of the platform around the x axis and the y axis and the force balance along the z axis are taken as constraints, and then the theoretical optimal load calculation model of each supporting leg is
Solving the formula 4 by using Lagrange multiplier method to obtain the optimal load F of each support legi *Satisfies the formula 5
Step 7, measuring the projection length L of the distance between the laser emitter and the target point on the horizontal plane;
step 8, identifying an operator instruction, respectively giving the roll parameters as a unit angle + beta and a unit angle-beta when the operation instruction is a left roll and a right roll, and simultaneously setting the pitch parameter to zero; when the operation commands are forward bending and backward bending respectively, the pitching parameters are respectively given as a unit angle + alpha and-alpha, and the side-tipping parameters are set to zero; when the operation commands are respectively the combination of roll and pitch, the roll parameter is endowed with a roll parameter of a unit angle + beta for left roll, the roll parameter is endowed with a unit angle-beta for right roll, the pitch parameter is endowed with a unit angle + alpha for front pitch, and the pitch parameter is endowed with a unit angle-alpha for back pitch;
step 9, combining the bearing and deformation combined control matrix in the step 4, the current load of each supporting leg in the step 5, the optimal load of each supporting leg in the step 6 and the lateral and pitching parameters input in the step 8, constructing a combined control equation of the upper-mounted geometry and the supporting leg load
In equation 6 { Fi t-Fi *Is the n x 1 dimensional load deflection column vector of n legs, FittFor the measured current load, Fi *For optimum loading, θtAnd (4) forming a 2 multiplied by 1 dimensional column vector by the rolling parameter and the pitching parameter in the step 8, wherein the rolling parameter is on the upper side, and the pitching parameter is on the lower side. Solving the formula 6 can obtain the work amount delta x of each support leg, which is needed by the operator to give pitching and rolling instructions, of the corresponding direction unit angle of the upper mounting actuator and the support leg load reaching the theoretical optimal loadi；
A in the formula 7 is the number of the first row of supporting legs;
step 11, calculating the pointing compensation action quantity delta x needed by each supporting leg when the laser ray maintains the pointing to the target point during the forward-bending and backward-bending actions of the upper assembly generating the unit angle according to the projection length Lq
Δxq± α · L formula 8
In formula 8, forward pitch corresponds to a positive value and backward pitch corresponds to a negative value;
step 12, the operating quantity Δ x of each supporting leg is obtained according to the step 9i Step 10. the deformation compensation operation amount DeltaxeThe direction compensation operation amount Deltax described in step 11qCalculating the total work amount x of each supporting leg required by the operator to control pitching and tilting and simultaneously the supporting leg load to reach the theoretical optimal load on the premise that the upper device is directed at the target pointi
xi＝Δxi-Δxe+K·ΔxqEquation 9
In formula 9, K is a condition number, and when the operator instruction includes a pitch instruction, K is 1, and when the operator instruction does not include the pitch instruction, K is 0;
step 13, the total operating quantity x of each supporting leg obtained in the step 12iDividing the maximum value of the motion quantity respectively to obtain the proportional relation between the total motion quantities of all the supporting legs, and controlling all the supporting legs to synchronously move according to the proportional relation until the total motion quantity of all the supporting legs is reached;
step 14, identifying whether all operator commands are set to zero: if yes, ending the action; if not, returning to the step 5 until the leg locking condition of the step 14 is met.
Further, the set displacement in the step 2 is 1% -5% of the maximum actuating stroke of the supporting leg.
Further, the absolute value of the unit angle in step 8 is in the range of 0.01 ° to 0.1 °
The invention has the following beneficial effects:
1. the method provides a calculation model for realizing the control of the pointing attitude of the upper fixed point without iterative calculation, does not need to repeatedly measure the position parameters between the assembly component and the assembled component, does not need to circularly judge, eliminates the risk of unconvergence of iteration, and reduces the calculation force requirement.
2. According to the method, load control is introduced, a combined control equation of the upper-mounted geometry and the supporting leg load is utilized, the supporting leg load can be guaranteed to be the theoretical optimal load all the time while the platform posture is guaranteed to be always directed to a target point, the risk of structural damage caused by long-time uneven load is reduced, the assembling precision is guaranteed, and flexible, accurate, rapid, stable and safe supporting control is provided for ultra-precision machining and ultra-precision assembling.
Drawings
FIG. 1 is a flow chart of the present invention for controlling pointing attitude of an upper fixed point of a multi-point support platform;
FIG. 2 is a schematic view of a structural principle provided for the pointing attitude control of the upper-mounted fixed point of the multi-point support platform according to the present invention;
FIG. 3 is a schematic view of the upper-mounted lateral-tilting attitude adjustment during the upper-mounted fixed-point pointing attitude control process of the multi-point support platform according to the present invention;
FIG. 4 is a schematic diagram of the adjustment of the upper pitching attitude during the control of the upper fixed point pointing attitude of the multi-point support platform according to the present invention;
in the figure: 1, supporting legs; 2, a force sensor; 3, loading; 4 two-dimensional tilt angle sensor; 5, a laser transmitter; 6 target points; 7 side stop lever; 8, a pitching stop lever; 9 a displacement sensor; 10 a controller; 3-1, setting an initial attitude during lateral inclination attitude adjustment; the 3-2 side-tipping attitude is adjusted on the basis of 3-1, and the action quantity delta x of each supporting leg obtained by solving the formula 6 is superposediThe determined new virtual pose; subtracting the deformation compensation action quantity delta x of the first row of supporting legs on the basis of 3-2 during the adjustment of the 3-3 side-tipping postureeThe determined new posture, namely the final posture after the adjustment of the roll posture is finished; 3-4, adjusting the pitching attitude to obtain an initial loading attitude; 3-5 during pitching attitude adjustment, on the basis of 3-4, the action quantity delta x of each supporting leg obtained by solving the formula 6 is superposediThe determined new virtual pose; 3-6 base in pitch attitude adjustmentOn the basis, the deformation compensation acting amount delta x of the first row of supporting legs is subtractedeThe determined new virtual pose; 3-7 pitch attitude adjustment is carried out on the basis of 3-6 according to the condition number and the required pointing compensation action quantity delta x of each supporting legqAnd determining a new attitude, namely the final attitude after the pitching attitude adjustment is completed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention discloses a method for controlling an upper fixed point pointing attitude of a multi-point supporting platform. The upper garment 3 of the platform is of a longitudinal symmetrical structure and is vertically supported by more than four supporting legs 1, and the supporting legs 1 are symmetrically distributed along the longitudinal symmetrical plane of the upper garment 3; the supporting legs 1 are hydraulic supporting legs, the upper ends of the supporting legs are fixedly connected with the lower horizontal surface of the upper garment 3, the lower ends of the supporting legs are vertically supported and fixed on the ground and only do telescopic movement in the direction vertical to the ground, and the structural size of each supporting leg 1 is completely the same as that of the upper garment 3; the maximum actuating stroke and the expansion rate of each supporting leg are completely the same; the row of legs 1 closest to the target point is called the first row of legs; each supporting leg 1 is provided with a force sensor 2 for measuring vertical load and a displacement sensor 9 for measuring working amount; the front end of the upper garment 3 is provided with a laser emitter 5, and the ray of the laser emitter is coaxial with the longitudinal central line of the upper garment 3; the upper surface of the upper assembly 3 is provided with a two-dimensional inclination angle sensor 4 for measuring the longitudinal and transverse inclination angles of the upper assembly; at the initial moment, the ray of the laser emitter 5 points to the target point 6; the operator inputs instructions by controlling the side stop lever 7 and the pitching stop lever 8, and the total action amount of each supporting leg is obtained by analyzing and calculating through the controller 10, so as to adjust the loading posture, and the method is characterized by comprising the following steps:
step 1, assigning serial numbers 1-n to n supporting legs 1, taking the geometric center of the upper garment 3 as the origin of a coordinate system, setting the longitudinal, transverse and vertical directions of the platform as x, y and z axes according to the right-hand rule, and recording the coordinate of the connecting point of each supporting leg 1 and the upper garment 3 as (x)i，yi，zi) I is 1 to n, and the positive direction decisions of the tilt angle and the moment are determined by the right-hand screw rule.
Step 2, driving the ith supporting leg 1 to vertically actuate and extend, simultaneously keeping other supporting legs still, measuring in real time by the displacement sensor 9 until a set displacement is generated, measuring the load increment of each supporting leg 1 by the force sensor 2 according to the sequence from 1 to n, dividing each load increment by the set displacement and sequentially placing the load increments into the 1 st row to the n th row of the ith column of the n x n dimensional matrix; cyclically driving each supporting leg 1 and measuring the load increment of each supporting leg until constructing a load-bearing interaction matrix with dimension of n multiplied by n
In this embodiment, the set displacement is 1% to 5% of the maximum actuating stroke of the support leg.
And 3, respectively measuring inclination angle increments around an x axis and a y axis by a two-dimensional inclination angle sensor 4 while driving the ith supporting leg 1 to generate the set displacement in the step 2, dividing each inclination angle increment by the set displacement, and sequentially placing the inclination angle increments into the 1 st row and the 2 nd row of the ith column of a 2 xn dimensional matrix until the 2 xn dimensional deformation interaction matrix is constructed
Step 4, inputting the bearing interaction matrix into the 1 st row to the nth row of the (n +2) x n dimensional matrix in sequence; inputting the deformation interaction matrix into the last two rows of the (n +2) x n dimensional matrix in sequence to construct a load bearing and deformation combined control matrix
Step 5, measuring the current load F of each supporting leg 1 by using the force sensor 2i t。
Step 6, putting the jacket on3 total weight G, with each leg load Fi tThe minimum mean square error of the ideal load G/n is taken as a target, the moment balance of the platform around the x axis and the y axis and the force balance along the z axis are taken as constraints, and then a theoretical optimal load calculation model of each supporting leg is
Solving the formula 4 by using Lagrange multiplier method to obtain the optimal load F of each support legi *Satisfies the formula 5
And 7, measuring the projection length L of the distance between the laser emitter 5 and the target point 6 on the horizontal plane. Step 8, identifying an operator instruction, respectively giving the roll parameters as a unit angle + beta and a unit angle-beta when the operation instruction is a left roll and a right roll, and simultaneously setting the pitch parameter to zero; when the operation commands are forward bending and backward bending respectively, the pitching parameters are respectively given as a unit angle + alpha and-alpha, and the side-tipping parameters are set to zero; when the operation commands are respectively the combination of roll and pitch, the roll parameter is endowed with a roll parameter of a unit angle + beta for left roll, the roll parameter is endowed with a unit angle-beta for right roll, the pitch parameter is endowed with a unit angle + alpha for front pitch, and the pitch parameter is endowed with a unit angle-alpha for back pitch;
in the present embodiment, the absolute value of the unit angle falls within a range of 0.01 ° to 0.1 °.
Step 9, combining the bearing and deformation combined control matrix in the step 4, the current load of each supporting leg in the step 5, the optimal load of each supporting leg in the step 6 and the lateral and pitching parameters input in the step 8, constructing a combined control equation of the upper-mounted geometry and the supporting leg load
In equation 6 { Fi t-Fi *Is the n x 1 dimensional load deflection column vector for n legs, Fi tFor the measured current load, Fi *For optimum loading, θtA 2 x 1 dimensional column vector consisting of the roll parameter and the pitch parameter in the step 8, wherein the roll parameter is above and the pitch parameter is below; front bow, left lean as an example: when the operator command is left-leaning, the column vector is
When the operator command is pitch-forward the column vector is
The column vector is when the operator command is a combination of a left-tilt and a front-tilt
Solving the formula 6 can obtain the work amount delta x of each support leg, which is needed by the operator to give pitching and rolling instructions, of the corresponding direction unit angle of the upper mounting actuator and the support leg load reaching the theoretical optimal loadi。
And a in the formula 7 is the number of the first row of supporting legs.
Step 11, calculating the pointing compensation action quantity delta x needed by each supporting leg when the laser ray maintains the pointing to the target point during the forward-bending and backward-bending actions of the upper assembly generating the unit angle according to the projection length Lq
Δxq± α · L formula 8
In equation 8, forward pitch corresponds to a positive value and backward pitch corresponds to a negative value.
Step 12, the operating quantity Δ x of each supporting leg is obtained according to the step 9i Step 10. the deformation compensation operation amount DeltaxeThe direction compensation operation amount Deltax described in step 11qCalculating the total work amount x of each supporting leg required by the operator to control pitching and tilting and simultaneously the supporting leg load to reach the theoretical optimal load on the premise that the upper device is directed at the target pointi
xi＝Δxi-Δxe+K·ΔxqEquation 9
In equation 9, K is a condition number, and when the operator command includes a pitch command, K is 1, and when the operator command does not include a pitch command, K is 0.
When the command of the operator is roll, firstly, the upper-mounted initial posture 3-1 during the roll posture adjustment is adjusted through the step 9, and the acting amount delta x of each support leg obtained by solving the formula 6 is superposed on the basis of 3-1 during the roll posture adjustmentiThe determined new virtual attitude 3-2 shows that the loading is smoother than the initial attitude through load control; then, through the adjustment of the step 10, the deformation compensation acting amount delta x of the first row of supporting legs is subtracted on the basis of 3-2 when the side-tipping posture is adjustedeThe determined new posture, that is, the final posture 3-3 after the roll posture adjustment is completed, allows the laser ray to be maintained directed to the target point.
When the command of the operator is pitching, firstly, the upper-mounted initial attitude 3-4 during the pitching attitude adjustment is adjusted in the step 9, and the moment delta x of each leg action obtained by solving the formula 6 is superposed on the basis of 3-4 during the pitching attitude adjustmentiThe determined new virtual attitude 3-5 shows that the loading is smoother than the initial attitude through load control; then, the adjustment of the step 10 is carried out, and the deformation compensation action quantity delta x of the first row of supporting legs is subtracted on the basis of 3-5 when the pitching attitude is adjustedeThe determined new virtual pose 3-6; finally, through the adjustment of the step 11, on the basis of 3-6 when the pitching attitude is adjusted, the required pointing compensation action quantity delta x of each supporting leg is added according to the condition numberqThe determined new pose, i.e., the final pose 3-7 after the pitch pose adjustment is completed, maintains the laser beam pointing to the target point.
When the operator's command is a combination of roll and pitch, the loaded attitude adjustment is consistent with the pitch attitude adjustment.
Step 13, the total operating quantity x of each supporting leg obtained in the step 12iDividing the maximum value of the actuating quantities respectively to obtain the proportional relation between the total actuating quantities of all the supporting legs, and controlling all the supporting legs 1 to synchronously actuate according to the proportional relation until the total actuating quantities of all the supporting legs are reached.
Step 14, identifying whether all operator commands are set to zero: if yes, ending the action; if not, returning to the step 5 until the leg locking condition of the step 14 is met.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (3)
1. The invention discloses a method for controlling an upper fixed point pointing attitude of a multi-point supporting platform. The upper part of the platform is of a longitudinal symmetrical structure and is vertically supported by more than four supporting legs, and the supporting legs are symmetrically distributed along the longitudinal symmetrical plane of the upper part; the support legs are hydraulic support legs, the upper ends of the support legs are fixedly connected with the lower horizontal surface of the upper garment, the lower ends of the support legs are vertically supported and fixed on the ground and only do telescopic movement in the direction vertical to the ground, and the structural size of each support leg is completely the same as that of the upper garment; the maximum actuating stroke and the expansion rate of each supporting leg are completely the same; the row of the legs closest to the target point is called a first row of legs; each supporting leg is provided with a force sensor for measuring vertical load and a displacement sensor for measuring working amount; the front end of the upper part is provided with a laser emitter, and the ray of the laser emitter is coaxial with the longitudinal center line of the upper part; the upper surface of the upper assembly is provided with a two-dimensional inclination angle sensor for measuring the longitudinal and transverse inclination angles of the upper assembly; at the initial moment, the ray of the laser emitter points to a target point; the operator inputs instructions by controlling the side stop lever and the pitching stop lever, and obtains the total action amount of each supporting leg through analysis and calculation of the controller, so as to adjust the upper-mounted posture, and the method is characterized by comprising the following steps of:
step 1, assigning serial numbers 1-n to n supporting legs, taking the geometric center of the jacket as the origin of a coordinate system, respectively setting the longitudinal, transverse and vertical directions of the jacket as x, y and z axes according to the right hand rule, and recording the coordinate of the connecting point of each supporting leg and the jacket as (x)i，yi，zi) If i is 1 to n, the positive direction judgment of the inclination angle and the moment is determined by a right-hand screw rule;
step 2, driving the ith supporting leg to vertically actuate and extend, keeping other supporting legs still, measuring in real time by the displacement sensor until a set displacement is generated, measuring the load increment of each supporting leg by the force sensor according to the sequence from 1 to n, dividing each load increment by the set displacement and sequentially placing the load increments into the 1 st row to the n th row of the ith column of the n x n dimensional matrix; cyclically driving each supporting leg and measuring the load increment of each supporting leg until constructing a load-bearing interaction matrix with dimension of n multiplied by n
And 3, respectively measuring inclination angle increments around an x axis and a y axis by a two-dimensional inclination angle sensor while driving the ith supporting leg to generate the set displacement in the step 2, dividing each inclination angle increment by the set displacement, and sequentially putting the inclination angle increments into the 1 st row and the 2 nd row of the ith column of a 2 xn dimensional matrix until the 2 xn dimensional deformation interaction matrix is constructed
Step 4, inputting the bearing interaction matrix into the 1 st row to the nth row of the (n +2) x n dimensional matrix in sequence; inputting the deformation interaction matrix into the last two rows of the (n +2) x n dimensional matrix in sequence to construct a load bearing and deformation combined control matrix
Step 5, measuring the current load F of each supporting leg by using a force sensori t；
Step 6, recording the total weight of the upper part as G, uniformly spreading the total weight of the upper part on each support leg as an ideal load, and using the load F of each support legi tThe mean square error with the ideal load G/n is minimum, and the theoretical optimal load F of each supporting legi *Is composed of
Step 7, measuring the projection length L of the distance between the laser emitter and the target point on the horizontal plane;
step 8, identifying an operator instruction, respectively giving the roll parameters as a unit angle + beta and a unit angle-beta when the operation instruction is a left roll and a right roll, and simultaneously setting the pitch parameter to zero; when the operation command is forward pitch and backward pitch, respectively endowing the pitch parameters with a unit angle + alpha and-alpha, and simultaneously setting the roll parameter to zero; when the operation commands are respectively the combination of roll and pitch, the roll parameter is endowed with a roll parameter of a unit angle + beta for left roll, the roll parameter is endowed with a unit angle-beta for right roll, the pitch parameter is endowed with a unit angle + alpha for front pitch, and the pitch parameter is endowed with a unit angle-alpha for back pitch;
step 9, combining the bearing and deformation combined control matrix in the step 4, the current load of each supporting leg in the step 5, the optimal load of each supporting leg in the step 6 and the lateral and pitching parameters input in the step 8, constructing a combined control equation of the upper-mounted geometry and the supporting leg load
In equation 5 { Fi t-Fi *Is the n x 1 dimensional load deflection column vector for n legs, Fi tFor the measured current load, Fi *For optimum loading, θtThe 2 x 1 dimensional column vector is composed of the roll parameter and the pitch parameter in step 8, wherein the roll parameter is above and the pitch parameter is below. When the pitching and rolling instructions given by the operator are obtained by solving the formula 5, the unit angle of the corresponding direction of the upper mounting actuator can be obtained, and meanwhile, the operating amount delta x of each supporting leg required by the supporting leg load reaching the theoretical optimal load can be obtainedi；
Step 10, extracting the motion amount of the first row of supporting legs from the motion amounts of the supporting legs obtained in the step 9, averaging to obtain the displacement amount of the middle point of the connecting line of the first row of supporting legs and the upper connecting point, and forming the deformation compensation motion amount delta x of each supporting lege
A in the formula 6 is the number of the first row of supporting legs;
step 11, calculating the pointing compensation action quantity delta x needed by each supporting leg when the laser ray maintains the pointing to the target point during the forward-bending and backward-bending actions of the upper assembly generating the unit angle according to the projection length Lq
Δxq± α · L formula 7
In formula 7, forward pitch corresponds to a positive value, and backward pitch corresponds to a negative value;
step 12, the operating quantity Δ x of each supporting leg is obtained according to the step 9iStep 10. the deformation compensation operation amount DeltaxeThe direction compensation operation amount Deltax described in step 11qCalculating the total work amount x of each supporting leg required by the operator to control pitching and tilting and simultaneously the supporting leg load to reach the theoretical optimal load on the premise that the upper device is directed at the target pointi
xi＝Δxi-Δxe+K·Δxq Equation 8
In formula 8, K is a condition number, and when the operator instruction includes a pitch instruction, K is 1, and when the operator instruction does not include the pitch instruction, K is 0;
step 13, the total operating quantity x of each supporting leg obtained in the step 12iDividing the maximum value of the motion quantity respectively to obtain the proportional relation between the total motion quantities of all the supporting legs, and controlling all the supporting legs to synchronously move according to the proportional relation until the total motion quantity of all the supporting legs is reached;
step 14, identifying whether all operator commands are set to zero: if yes, ending the action; if not, returning to the step 5 until the leg locking condition of the step 14 is met.
2. The method for controlling the pointing attitude of the upper fixed point of the multi-point support platform according to claim 1, wherein the set displacement in the step 2 is 1% -5% of the maximum actuating stroke of the support leg.
3. The method for controlling the pointing attitude of an upper fixed point of a multi-point support platform according to claim 1, wherein the absolute value of the unit angle in step 8 is in the range of 0.01 ° to 0.1 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210197473.XA CN114578864A (en) | 2022-03-02 | 2022-03-02 | Method for controlling pointing attitude of upper fixed point of multi-point supporting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210197473.XA CN114578864A (en) | 2022-03-02 | 2022-03-02 | Method for controlling pointing attitude of upper fixed point of multi-point supporting platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114578864A true CN114578864A (en) | 2022-06-03 |
Family
ID=81771811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210197473.XA Withdrawn CN114578864A (en) | 2022-03-02 | 2022-03-02 | Method for controlling pointing attitude of upper fixed point of multi-point supporting platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114578864A (en) |
-
2022
- 2022-03-02 CN CN202210197473.XA patent/CN114578864A/en not_active Withdrawn
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112859935B (en) | Leveling control method for multi-point supporting platform | |
| US11280703B2 (en) | Vehicle-mounted motion simulation platform based on active suspension, and control method thereof | |
| CN105787200B (en) | Large component automatic butt assembly method and system | |
| CN106777656B (en) | Industrial robot absolute accuracy calibration method based on PMPSD | |
| JP5535370B2 (en) | Factory flight | |
| CN113091979B (en) | Distributed multi-dimensional force measuring system and force measuring method | |
| CN109733638B (en) | Load application method under large deformation condition of long strut undercarriage | |
| CN106840572A (en) | A kind of near space high aspect ratio flexible flier wind tunnel test data correcting method | |
| CN113738390B (en) | Time-sharing migration space attitude fine-adjustment deviation-rectifying method of rectangular pipe jacking machine | |
| CN108677746A (en) | The automatic accurate adjustment method and system of swivel continuous beam for flat turn method construction | |
| CN111679392B (en) | Leveling method and system for large-size heavy-load optical platform | |
| CN111520163B (en) | Mixed spraying method of intelligent mixed spraying robot | |
| CN114131595B (en) | Robot 6D pose estimation system and method | |
| CN110039548B (en) | Control method, device and equipment for assembling machine | |
| CN109163677B (en) | Method for horizontally measuring product airfoil structure by three-dimensional laser scanning system | |
| US7971496B2 (en) | Method for determining the elastic deformation of components | |
| CN111390914A (en) | Robot zero position and tool coordinate calibration method | |
| CN114578864A (en) | Method for controlling pointing attitude of upper fixed point of multi-point supporting platform | |
| CN113513999B (en) | Large-view-field real-time deformation measurement system and method for static test of spacecraft structure | |
| CN116147881B (en) | Reset method of reset mechanism in wind tunnel six-component Tian-bang correction system | |
| CN113311877B (en) | Automatic leveling method of four-leg supporting operation platform | |
| CN112631342B (en) | Large ocean module sliding shipment cooperative operation method | |
| CN108414148B (en) | Optimal leveling algorithm for time with constant gravity center | |
| CN116893627B (en) | Motion platform pose control method and device based on iteration step length and storage medium | |
| CN116461470A (en) | Multi-point leveling control method |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220603 |