CN114619828A - Self-adaptive vibration reduction driving and controlling device - Google Patents
Self-adaptive vibration reduction driving and controlling device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
Abstract
The invention provides a self-adaptive vibration reduction driving and controlling device.A posture sensing system collects sensor data of a lower table top to calculate vibration information of the lower table top and pose information of the lower table top, and transmits the vibration information of the lower table top, the pose information of the lower table top and the pose information of a servo electric cylinder to a robot control system; the robot control system calculates real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on the vibration information of the lower table top, the pose information of the lower table top and the pose information of the electric cylinder, and transmits the driving instructions to the high dynamic response servo system; the high dynamic response servo system controls the servo electric cylinder based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface; and the posture sensing system collects the sensor data of the upper table surface and the pose information of the servo electric cylinder in real time and feeds the pose information back to the robot control system so that the robot control system monitors the execution of the driving instruction and updates the driving instruction.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a self-adaptive vibration reduction driving and controlling device.
Background
Under the influence of severe road bumps and inertial motions such as sudden braking and sharp turning of the vehicle, the vehicle generates vibration which is greatly excited at a low frequency, but the vibration is difficult to be damped by passive damping devices, such as: the elimination of spring dampers, suspensions, sponges, air cushions and the like can only be realized by adopting a multidimensional active vibration reduction technology, and has very high requirements on mechanisms, sensors, software and hardware communication, control algorithms and other related technologies.
Disclosure of Invention
In order to solve the problems, the invention is realized by the following technologies:
the invention provides a self-adaptive vibration damping driving and controlling device, which comprises:
the robot control system, the attitude sensing system and the high dynamic response servo system; the robot control system is connected with the attitude sensing system and the high dynamic response servo system;
the attitude sensing system collects sensor data of a lower table top to calculate vibration information of the lower table top and pose information of the lower table top, and transmits the vibration information of the lower table top, the pose information of the lower table top and the pose information of the servo electric cylinder to the robot control system;
the robot control system calculates real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table top, pose information of the lower table top and pose information of the electric cylinder, and transmits the driving instructions to the high-dynamic-response servo system;
the high dynamic response servo system controls the servo electric cylinder based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface;
the attitude sensing system collects sensor data of an upper table surface and pose information of the servo electric cylinder in real time and feeds the pose information back to the robot control system, so that the robot control system monitors execution of the driving instruction and updates the driving instruction.
In some embodiments, the robot control system comprises:
the system comprises an ARM controller, a DSP controller and an FPGA controller; the FPGA controller is connected with the ARM controller and the DSP controller;
the ARM controller is used for receiving sensor data of the lower table top and sensor data of the upper table top and controlling communication of the adaptive vibration reduction driving and controlling device;
the DSP controller is used for calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table top, pose information of the lower table top and pose information of the servo electric cylinder;
the FPGA controller is used for collecting analog signals and outputting the driving instructions in the form of PWM signals.
In some embodiments, the high dynamic response servo system comprises:
the servo control system of the motor, servo electric cylinder, encoder position information feedback module;
the motor servo control system is connected with the servo motor, the servo electric cylinder and the encoder position information feedback module; the encoder position information feedback module is connected with the servo motor and the servo electric cylinder;
the encoder position information feedback module is used for acquiring the position information of the electric cylinder when the electric cylinder moves;
in some embodiments, the high dynamic response servo system comprises:
and the direct current inversion module is connected with the motor servo control system and comprises a plurality of power inversion modules and is used for converting the input direct current into three-phase power input into the servo motor under the action of the driving instruction so as to control the servo motor to move the servo cylinder.
In some embodiments, the high dynamic response servo system comprises:
and the current acquisition feedback module is connected with the motor servo control system, the servo motor and the servo electric cylinder, is used for acquiring two phases of three-phase power generated by each power inverter module of the direct current inverter module and feeding the two phases of the three-phase power back to the motor servo control system.
In some embodiments, the high dynamic response servo system comprises: a protection module, the protection module comprising:
and the overheating protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and carrying out overheating protection on the direct current inversion module.
In some embodiments, the high dynamic response servo system comprises: a protection module, the protection module comprising:
the soft starting circuit is connected with the power supply and the self-adaptive vibration reduction driving and controlling device and is used for inhibiting surge current when the power is on;
and the braking circuit is connected with the adaptive vibration damping driving and controlling device in a training stage and is used for detecting the direct current bus voltage of the adaptive vibration damping driving and controlling device and braking when the direct current bus voltage of the adaptive vibration damping driving and controlling device is increased to exceed an overvoltage threshold value.
In some embodiments, the pose sensing system comprises:
a first processor;
the first laser gyroscope is arranged on the upper table top, is connected with the first processor and is used for acquiring vibration information of the upper table top;
and the first triaxial accelerometer is connected with the first processor and is used for acquiring the acceleration and the angular velocity of the upper table surface and the pose information of the servo electric cylinder.
In some embodiments, the pose sensing system comprises:
a second processor;
the second laser gyroscope is arranged on the lower table top, is connected with the second processor and is used for acquiring vibration information of the lower table top;
the second triaxial accelerometer is connected with the second processor and is used for acquiring the acceleration and the angular velocity of the lower table top;
and the Beidou navigation module is connected with the second processor and is used for acquiring the absolute position of the lower table top.
An adaptive damping driving and controlling method comprises the following steps:
acquiring sensor data of a lower table top through a posture sensing system to calculate vibration information of the lower table top and pose information of the lower table top, and transmitting the vibration information of the lower table top, the pose information of the lower table top and the pose information of a servo electric cylinder to a robot control system;
calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder by using a robot control system based on vibration information of the lower table top, pose information of the lower table top and pose information of the electric cylinder, and transmitting the driving instructions to a high dynamic response servo system;
controlling the servo electric cylinder through a high dynamic response servo system based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface;
and acquiring sensor data of the upper table top and pose information of the servo electric cylinder in real time by using a posture sensing system, and feeding back the pose information to the robot control system so as to monitor the execution of the driving instruction and update the driving instruction by the robot control system.
The self-adaptive vibration reduction driving and controlling method and device provided by the invention at least have the following beneficial effects: the self-adaptive vibration reduction of the system is realized through the comprehensive linkage of the robot control system 1, the attitude sensing system 2 and the high dynamic response servo system 3.
Drawings
The above features, technical features, advantages and modes of realisation of an adaptive damping actuation method and device will be further described in the following, in a clearly understandable manner, with reference to the accompanying drawings, which illustrate preferred embodiments.
FIG. 1 is a schematic diagram of an embodiment of an adaptive damping actuation device of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an adaptive damping and driving apparatus according to the present invention;
FIG. 3 is a schematic diagram of one embodiment of a robotic control system of the present invention;
FIG. 4 is a schematic diagram of one embodiment of a high dynamic response servo system of the present invention;
FIG. 5 is a schematic diagram of a three-phase voltage-type inverter according to the present invention;
FIG. 6 is a circuit diagram of a typical application of the PM smart power module in the present invention
FIG. 7 is a schematic diagram of the vector operation of the DC inverter module according to the present invention;
FIG. 8 is a schematic block diagram of a soft start circuit of the present invention;
FIG. 9 is a schematic diagram of the application of the braking circuit of the present invention;
FIG. 10 is a schematic block diagram of a gesture-aware system of the present invention;
FIG. 11 is a schematic diagram of an embodiment of an adaptive damping actuation method of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. Moreover, in the interest of brevity and understanding, only one of the components having the same structure or function is illustrated schematically or designated in some of the drawings. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, without inventive effort, other drawings and embodiments can be derived from them.
In one embodiment, the present invention provides an adaptive damping actuation device, as shown in fig. 1, comprising:
the robot control system comprises a robot control system 1, an attitude sensing system 2 and a high dynamic response servo system 3; and the robot control system 1 is connected with the attitude sensing system 2 and the high dynamic response servo system 3.
In this embodiment, an adaptive damping, driving and controlling integrated device includes a robot controller system, an attitude sensing system 2, a high dynamic response servo system 3 and a communication interface.
The posture sensing system 2 collects sensor data of a lower table surface to calculate vibration information of the lower table surface and pose information of the lower table surface, and transmits the vibration information of the lower table surface, the pose information of the lower table surface and the pose information of the servo electric cylinder to the robot control system 1.
Specifically, the attitude sensing system 2 is mainly used for detecting vibration information of a deck/vehicle chassis and an upper table of a ship, and comprises information such as acceleration along with a system 3 axis, angular velocity along with the system 3 axis and the like. The information is transmitted to a control system and processed by a pose fusion perception algorithm to remove noise and deviation.
The robot control system 1 calculates real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table surface, pose information of the lower table surface and pose information of the electric cylinder, and transmits the driving instructions to the high dynamic response servo system 3.
Specifically, a control algorithm receives information of an accelerometer, a laser gyroscope and a Beidou navigation system at the bottom of the platform and on the upper table top, and an actuating mechanism position sensor, and according to the kinematics and the kinetic equation of the robot, the commands of displacement, speed and the like of each axis of electric cylinder are solved, and are issued to a servo driver through a bus to be synchronously executed, so that control is formed, and the whole system can normally and stably operate.
The robot control system 1 controls each servo motor and each servo electric cylinder to move through a driver.
And the high dynamic response servo system 3 controls the servo electric cylinder based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface.
The attitude sensing system 2 collects sensor data of an upper table surface and pose information of the servo electric cylinder in real time and feeds the pose information back to the robot control system 1, so that the robot control system 1 can monitor execution of the driving instruction and update the driving instruction.
Specifically, this embodiment also carries out feedback through the sensor equipment of upper mounting plate, can improve the precision of device greatly. The sensor device may be used selectively, for example, where control accuracy is not critical.
In this embodiment, the adaptive vibration reduction of the system is realized through the comprehensive linkage of the robot control system 1, the attitude sensing system 2 and the high dynamic response servo system 3.
In one embodiment, the present embodiment provides an adaptive damping control device, as shown in fig. 2, wherein the robot control system 1 includes:
the system comprises an ARM controller, a DSP controller and an FPGA controller; the FPGA controller is connected with the ARM controller and the DSP controller.
The ARM controller is used for receiving the sensor data of the lower table top and the sensor data of the upper table top and controlling the communication of the self-adaptive vibration reduction driving and controlling device.
The DSP controller is used for calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table top, pose information of the lower table top and pose information of the servo electric cylinder.
The FPGA controller is used for collecting analog signals and outputting the driving instructions in the form of PWM signals.
Specifically, the robot needs to process a large amount of sensor data in real time, and the attitude information needs to be processed in time, so that the ARM + DSP + FPGA is adopted as a main processor.
The ARM is responsible for collecting data of the sensor and controlling various communications, the communication modes include CAN, Ethernet and the like, the DSP is used for realizing a complex control algorithm, and the FPGA is responsible for controlling collection of analog signals, PWM signal output and reserving a communication interface.
In this embodiment, a parallel bus is used for data exchange among the three.
In one embodiment, the present embodiment provides an adaptive damping control device, and the high dynamic response servo system 3 includes:
the device comprises a motor servo control system, a servo motor, a servo electric cylinder and an encoder position information feedback module.
The motor servo control system is connected with the servo motor, the servo electric cylinder and the encoder position information feedback module; and the encoder position information feedback module is connected with the servo motor and the servo electric cylinder.
Specifically, a motor servo control system controls a motor, the motor drives an electric pole to move, position information is collected through a rotary encoder and is transmitted back to the motor servo control system, and a control system algorithm is realized on a driving and controlling integrated platform.
And the encoder position information feedback module is used for acquiring the position information of the electric cylinder when the electric cylinder moves.
For example, as shown in fig. 4, in order to complete the closed-loop control of the three loops of the servo motor, feedback values of speed and position are necessary, and in the field of motion control, the most common method for obtaining the feedback values is through various sensors, and the device adopts an absolute value encoder, and the communication mode is RS 422.
In one embodiment, the high dynamic response servo system 3 includes:
and the direct current inversion module is connected with the motor servo control system and comprises a plurality of power inversion modules and is used for converting the input direct current into three-phase power input into the servo motor under the action of the driving instruction so as to control the servo motor to move the servo cylinder.
Illustratively, the main function of the dc inverter module is to convert an input dc power into a three-phase power input to the servo motor under the action of a control signal, the inverter module is implemented by a three-phase full-bridge inverter circuit, the circuit generally includes 6 transistor modules, the input 6 PWM signals are respectively responsible for controlling the on/off of the transistors, and a schematic structural diagram of the three-phase voltage-type inverter is shown in fig. 5.
The system uses 4 IPM intelligent power modules, which can be used to drive 4 servo motors simultaneously. The IPM intelligent power module used by the device selects BIP120050 of Biedi company, and the product has the advantages of low power consumption, strong anti-interference capability and the like. The under-voltage circuit is matched with an Insulated Gate Bipolar Transistor (IGBT), and the under-voltage circuit, the temperature analog output function, the over-current protection circuit and the IGBT driving circuit are integrated inside the insulated gate bipolar transistor, so that the module functions are further enriched, and the reliability and the stability of the system are improved. The adoption of a separate negative terminal enables peripheral circuits to independently monitor each phase current of the inverter, and a typical application circuit diagram of the IPM intelligent power module is shown in FIG. 6.
Specifically, the integrated Power inverter module ipm (intelligent Power module) is increasingly used in Power conversion circuits. The module is also called an intelligent power module, and has the characteristics of high current and low saturation voltage of a power transistor and the advantages of high-frequency switching of a field effect transistor.
It should be noted that, various detection and protection circuits are also integrated inside the IPM, which can provide protection against over-temperature and over-current of the device. The IPM greatly reduces the volume of the power inverter module through high integration, is particularly suitable for miniaturization and embedded design of a driver, and ensures stable and reliable operation of the power inverter module due to excellent performance of the IPM.
In this embodiment, the multi-axis servo system is integrated on a hardware platform, the system is highly integrated, communication delay is reduced, the synchronism of multi-axis control is improved, and a foundation is provided for improving the performance of the parallel robot control system 1.
In one embodiment, the high dynamic response servo system 3 includes:
and the current acquisition feedback module is connected with the motor servo control system, the servo motor and the servo electric cylinder, is used for acquiring two phases of three-phase power generated by each power inverter module of the direct current inverter module and feeding the two phases of the three-phase power back to the motor servo control system.
Specifically, the three-phase current of the motor is used as the input of a Clarke module in the vector control module, and is the essential important feedback data for completing the whole FOC vector control. The precision of the current acquisition feedback module is related to the precision of vector control of the whole current loop, and the control performance of the current loop closed loop can be directly influenced.
The servo motors used in the system can be regarded as three-phase balance loads, so that the sum of three-phase currents of each motor is equal to 0, which means that only two-phase currents of each motor need to be collected.
The direct current inversion module used by the system is provided with 4 IPM intelligent power modules, so that 8-phase current is required to be measured altogether, and as the 2-phase current of each motor simultaneously participates in vector operation, the two-phase current of each motor needs to be acquired and operated at the same time.
In the device, two phases of three-phase currents generated by each IPM module of the direct current inversion module are collected through the current sampling resistor. After filtering processing, 2-phase current collected by each IPM module is converted into digital quantity from analog quantity by a sigma-delta ADC conversion chip. The FPGA chip reads the two-phase current of each module and stores the two-phase current into a corresponding feedback current value register, and 2 opposite feedback values of each IPM module are sequentially read from the corresponding register to participate in vector operation of the current loop when current loop calculation is carried out each time.
Because the current collection module requires special requirements, it needs to read two-phase currents of the same motor at the same time to complete vector operation, so the FPGA needs to control two ADC conversion chips at the same time, each ADC conversion chip is responsible for converting one-phase current, and the two ADC conversion chips are respectively from four IPM modules, and the implementation schematic diagram is shown in fig. 7.
In one embodiment, the high dynamic response servo system 3 comprises: a protection module, the protection module comprising:
and the overheating protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and carrying out overheating protection on the direct current inversion module.
Specifically, because the IPM intelligent module can emit a large amount of heat during operation, the IPM and other electronic components may be burned down when the temperature reaches a certain value.
In the embodiment, the overheat protection circuit prevents the occurrence of such events, the overheat protection circuit samples the temperature change measured by the thermistor, and when the temperature approaches the limit which can be borne by the system, the system is closed to achieve the protection effect.
And the soft starting circuit is connected with the power supply and the self-adaptive vibration reduction driving and controlling device and is used for inhibiting surge current when the power is on.
Illustratively, in order to avoid a large surge current when the power is just turned on, the system provides a surge control circuit, a series resistor forms surge suppression, after the input capacitor is fully charged, the series resistor is short-circuited by a relay, and a schematic block diagram of a soft-start circuit is shown in fig. 8.
And the braking circuit is connected with the adaptive vibration damping driving and controlling device in a training stage and is used for detecting the direct current bus voltage of the adaptive vibration damping driving and controlling device and braking when the direct current bus voltage of the adaptive vibration damping driving and controlling device is increased to exceed an overvoltage threshold value.
Specifically, when the system works normally, a recoil electromotive force is generated, the voltage of the direct-current bus is increased due to the partial capacity, and when the voltage is higher than a certain value, the IPM intelligent power module and other electronic components can be burnt, so that the brake circuit can prevent the occurrence of the events. The system braking circuit is completed by a braking switch (MOSFET), a braking resistor and a bus voltage detection circuit.
In this embodiment, the bus voltage detection circuit detects the bus voltage, and when detecting that the bus voltage reaches the set value, the robot control system 1 sends a command to turn on the braking MOSFET, the braking resistor starts to consume energy, and the bus voltage falls back, and the schematic diagram is shown in fig. 9.
In one embodiment, as shown in fig. 10, the posture sensing system 2 includes:
a first processor; the first laser gyroscope is arranged on the upper table top, is connected with the first processor and is used for acquiring vibration information of the upper table top; and the first triaxial accelerometer is connected with the first processor and is used for acquiring the acceleration and the angular velocity of the upper table surface and the pose information of the servo electric cylinder.
In some embodiments, the pose sensing system 2 comprises:
a second processor; the second laser gyroscope is arranged on the lower table top, is connected with the second processor and is used for acquiring vibration information of the lower table top; the second triaxial accelerometer is connected with the second processor and is used for acquiring the acceleration and the angular velocity of the lower table top; and the Beidou navigation module is connected with the second processor and is used for acquiring the absolute position of the lower table top.
Specifically, the attitude sensing system 2 includes two MCUs, a first processor located on the upper platform and a second processor located on the deck/chassis.
The attitude sensing system 2 further comprises a sensor (a 3-axis accelerometer, a laser gyroscope and Beidou navigation), is mainly used for detecting vibration information of a deck/vehicle chassis and an upper table top of a ship, and comprises information such as 3-axis acceleration along with a system and 3-axis angular velocity along with the system, and the information is transmitted to a control system and processed by a pose fusion sensing algorithm to remove noise and deviation.
The control algorithm receives information of an accelerometer, a laser gyroscope and a Beidou navigation system at the bottom and the upper table top of the platform and position sensors of the actuating mechanism, calculates instructions such as displacement and speed of each axis of electric cylinder according to kinematics and a kinetic equation of the robot, and sends the instructions to the servo driver for synchronous execution through a bus, so that control is formed, and the whole system operates normally and stably.
The sensor hardware mainly comprises an IMU inertial sensor, a laser gyroscope, a Beidou navigation system and the like, a block diagram is shown in fig. 10, sensor equipment of an upper platform is used for feedback, the precision of the device can be greatly improved, and the sensor hardware can be not used in occasions with low requirements on control precision.
In one embodiment, the present invention provides an adaptive damping control method, as shown in fig. 11, including:
the vibration information of the lower table top and the pose information of the lower table top are calculated by collecting sensor data of the lower table top through the posture sensing system 2, and the vibration information of the lower table top, the pose information of the lower table top and the pose information of the servo electric cylinder are transmitted to the robot control system 1.
And calculating the real-time displacement, real-time speed and driving instruction of the servo electric cylinder by using the robot control system 1 based on the vibration information of the lower table surface, the pose information of the lower table surface and the pose information of the electric cylinder, and transmitting the driving instruction to a high dynamic response servo system 3.
And the servo electric cylinder is controlled by the high dynamic response servo system 3 based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface.
And acquiring sensor data of the upper table top and pose information of the servo electric cylinder in real time by using a posture sensing system 2, and feeding back the sensor data and the pose information to the robot control system 1 so as to monitor the execution of the driving instruction and update the driving instruction by the robot control system 1.
Illustratively, as shown in FIG. 11, the autonomic balance task flow is as follows:
(1) the method comprises the following steps of measuring information such as acceleration, angular velocity and absolute position of a vehicle chassis by a 3-axis accelerometer, a laser gyroscope and a Beidou navigation system which are arranged on the vehicle chassis;
(2) the sensor information is processed by a multi-sensor fusion perception algorithm, namely, high-precision chassis vibration and pose information is obtained through a nonlinear complementary filter and an extended Kalman filter;
(3) the robot control system 1 calculates real-time displacement, speed and force instructions of the electric cylinder according to vibration and pose information of the chassis and the upper table surface and displacement and speed of the electric cylinder;
(4) the driving instruction is transmitted to the electric cylinder and the motor through the driver to be executed, so that the posture constancy and the acceleration attenuation of the upper table surface are realized;
(5) the actual control effect of the upper table top can be transmitted to a controller (for feedback) through a 3-axis accelerometer and a laser gyroscope which are arranged on the upper table top, and meanwhile, the position speed of the electric cylinder is also transmitted to the controller through a corresponding position speed sensor.
It will be apparent to those skilled in the art that, for convenience and simplicity of description, the above division of the program modules is merely used as an example, and in practical applications, the above distribution of functions may be performed by different program modules according to needs, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only for convenience of distinguishing from each other and are not used for limiting the sunlight protection scope of the application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely exemplary, and the division of the modules or units is merely an example of a logical division, and there may be other divisions when the actual implementation is performed, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and embellishments can be made without departing from the principle of the present invention, and these should also be regarded as the sunlight protection scope of the present invention.
Claims (10)
1. An adaptive damping actuation device, comprising: the robot control system, the attitude sensing system and the high dynamic response servo system; the robot control system is connected with the attitude sensing system and the high dynamic response servo system;
the attitude sensing system collects sensor data of a lower table top to calculate vibration information of the lower table top and pose information of the lower table top, and transmits the vibration information of the lower table top, the pose information of the lower table top and the pose information of the servo electric cylinder to the robot control system;
the robot control system calculates real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table top, pose information of the lower table top and pose information of the electric cylinder, and transmits the driving instructions to the high-dynamic-response servo system;
the high dynamic response servo system controls the servo electric cylinder based on the driving instruction so as to realize constant attitude and acceleration attenuation of the upper table surface;
the attitude sensing system collects sensor data of an upper table surface and pose information of the servo electric cylinder in real time and feeds the pose information back to the robot control system, so that the robot control system monitors execution of the driving instruction and updates the driving instruction.
2. The adaptive damping actuation device according to claim 1, characterized in that the robot control system comprises:
the system comprises an ARM controller, a DSP controller and an FPGA controller; the FPGA controller is connected with the ARM controller and the DSP controller;
the ARM controller is used for receiving sensor data of the lower table top and sensor data of the upper table top and controlling communication of the adaptive vibration reduction driving and controlling device;
the DSP controller is used for calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder based on vibration information of the lower table top, pose information of the lower table top and pose information of the servo electric cylinder;
the FPGA controller is used for collecting analog signals and outputting the driving instructions in the form of PWM signals.
3. The adaptive damping control device according to claim 1, wherein the high dynamic response servo system comprises:
the servo control system of the motor, servo electric cylinder, encoder position information feedback module;
the motor servo control system is connected with the servo motor, the servo electric cylinder and the encoder position information feedback module; the encoder position information feedback module is connected with the servo motor and the servo electric cylinder;
and the encoder position information feedback module is used for acquiring the position information of the electric cylinder when the electric cylinder moves.
4. The adaptive damping control device according to claim 3, wherein the high dynamic response servo system comprises:
and the direct current inversion module is connected with the motor servo control system and comprises a plurality of power inversion modules and is used for converting the input direct current into three-phase power input into the servo motor under the action of the driving instruction so as to control the servo motor to move the servo cylinder.
5. The adaptive damping control device according to claim 4, wherein the high dynamic response servo system comprises:
and the current acquisition feedback module is connected with the motor servo control system, the servo motor and the servo electric cylinder, is used for acquiring two phases of three-phase power generated by each power inverter module of the direct current inverter module and feeding the two phases of the three-phase power back to the motor servo control system.
6. The adaptive damping control device according to claim 5, wherein the high dynamic response servo system comprises: a protection module, the protection module comprising:
and the overheating protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and carrying out overheating protection on the direct current inversion module.
7. The adaptive damping control device according to claim 5, wherein the high dynamic response servo system comprises: a protection module, the protection module comprising:
the soft starting circuit is connected with the power supply and the self-adaptive vibration reduction driving and controlling device and is used for inhibiting surge current when the power is on;
and the braking circuit is connected with the adaptive vibration damping driving and controlling device in a training stage and is used for detecting the direct current bus voltage of the adaptive vibration damping driving and controlling device and braking when the direct current bus voltage of the adaptive vibration damping driving and controlling device is increased to exceed an overvoltage threshold value.
8. The adaptive damping drive control device according to any one of claims 1 to 7, wherein the attitude sensing system comprises:
a first processor;
the first laser gyroscope is arranged on the upper table top, is connected with the first processor and is used for acquiring vibration information of the upper table top;
and the first triaxial accelerometer is connected with the first processor and is used for acquiring the acceleration and the angular velocity of the upper table surface and the pose information of the servo electric cylinder.
9. The adaptive vibration damping actuation device according to claim 8, wherein the attitude sensing system comprises:
a second processor;
the second laser gyroscope is arranged on the lower table top, is connected with the second processor and is used for acquiring vibration information of the lower table top;
the second triaxial accelerometer is connected with the second processor and is used for acquiring the acceleration and the angular velocity of the lower table top;
and the Beidou navigation module is connected with the second processor and is used for acquiring the absolute position of the lower table top.
10. An adaptive damping driving and controlling method is characterized by comprising the following steps:
acquiring sensor data of a lower table top through a posture sensing system to calculate vibration information of the lower table top and pose information of the lower table top, and transmitting the vibration information of the lower table top, the pose information of the lower table top and the pose information of a servo electric cylinder to a robot control system;
calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder by using a robot control system based on vibration information of the lower table top, pose information of the lower table top and pose information of the electric cylinder, and transmitting the driving instructions to a high dynamic response servo system;
controlling the servo electric cylinder through a high dynamic response servo system based on the driving instruction so as to realize the constant posture and the acceleration attenuation of the upper table surface;
and acquiring sensor data of the upper table top and pose information of the servo electric cylinder in real time by using a pose sensing system, and feeding the pose information back to the robot control system so as to monitor the execution of the driving instruction and update the driving instruction by the robot control system.
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