CN114619828B - Self-adaptive vibration reduction driving and controlling device - Google Patents
Self-adaptive vibration reduction driving and controlling device Download PDFInfo
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- CN114619828B CN114619828B CN202210243065.3A CN202210243065A CN114619828B CN 114619828 B CN114619828 B CN 114619828B CN 202210243065 A CN202210243065 A CN 202210243065A CN 114619828 B CN114619828 B CN 114619828B
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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
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Abstract
The invention provides a self-adaptive vibration reduction driving and controlling device, wherein a gesture 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 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 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 gesture and acceleration attenuation of the upper table top; the gesture sensing system collects sensor data of the upper table surface and gesture information of the servo electric cylinder in real time and feeds the sensor data and the gesture information back to the robot control system, so that the robot control system can monitor execution of the driving instruction and update 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 jolts and inertial motions such as sudden braking and cornering of the vehicle, the vehicle generates vibrations which are excited substantially at low frequencies, but such vibrations are difficult to use with passive vibration damping devices, such as: the spring damper, the suspension, the sponge, the air cushion and the like can be eliminated only by adopting a multidimensional active vibration reduction technology, and the spring damper has very high requirements on related technologies such as a mechanism, a sensor, software and hardware communication, a control algorithm and the like.
Disclosure of Invention
The invention aims to solve the problems, and is realized by the following technology:
the invention provides a self-adaptive vibration reduction driving and controlling device, which comprises:
the system comprises a robot control system, a gesture sensing system and a high dynamic response servo system; the robot control system is connected with the gesture sensing system and the high dynamic response servo system;
the gesture sensing system acquires sensor data of a lower table top to calculate vibration information of the lower table top and gesture information of the lower table top, and transmits the vibration information of the lower table top, the gesture information of the lower table top and the gesture information of a 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 gesture and acceleration attenuation of the upper table top;
the gesture sensing system acquires sensor data of the upper table surface and gesture information of the servo electric cylinder in real time and feeds back the sensor data and the gesture information to the robot control system, so that the robot control system can monitor execution of the driving instruction and update the driving instruction.
In some embodiments, the robotic control system includes:
ARM controller, DSP controller, 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, 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 a PWM signal mode.
In some embodiments, the high dynamic response servo system comprises:
the servo motor 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; 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 collecting position information of the electric cylinder when the electric cylinder moves;
in some embodiments, the high dynamic response servo system comprises:
the direct current inversion module is connected with the motor servo control system and comprises a plurality of power inversion modules, and the power inversion modules are used for converting input direct current into three-phase power input into a servo motor under the action of the driving instruction so as to control the servo motor to move.
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, and is used for acquiring two phases of three-phase electricity generated by each power inversion module of the direct current inversion module and feeding 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 overheat protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and performing overheat 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 start circuit is connected with a power supply and the self-adaptive vibration reduction driving control device and is used for inhibiting surge current when the power is on;
and the braking circuit is in a training stage with the self-adaptive vibration reduction driving and controlling device and is used for detecting the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device, and braking is carried out when the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device rises to exceed a voltage threshold value.
In some embodiments, the gesture sensing system includes:
a first processor;
the first laser gyroscope is arranged on the upper table top and connected with the first processor and is used for collecting vibration information of the upper table top;
and the first triaxial accelerometer is connected with the first processor and used for acquiring the acceleration and angular velocity of the upper table top and the pose information of the servo electric cylinder.
In some embodiments, the gesture sensing system includes:
a second processor;
the second laser gyroscope is arranged on the lower table top and connected with the second processor and is used for collecting vibration information of the lower table top;
the second triaxial accelerometer is connected with the second processor and used for acquiring the acceleration and the angular speed of the lower table top;
and the Beidou navigation module is connected with the second processor and used for acquiring the absolute position of the lower table top.
An adaptive vibration damping drive and control method, comprising:
acquiring sensor data of a lower table top through a gesture 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;
the servo cylinder is controlled based on the driving instruction through a high dynamic response servo system so as to realize constant gesture and acceleration attenuation of the upper table top;
and acquiring sensor data of the upper table surface and pose information of the servo electric cylinder in real time by utilizing a pose sensing system, and feeding back the sensor data and the pose information to the robot control system so that the robot control system can monitor the execution of the driving instruction and update the driving instruction.
The self-adaptive vibration reduction driving and controlling method and device provided by the invention have at least 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 gesture sensing system 2 and the high dynamic response servo system 3.
Drawings
The foregoing features, technical features, advantages and implementation of an adaptive vibration damping driving method and apparatus will be further described with reference to the accompanying drawings in a clear and understandable manner.
FIG. 1 is a schematic illustration of one embodiment of an adaptive vibration damping control device of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an adaptive vibration damping actuator of the present invention;
FIG. 3 is a schematic view 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 an exemplary application of a PM intelligent power module in the present invention
FIG. 7 is a schematic diagram of the vector operation of the DC inversion module of the present invention;
FIG. 8 is a schematic block diagram of a soft-start circuit in accordance with the present invention;
FIG. 9 is a schematic diagram of the application principle of the brake circuit in the present invention;
FIG. 10 is a schematic block diagram of a gesture sensing system of the present invention;
FIG. 11 is a schematic diagram of an embodiment of an adaptive damping drive and control 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 configurations, 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 should 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 of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying 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 explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
In one embodiment, the present invention provides an adaptive vibration damping driving and controlling device as shown in fig. 1, comprising:
a robot control system 1, a gesture sensing system 2 and a high dynamic response servo system 3; the robot control system 1 is connected with the gesture sensing system 2 and the high dynamic response servo system 3.
In this embodiment, an adaptive vibration damping driving and controlling integrated device comprises a robot controller system, a gesture sensing system 2, a high dynamic response servo system 3 and a communication interface.
The gesture sensing system 2 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 pose information of a servo electric cylinder to the robot control system 1.
Specifically, the gesture sensing system 2 is mainly used for detecting vibration information of a ship deck/a vehicle chassis and an upper table top, and comprises information such as system-following 3-axis acceleration, system-following 3-axis angular velocity and the like. The information is transmitted to a control system and is processed by a pose fusion sensing algorithm to remove noise and deviation.
The robot control system 1 calculates real-time displacement and real-time speed of the servo electric cylinder and a driving instruction 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 instruction to the high dynamic response servo system 3.
Specifically, the control algorithm receives the accelerometer, the laser gyroscope, the Beidou navigation information and the actuating mechanism position sensor at the bottom of the platform and on the upper table surface, calculates the displacement, the speed and other instructions of each shaft of electric cylinder according to the kinematics and the dynamics equation of the robot, and sends the instructions to the servo driver through a bus to be synchronously executed, so that control is formed, and the whole system operates normally and stably.
The actuator comprises servo motors and servo electric cylinders, and the robot control system 1 controls the servo motors and the servo electric cylinders to move through drivers.
The high dynamic response servo system 3 controls the servo electric cylinder based on the driving instruction so as to realize constant posture and acceleration attenuation of the upper table top.
The gesture sensing system 2 collects sensor data of the upper table surface and gesture information of the servo electric cylinder in real time and feeds back the sensor data and the gesture information 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, the embodiment also feeds back through the sensor equipment of the upper platform, so that the accuracy of the device can be greatly improved. The sensor device can be selectively used, for example, the sensor device can be not used in occasions with low requirements on control precision.
In the embodiment, the self-adaptive vibration reduction of the system is realized through the comprehensive linkage of the robot control system 1, the gesture sensing system 2 and the high dynamic response servo system 3.
In one embodiment, the present embodiment provides an adaptive vibration damping driving and controlling device, as shown in fig. 2, wherein the robot control system 1 includes:
ARM controller, DSP controller, 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, 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 a PWM signal mode.
Specifically, the robot needs to process a large amount of sensor data in real time, and pose information needs to be processed in time, so ARM+DSP+FPGA is used as a main processor.
The ARM is responsible for collecting data of the sensor and controlling various communication modes, the communication modes include CAN, ethernet and the like, the DSP is used for realizing a complex control algorithm, the FPGA is responsible for controlling the collection of analog signals, the PWM signal output and the communication interface is reserved.
In this embodiment, a parallel bus is used to exchange data among the three.
In one embodiment, the present embodiment provides an adaptive vibration damping driving control device, and the high dynamic response servo system 3 includes:
the servo motor control system, the servo motor, the servo electric cylinder and the 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, the motor servo control system controls the motor, the motor drives the electric pole to move, the rotary encoder collects position information, the position information is transmitted back to the motor servo control system, and the control system algorithm is realized on a platform with integrated driving and control.
The encoder position information feedback module is used for collecting 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, the feedback values of the speed and the position are indispensable, and in the field of motion control, the most common method for obtaining the feedback values is to use various sensors, and the device adopts an absolute value encoder and adopts a communication mode of RS422.
In one embodiment, the high dynamic response servo system 3 comprises:
the direct current inversion module is connected with the motor servo control system and comprises a plurality of power inversion modules, and the power inversion modules are used for converting input direct current into three-phase power input into a servo motor under the action of the driving instruction so as to control the servo motor to move.
The main function of the dc inversion module is to convert the input dc into three-phase power input to the servo motor under the action of the control signal, the inversion module is implemented by a three-phase full-bridge inversion circuit, the circuit generally comprises 6 transistor modules, the input 6 PWM signals are respectively responsible for controlling the on-off of the transistors, and the three-phase voltage inverter is schematically shown in fig. 5.
The system uses 4 IPM intelligent power modules, and can be used for driving 4 servo motors simultaneously. The IPM intelligent power module used by the device adopts BIP120050 of Biedi company, and the product has the advantages of small power consumption, strong anti-interference capability and the like. And the undervoltage locking circuit, the temperature analog output function, the overcurrent protection circuit and the IGBT driving circuit are integrated in the Insulated Gate Bipolar Transistor (IGBT) to further enrich the module functions and improve the reliability and stability of the system. With a separate negative terminal, the peripheral circuit can be made to monitor each phase current of the inverter independently, and a typical application circuit diagram of the IPM smart power module is shown in fig. 6.
In particular, 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 advantages of high current and low saturation voltage of a power transistor and high-frequency switch of a field effect transistor.
It should be noted that various detection and protection circuits are integrated in the IPM, which can provide overheat and overcurrent protection for 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 meanwhile, the excellent performance of the IPM also ensures stable and reliable operation of the power inverter module.
In this embodiment, the multi-axis servo system is integrated on a hardware platform, so that the system is highly integrated, communication delay is reduced, synchronization of multi-axis control is improved, and a foundation is provided for improving performance of the parallel robot control system 1.
In one embodiment, the high dynamic response servo system 3 comprises:
and the current acquisition feedback module is connected with the motor servo control system, the servo motor and the servo electric cylinder, and is used for acquiring two phases of three-phase electricity generated by each power inversion module of the direct current inversion module and feeding back to the motor servo control system.
Specifically, the three-phase current of the motor is taken as the input of a Clarke module in the vector control module, and is essential important feedback data for finishing the whole FOC vector control. The accuracy of the current acquisition feedback module is related to the accuracy of the vector control of the whole current loop, and the control performance of the closed loop of the current loop can be directly affected.
The servo motors used in the system can be regarded as three-phase balanced loads, so that the sum of three-phase currents of each motor is equal to 0, which means that only two-phase currents are required to be collected for each motor.
The direct current inversion module used by the system is provided with 4 IPM intelligent power modules, so that 8-phase currents are required to be measured in total, and 2-phase currents of each motor participate in vector operation at the same time, so that two-phase currents of each motor are required to be collected 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 a current sampling resistor. After filtering, the sigma-delta ADC conversion chip is used to convert the 2-phase current collected by each IPM module from analog to digital. 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-phase 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 of the special requirement of the current acquisition module, two-phase currents of the same motor need to be read at the same time to complete vector operation, so that 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 respectively comes from four IPM modules, and the implementation principle 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 overheat protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and performing overheat protection on the direct current inversion module.
Specifically, since the IPM intelligent module emits a large amount of heat during operation, the IPM and other electronic components may be burned out when the temperature reaches a certain level.
In this embodiment, the overheat protection circuit of the device prevents such an event from happening, and the overheat protection circuit samples the change of the temperature measured by the thermistor, and when the temperature approaches the limit that the system can bear, the system is closed to achieve the protection effect.
And the soft start 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, to avoid large surge currents during the time of power-on, the system provides a surge control circuit consisting of a series resistor to suppress surges, and a relay is used to short-circuit the series resistor after the input capacitor is fully charged, and the schematic block diagram of the soft-on circuit is shown in fig. 8.
And the braking circuit is in a training stage with the self-adaptive vibration reduction driving and controlling device and is used for detecting the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device, and braking is carried out when the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device rises to exceed a voltage 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 capability, when the voltage is higher than a certain value, the IPM intelligent power module and other electronic components can be burnt, and the braking circuit can prevent the occurrence of the events. The braking circuit of the system is completed by adopting 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, when it is detected that the bus voltage reaches the set value, the robot control system 1 sends a command to turn on the brake MOSFET, the brake 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 gesture sensing system 2 includes:
a first processor; the first laser gyroscope is arranged on the upper table top and connected with the first processor and is used for collecting vibration information of the upper table top; and the first triaxial accelerometer is connected with the first processor and used for acquiring the acceleration and angular velocity of the upper table top and the pose information of the servo electric cylinder.
In some embodiments, the gesture sensing system 2 includes:
a second processor; the second laser gyroscope is arranged on the lower table top and connected with the second processor and is used for collecting vibration information of the lower table top; the second triaxial accelerometer is connected with the second processor and used for acquiring the acceleration and the angular speed of the lower table top; and the Beidou navigation module is connected with the second processor and used for acquiring the absolute position of the lower table top.
In particular, the gesture-aware system 2 comprises two MCUs, a first processor located at the upper platform and a second processor located at the deck/chassis.
The gesture sensing system 2 also comprises a sensor (a 3-axis accelerometer, a laser gyroscope and Beidou navigation), is mainly used for detecting vibration information of a ship deck/vehicle chassis and an upper table top, comprises information such as system 3-axis acceleration, system 3-axis angular velocity and the like, transmits the information to a control system, and removes noise and deviation through processing of a gesture fusion sensing algorithm.
The control algorithm receives the accelerometer, the laser gyroscope, the Beidou navigation information and the actuating mechanism position sensor at the bottom of the platform and on the upper table surface, calculates the displacement, the speed and other instructions of each shaft of electric cylinder according to the kinematics and the dynamics equation of the robot, and sends the instructions to the servo driver through a bus for synchronous execution, thereby forming control and ensuring the normal and stable operation of the whole system.
The sensor hardware mainly comprises an inertial sensor of an IMU, a laser gyroscope, beidou navigation and the like, a component block diagram is shown in fig. 10, sensor equipment of the upper platform is used for feedback, the accuracy of the device can be greatly improved, and occasions with low control accuracy requirements can be omitted.
In one embodiment, the present invention provides an adaptive vibration damping driving and controlling method, as shown in fig. 11, including:
sensor data of a lower table top are collected through a gesture sensing system 2 to calculate vibration information of the lower table top and pose information of the lower table top, and the vibration information of the lower table top, the pose information of the lower table top and pose information of a servo electric cylinder are transmitted to a robot control system 1.
And calculating real-time displacement, real-time speed and driving instructions of the servo electric cylinder by using the robot control system 1 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 transmitting the driving instructions to the high dynamic response servo system 3.
The servo electric cylinder is controlled by the high dynamic response servo system 3 based on the driving instruction so as to realize constant gesture and acceleration attenuation of the upper table top.
And acquiring sensor data of the upper table surface and pose information of the servo electric cylinder in real time by using a pose sensing system 2, and feeding back the sensor data and the pose information to the robot control system 1 so that the robot control system 1 can monitor the execution of the driving instruction and update the driving instruction.
Illustratively, as shown in FIG. 11, the autonomic balancing task flow is as follows:
(1) The system comprises a 3-axis accelerometer, a laser gyroscope and a Beidou navigation system, wherein the 3-axis accelerometer, the laser gyroscope and the Beidou navigation system are arranged on a vehicle chassis to measure the acceleration, the angular velocity, the absolute position and other information of the vehicle chassis;
(2) The sensor information is processed by a multi-sensor fusion sensing 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 instructions of the displacement, the speed and the force of the electric cylinder according to the vibration and pose information of the chassis and the upper table surface and the displacement and the speed of the electric cylinder;
(4) The driving instruction is transmitted to the electric cylinder and the motor for execution through the driver, so that the constant gesture and acceleration attenuation of the upper table top 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 the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the scope of the present application.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
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 solution. 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 manners. The above-described embodiments of the apparatus are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and are intended to be comprehended within the scope of the present invention as defined by the claims.
Claims (7)
1. An adaptive vibration damping drive control device, comprising: the system comprises a robot control system, a gesture sensing system and a high dynamic response servo system; the robot control system is connected with the gesture sensing system and the high dynamic response servo system;
the gesture sensing system acquires sensor data of a lower table top to calculate vibration information of the lower table top and gesture information of the lower table top, and transmits the vibration information of the lower table top, the gesture information of the lower table top and the gesture information of a 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 servo 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 gesture and acceleration attenuation of the upper table top;
the gesture sensing system acquires sensor data of the upper table surface and gesture information of the servo electric cylinder in real time and feeds back the sensor data and the gesture information to the robot control system so that the robot control system can monitor execution of the driving instruction and update the driving instruction;
the high dynamic response servo system comprises:
the servo motor 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; 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 collecting position information of the servo electric cylinder when the servo electric cylinder moves;
the high dynamic response servo system comprises:
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 a servo motor under the action of the driving instruction so as to control the servo motor to move;
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, and is used for acquiring two phases of three-phase electricity generated by each power inversion module of the direct current inversion module and feeding back to the motor servo control system.
2. The adaptive vibration damping control device of claim 1, wherein the robotic control system comprises:
ARM controller, DSP controller, 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, 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 a PWM signal mode.
3. The adaptive vibration canceling drive control of claim 2 wherein said high dynamic response servo system comprises: a protection module, the protection module comprising:
and the overheat protection circuit is connected with the direct current inversion module and used for collecting the working temperature of the direct current inversion module and performing overheat protection on the direct current inversion module.
4. The adaptive vibration canceling drive control of claim 2 wherein said high dynamic response servo system comprises: a protection module, the protection module comprising:
the soft start circuit is connected with a power supply and the self-adaptive vibration reduction driving control device and is used for inhibiting surge current when the power is on;
and the braking circuit is connected with the self-adaptive vibration reduction driving and controlling device and is used for detecting the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device, and braking is carried out when the voltage of the direct current bus of the self-adaptive vibration reduction driving and controlling device rises to exceed a voltage threshold value.
5. The adaptive vibration damping driving control device according to any one of claims 1-4, characterized in that the attitude sensing system comprises:
a first processor;
the first laser gyroscope is arranged on the upper table top and connected with the first processor and is used for collecting vibration information of the upper table top;
and the first triaxial accelerometer is connected with the first processor and used for acquiring the acceleration and angular velocity of the upper table top and the pose information of the servo electric cylinder.
6. The adaptive vibration damping actuation device of claim 5, wherein the attitude sensing system comprises:
a second processor;
the second laser gyroscope is arranged on the lower table top and connected with the second processor and is used for collecting vibration information of the lower table top;
the second triaxial accelerometer is connected with the second processor and used for acquiring the acceleration and the angular speed of the lower table top;
and the Beidou navigation module is connected with the second processor and used for acquiring the absolute position of the lower table top.
7. An adaptive vibration damping driving control method, which is applied to the adaptive vibration damping driving control device according to any one of claims 1 to 6, comprising:
acquiring sensor data of a lower table top through a gesture 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 servo electric cylinder, and transmitting the driving instructions to a high dynamic response servo system;
the servo cylinder is controlled based on the driving instruction through a high dynamic response servo system so as to realize constant gesture and acceleration attenuation of the upper table top;
and acquiring sensor data of the upper table surface and pose information of the servo electric cylinder in real time by utilizing a pose sensing system, and feeding back the sensor data and the pose information to the robot control system so that the robot control system can monitor the execution of the driving instruction and update the driving instruction.
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