CN116300667A - Modular combined adjusting platform and control method thereof - Google Patents
Modular combined adjusting platform and control method thereof Download PDFInfo
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- CN116300667A CN116300667A CN202310596448.3A CN202310596448A CN116300667A CN 116300667 A CN116300667 A CN 116300667A CN 202310596448 A CN202310596448 A CN 202310596448A CN 116300667 A CN116300667 A CN 116300667A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000002093 peripheral effect Effects 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 description 12
- 238000012360 testing method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of automation, in particular to a modular combined adjusting platform and a control method of the adjusting platform, wherein the adjusting platform comprises a combined movable platform, a module unit and a combined base; the module unit is used for connecting the combined movable platform and the combined base; the module unit consists of a movable platform, a base and UPU supporting legs; the UPU supporting leg is used for connecting the movable platform and the base; the movable platform is connected with the combined movable platform through bolts, and the base is connected with the combined base through bolts; the invention provides a combined adjustment platform using a Stewart parallel platform as a module unit, which is driven in a redundant way and solves the problem of cooperative movement among the module units on the premise of ensuring the posture adjustment precision of the combined platform.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a modular combined adjustment platform and a control method of the adjustment platform.
Background
In order to ensure the excellent on-orbit observation performance of the space optical telescope, ground test and verification work must be widely and deeply carried out in the development stage. In the ground optical index test process, the optical axis alignment requirement of the optical telescope is high, and the resolution of the optical axis adjustment angle directly influences the test result.
With further increase of caliber and focal length of the telescope, the size and weight of the telescope are increased, and the difficulty of aligning the optical axis of ground test is further increased. The optical axis alignment resolution requirement of the currently developed 2m caliber magnitude space telescope in China is better than 0.13 ', and the optical axis alignment requirement of the 3m caliber magnitude telescope in China reaches even 0.01'. The traditional Stewart parallel mechanism has the problem that 6 supporting points cannot meet the requirements along with the increase of the size of a table top, so that the table top is large in deformation, serious in stress concentration of the supporting points, overlarge in supporting leg bearing capacity and the like are caused, and finally the optical load testing precision is influenced. In addition, if the traditional single Stewart parallel platform adjustment scheme is adopted, the platform height is too high due to the inherent configuration characteristics, so that the micro-vibration amplitude transmitted to the optical load by the foundation and the supporting structure is amplified, the longitudinal size of the ultra-large vacuum detection equipment is increased, and the optical detection difficulty and the equipment cost investment are greatly improved. Therefore, the traditional scheme can not meet the requirements of large envelope, large bearing and optical axis alignment, and severely restricts the development of large-caliber space-based observation technology in China.
Therefore, the development is suitable for the development requirement of the new generation of space large caliber telescope, and the low gravity modularized combined adjustment platform with large table top and large bearing capacity is not slow.
Disclosure of Invention
The invention aims to solve the problems and provides a modularized combined low-gravity-center large-bearing-capacity adjusting platform which can realize large table top, large bearing capacity, low gravity center and high-precision posture adjustment.
The invention provides a modular combined adjusting platform, which comprises a combined movable platform, a module unit and a combined base; the module unit is used for connecting the combined movable platform and the combined base; the module unit consists of a movable platform, a base and UPU supporting legs; the UPU supporting leg is used for connecting the movable platform and the base; the movable platform is connected with the combined movable platform through bolts, and the base is connected with the combined base through bolts.
Preferably, the number of the module units is m×n, M is the number of the module units in a row, and N is the number of the module units in a column; each of the module units is arranged in a longitudinal and transverse direction at equal intervals.
Preferably, the modular unit adopts a stewart configuration.
Preferably, the number of the UPU supporting legs is six.
Preferably, the UPU supporting leg comprises a Hooke hinge, a force sensor and an electric cylinder; the force sensor is connected in series between the Hooke hinge and the electric cylinder, and the Hooke hinge is used for connecting the movable platform and the base.
The invention also provides a control method of the adjusting platform, wherein the adjusting platform is provided by the invention, and the module unit comprises a central module unit and a peripheral module unit; the central module unit adopts position control, and the peripheral module units adopt inner and outer ring impedance control.
Preferably, the control method includes the steps of:
s1, controlling the motion trail of the central module unit to be consistent with the motion trail of the combined movable platform;
s2, calculating by the outer ring impedance controller from the target gesture of the combined moving platform, and then carrying out inverse kinematics solution to determine the motion trail of the peripheral module units;
s3, determining expected force and moment values of the module units through dynamic inverse solution of the combined movable platform.
Preferably, in the step S2, force feedback information of the central module unit is introduced for operation of the outer loop impedance controller.
Preferably, force feedback information of the peripheral module unit is introduced for operation of an inner loop impedance controller of the peripheral module unit itself.
Preferably, encoder information of each of the module units is introduced for operation of a position controller of the module unit.
The invention provides a combined adjustment platform which uses a Stewart parallel platform as a module unit, wherein the combined adjustment platform is driven in a redundant way, and the problem of cooperative movement among the module units is solved on the premise of ensuring the posture adjustment precision of the combined platform; meanwhile, a control method is provided as follows: the module units at the central position are controlled by adopting the position, and the module units at the other peripheral positions are controlled by adopting the inner and outer ring impedance; the force feedback information of the central module unit X is introduced for the operation and use of the outer ring impedance controller, the force feedback information of the other peripheral module units is introduced for the operation and use of the inner ring impedance controllers of the peripheral module units, the encoder information of each module unit is introduced for the operation and use of the position controllers of each module unit; by using the control method of the invention, the problem that the tracking precision of the coordinated motion trail can not be ensured in the main flow tight coordinated control process is solved.
Drawings
FIG. 1 is a schematic diagram of a modular combined adjustment platform in accordance with an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a module unit in the adjustment platform according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a UPU leg in an adjustment platform according to an embodiment of the present invention.
Fig. 4 is a flowchart of a control method of the adjustment platform according to an embodiment of the present invention.
FIG. 5 is a partial schematic view of the structure of a modular assembled adjustment platform in accordance with an embodiment of the present invention.
Reference numerals:
the combined movable platform 1, the module unit 2, the combined base 3, the movable platform 2-1, the UPU supporting leg 2-2, the base 2-3, the Hooke hinge 2-2-1, the force sensor 2-2 and the electric cylinder 2-2-3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
Referring to fig. 1, which is a schematic structural diagram of a modular combined adjustment platform according to an embodiment of the present invention, it can be seen that the embodiment of the present invention provides a modular combined adjustment platform with low center of gravity and large bearing capacity, where the adjustment platform includes a combined movable platform 1, a modular unit 2 and a combined base 3; the module unit 2 is used for connecting the combined movable platform 1 and the combined base 3; FIG. 2 is a schematic structural view of a module unit in an adjustment platform according to an embodiment of the present invention, where it can be seen that the module unit 2 is composed of a movable platform 2-1, a base 2-3, and UPU legs 2-2; u in the UPU supporting leg represents a Hooke hinge, and P represents a moving pair; the UPU supporting leg 2-2 is used for connecting the movable platform 2-1 and the base 2-3; the movable platform 2-1 is connected with the combined movable platform 1 through bolts, and the base 2-3 is connected with the combined base 3 through bolts.
In a specific embodiment, as shown in fig. 1, the module unit 2 adopts a step configuration, and the general step configuration has six degrees of freedom and six branched chains, wherein two ends of each branched chain are ball pairs, and two rods are connected by a movable pair in the middle; in a specific embodiment, in the modular combined adjustment platform, the number of the module units 2 is m×n, M is the number of the module units 2 in a row, and N is the number of the module units 2 in a column; m and N may be any number, respectively, and are not particularly limited; each of the module units 2 is arranged longitudinally and horizontally at equal intervals; in a preferred embodiment, each of the modular units 2 is identical; by adopting the structure, the bearing capacity of the whole adjustment platform is increased, and the gravity center of the combined platform is not improved.
In a specific embodiment, the number of the UPU supporting legs 2-2 is six; FIG. 3 is a schematic view of a UPU leg in an adjustment platform according to an embodiment of the present invention, wherein the UPU leg 2-2 includes a Hooke hinge 2-2-1, a force sensor 2-2-2 and an electric cylinder 2-2-3; the force sensor 2-2-2 is connected in series between the Hooke hinge 2-2-1 and the electric cylinder 2-2-3 and is used for collecting force information as a feedback signal of the inner and outer ring impedance control; the Hooke hinge 2-2-1 is used for connecting the movable platform 2-1 and the base 2-3; encoders are mounted in the electric cylinders 2-2-3 at the motors to provide feedback information for the position control of the individual modular units 2 themselves.
The invention also provides a control method of the adjustment platform, wherein the adjustment platform is the adjustment platform provided by the invention, and the module unit 2 comprises a central module unit X (namely a module unit X at a central position) and peripheral module units (module units 1 and … module units M, N and the like); the center module unit X adopts position control, and force feedback information of the center module unit X is used for outer ring impedance control; the peripheral module unit adopts inner and outer ring impedance control; the force feedback information of the peripheral module unit is used for the inner loop impedance control operation of the peripheral module unit.
In a specific embodiment, fig. 4 is a schematic flow chart of a control method of an adjustment platform in a specific embodiment of the present invention, and as can be seen from the figure, the control method includes the steps of:
s1, controlling the motion trail of the central position module unit X to be consistent with the motion trail of the combined moving platform 1; the gesture adjusting precision of the combined adjusting platform is ensured; the control can be realized by various existing industrial controllers;
s2, calculating by the outer ring impedance controller from the target gesture of the combined movable platform 1, and then solving by inverse kinematics to determine the motion trail of the peripheral module units; force feedback information of the central module unit is introduced and used for operation of an outer ring impedance controller; specifically, the target posture refers to a certain target position to be reached by the combined moving platform 1, and is not particularly limited;
s3, determining expected force and moment values of each module unit 2 through dynamic inverse solution of the combined movable platform 1, and further performing impedance control to realize control of an adjustment platform; in a preferred embodiment, force feedback information of the peripheral module units is introduced for operation of an inner ring impedance controller of each peripheral module unit; namely, each peripheral module unit uses own force as feedback to control the impedance of the inner ring; introducing encoder information of each module unit for operational use of a position controller of the module unit, i.e. impedance control; specifically, in the control method of the adjustment platform, the impedance control specifically adopts a position-based impedance control, which is also called admittance control, namely, each impedance controller is built on the basis of the position controller; therefore, the control in each control link can be realized by the position controller.
The invention provides a combined adjustment platform using a Stewart parallel platform as a module unit, which is driven in a redundant way, solves the problem of cooperative movement among the module units on the premise of ensuring the posture adjustment precision of the combined platform, and provides a control method which comprises the following steps of; the module units at the central position are controlled by adopting the position, and the module units at the other peripheral positions are controlled by adopting the inner and outer ring impedance; specifically, the force feedback information introduced into the central module unit X is used for an outer ring impedance controller, the force feedback information introduced into the other module units is used for an inner ring impedance controller of the outer ring impedance controller, and the encoder information introduced into each module unit is used for a position controller of the outer ring impedance controller; by using the control method of the invention, the problem that the tracking precision of the coordinated motion trail can not be ensured in the main flow tight coordinated control process is solved.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (10)
1. The modular combined adjusting platform is characterized by comprising a combined movable platform, a module unit and a combined base; the module unit is used for connecting the combined movable platform and the combined base; the module unit consists of a movable platform, a base and UPU supporting legs; the UPU supporting leg is used for connecting the movable platform and the base; the movable platform is connected with the combined movable platform through bolts, and the base is connected with the combined base through bolts.
2. The adjustment platform of claim 1, wherein the number of module units is M x N, M being the number of module units in a row, N being the number of module units in a column; each of the module units is arranged in a longitudinal and transverse direction at equal intervals.
3. The adjustment platform of claim 1, wherein the modular unit adopts a stewart configuration.
4. The adjustment platform of claim 1, wherein the number of UPU legs is six.
5. The adjustment platform of claim 1, wherein the UPU leg comprises a hooke's hinge, a force sensor, and an electric cylinder; the force sensor is connected in series between the Hooke hinge and the electric cylinder, and the Hooke hinge is used for connecting the movable platform and the base.
6. A control method of an adjustment platform, characterized in that the adjustment platform is the adjustment platform according to any one of claims 1 to 5, and the module unit includes a central module unit and a peripheral module unit; the central module unit adopts position control, and the peripheral module units adopt inner and outer ring impedance control.
7. The control method according to claim 6, characterized in that the control method includes the steps of:
s1, controlling the motion trail of the central module unit to be consistent with the motion trail of the combined movable platform;
s2, calculating by the outer ring impedance controller from the target gesture of the combined moving platform, and then carrying out inverse kinematics solution to determine the motion trail of the peripheral module units;
s3, determining expected force and moment values of the module units through dynamic inverse solution of the combined movable platform.
8. The control method of claim 7, wherein in S2, force feedback information of the center module unit is introduced for operation of the outer loop impedance controller.
9. The control method of claim 7, wherein force feedback information of the peripheral module unit is introduced for operation of an inner loop impedance controller of the peripheral module unit itself.
10. The control method according to claim 7, wherein encoder information of each of the module units is introduced for operation of a position controller of the module unit.
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| CN202310596448.3A CN116300667B (en) | 2023-05-25 | 2023-05-25 | Modular combined adjusting platform and control method thereof |
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| CN202310596448.3A CN116300667B (en) | 2023-05-25 | 2023-05-25 | Modular combined adjusting platform and control method thereof |
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