CN1206794C - Electromechanical type indicator of virtual force sense - Google Patents
Electromechanical type indicator of virtual force sense Download PDFInfo
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- CN1206794C CN1206794C CN 03129388 CN03129388A CN1206794C CN 1206794 C CN1206794 C CN 1206794C CN 03129388 CN03129388 CN 03129388 CN 03129388 A CN03129388 A CN 03129388A CN 1206794 C CN1206794 C CN 1206794C
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Abstract
The present invention relates to an electromechanical type virtual force sense prompting device which mainly comprises an upper computer, a digital signal processor, a current control circuit and a control motor. A gear on the outer edge of a back wheel of a load is connected with a gear on the shaft of the control motor, and an encoder is installed on the motor shaft and is used for transmitting rotary speed sampling signals to the digital signal processor. The current control circuit comprises a PI closed loop control part, a current amplification part and a current control part, and the force control information of the digital signal processor and feedback signals of a current sensor are controlled in a closed loop and amplified and then are transmitted to the input terminal of the current control circuit. The current control circuit utilizes the output characteristics of a triode to control the output torque of the motor. The device of the present invention has the advantages of combined electromechanical structure and simple control mode. Functions can be realized by adopting common devices, requirements for force sense prompting in a virtual reality state are satisfied, and simultaneously, the reliability of the device is enhanced.
Description
Technical field:
The present invention relates to a kind of electromechanical fictitious force sense presentation device, is a kind of trailing wheel force sense presentation device of bicycle simulation virtual reality system, belongs to the Electromechanical Control technical field.
Background technology:
Bicycle simulation virtual reality system is made up of the force sense presentation system on upper strata and the sextuple vivid platform of lower floor, when sextuple vivid platform cooperates the variation of scene to make corresponding attitude action, force sense presentation device produces corresponding force sense presentation, simulation ground makes the operator produce sensation on the spot in person in the face of the active force of bicycle.
Domestic research aspect virtual reality emulation system mainly is the research about lower floor's motion platform, about the research that similarly is used for the upper strata force sense presentation device seldom.Its power vision system at the middle and upper levels comprises the force sense presentation device of front-wheel and trailing wheel, and that introduces here all is meant the trailing wheel force sense presentation device.Difficult point in the trailing wheel force sense presentation device is to simulate under by bike the truth, pedal is given cyclist's passive force/moment, be that the people is when stepping on pedal, pedal just produces the opplied moment to the people, when the people stops, pedal can initiatively not impose active force to the people, and the size of passive force/moment is not subjected to the influence of pedal velocity of rotation by the environmental forces feel control that model obtains.And traditional force sense presentation device provides initiatively moment, can not satisfy the needs of control.
Some external mechanisms have carried out some researchs to the bicycle simulator, and for example the KAIST bicycle interaction analogue system of Korea S University of Science and Technology is (with reference to proceedings of 2001 IEEE conference onRobotics﹠amp; Automation Seoul Korea May 21-26,2001) and (reference: http://www.drc.ntu.edu.sg/groups/drc_www/projects_vr/bicycle_si mulator/enter.epl) of the bicycle analogue system of Nanyang Technological University, its used trailing wheel force sense presentation device is generally the form that motor and magnetic gear combine, produce initiatively moment by motor, magnetic gear produces passive force/moment.This way of realization should be controlled motor and control magnetic gear again, control forms complexity, and cost height.
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, a kind of electromechanical fictitious force sense presentation device is provided,, realize the function of force sense presentation, make every effort to simple in structure on this basis, reduce cost, can realize commercialization according to the requirement of bicycle simulator.
For realizing such purpose, electromechanical fictitious force sense presentation device of the present invention mainly comprises host computer, digital signal processor DSP, current control circuit and control motor.Host computer carries out the calculating of virtual reality model, draw the required people's of giving of simulated scenario force sense presentation by motion model, thereby by the output torque of DSP by the electric current control motor of current control circuit control motor, the active force that bicycle is subjected in the simulating actual conditions is given people's sense of reality by bike.
Specific implementation structure of the present invention is: host computer links to each other with digital signal processor DSP by the communication interface bus, the inside D/A output of digital signal processor DSP links to each other with the control motor by current control circuit, the output of current control circuit feeds back to the input of current control circuit simultaneously again through current sensor, the control motor links to each other with load, and the signal of load is sent to digital signal processor DSP by the encoder on the motor with the rotating speed sampled signal.
The present invention is designed to the rotator inertia wheel of a big quality with bicycle rear, the analog bicycle inertia that travels, and flying wheel drives motor by gear drive.On the axle of motor, encoder is housed, carries out the rotating speed sampling.
Host computer and digital signal processor DSP carry out exchanges data by the communication interface bus, and DSP feedback data (faster rotating wheel) substitution virtual reality model is calculated, and produce moving scene, and DSP are passed in the control information of must exerting oneself.DSP outputs to current control circuit to the power control information that obtains by inner D/A, and its effect is an output torque of controlling motor by the electric current of control motor.Consider effect, reliability and complexity that control mode realizes, the current control circuit that the present invention adopts comprises that PI closed-loop control, electric current amplify and Current Control three parts.The power control information of DSP output is connected the input of closed-loop control part with the feedback signal of current sensor, it exports the base stage that is connected to power tube in the Current Control part through the electric current amplifier section.The Current Control part mainly is made up of a power tube, a power resistor and two hold-off diodes, the collector electrode of a power tube filter capacitor in parallel and voltage stabilizing didoe with emitter, the collector electrode of power tube links to each other with the control motor through power resistor, diode, current sensor, and the emitter of power tube links to each other with the control motor through another diode.
The power control information of DSP output and the feedback signal of current sensor carry out obtaining Current Control control signal partly after the PI closed-loop control, because its drive current is big inadequately, direct drive current control circuit, therefore, the output of PI closed control circuit is after current amplification circuit amplifies, be connected to the input of current control circuit, i.e. the base stage of power tube.Current control circuit has utilized the output characteristic of triode, control I
bBe may command I
cThereby, the output torque of control motor.Simultaneously, also the sample rotating speed of trailing wheel of DSP feeds back to host computer, carries out the calculating of model for it.
The present invention has adopted the structure of dynamo-electric combination, and control forms is simple, uses device commonly used can realize function, has satisfied the requirement of virtual reality state force sense presentation, has increased the reliability of device simultaneously again.Simple and practical motor force control circuit within the specific limits, can produce linear output torque.Adopt closed-loop control, stable working state.The present invention can be applied to other similar Virtual Reality Force feel prompt system fully.
Description of drawings:
Fig. 1 is a fictitious force sense presentation device system diagram of the present invention.
Fig. 2 is the drive of motor mechanical construction drawing.
Among Fig. 2,1 is pedal, and 2 is hinge wheel, and 3 is minor sprocket, and 4 is flying wheel, and 5 for having the motor of encoder.
Fig. 3 is a current control circuit schematic diagram of the present invention.
Among Fig. 3,6 is that PI closed-loop control part, 7 is the electric current amplifier section, and 8 is the Current Control part.
Embodiment:
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
As shown in Figure 1, fictitious force sense presentation device of the present invention mainly comprises host computer, digital signal processor DSP, current control circuit and control motor.Host computer links to each other with digital signal processor DSP by the communication interface bus, the inside D/A output of digital signal processor DSP links to each other with the control motor by current control circuit, the output of current control circuit feeds back to the input of current control circuit simultaneously again through current sensor, the control motor links to each other with load, and the signal of load is sent to digital signal processor DSP by the encoder on the motor with the rotating speed sampled signal.
Host computer and digital signal processor DSP carry out exchanges data by the communication interface bus, and feedback data (faster rotating wheel) the substitution virtual reality model that DSP is obtained calculates, and produce moving scene, and DSP are passed in the control information of must exerting oneself.DSP outputs to current control circuit to the power control information that obtains by inner D/A, and its effect is an output torque of controlling motor by the electric current of control motor.
The masterpiece that the operator steps on pedal by bike the time to be provided is load, drives the control motor through the drive of motor mechanical device, as shown in Figure 2.The present invention transforms original bicycle structure, and bicycle rear is a flying wheel 4, is connected with the gear on the axle of its outer gear and control motor 5.The operator steps on pedal 1 and drives hinge wheel 2, and hinge wheel 2 drives minor sprocket 3 by chain, and minor sprocket 3 drives coaxial flying wheel 4.Flying wheel 4 is rotary disks of a big quality, plays the travel purpose of inertia of analog bicycle.Flying wheel 4 drives motor 5 by gear drive.On the axle of motor 5 encoder is housed, carries out the rotating speed sampling.The present invention has kept the overall structure of bicycle, to realize the power feel of difficult realizations such as gears engaged, reaches real sensation.
The present invention considers effect, reliability and the complexity that control mode realizes, the current control circuit of employing comprises that PI closed-loop control, electric current amplify and Current Control three parts.As shown in Figure 3.
Vi is the power control information of input, links to each other with the D/A of DSP.Vf is the feedback signal of current sensor.Vf is connected the input of closed-loop control part with Vi, the output of closed-loop control part is connected to Current Control input partly, the i.e. base stage of power tube T2 through the electric current amplifier section.The Current Control part is mainly by power tube T2, power resistor R
PAnd two hold-off diode D1, D3 compositions, the collector electrode of a power tube T2 filter capacitor C5 in parallel and voltage stabilizing didoe D2 with emitter, the collector electrode of power tube T2 is through power resistor R
P, diode D1, current sensor link to each other with the control motor, the emitter of power tube T2 links to each other with the control motor through diode D3.
Vf and Vi carry out obtaining Current Control control signal partly after the PI closed-loop control, because its drive current is big inadequately, direct drive current control circuit, therefore, the output of PI closed control circuit is connected to the base stage of the power tube T2 of current control circuit after current amplification circuit amplifies.
The principle of current control circuit is an output characteristic of having utilized triode, and triode is when the amplification region, as base current I
bOne regularly, collector current I
cWith collector voltage V
CEChange very for a short time, and work as I
bWhen a variable quantity is arranged, corresponding I
cChange β doubly, that is: Δ I
c=β Δ I
b, therefore control I
bBe may command I
cThereby, the output torque of control motor.And just produce V when having only the people to step on pedal
CE, circuit is just got through and is produced I
c, motor just has active force output, has solved the difficult point that passive force/moment produces, and has satisfied the requirement of system.Simultaneously, also the sample rotating speed of trailing wheel of DSP feeds back to host computer, carries out the calculating of model for it.
The PI closed-loop control of building with amplifier partly compares control signal Vi and the current sensor feedback signal Vf of DSP, carries out the closed-loop control of electric current, and principle is with general PI regulating circuit.The output signal that current amplification circuit adopts triode to amplify pi regulator is come the drive current control circuit.Here the triode of usefulness is C9013.Current control circuit is the power control circuit of motor.The operator is by bike the time, and motor is in generating state, produces electromotive force, and under the effect of control voltage Vi, the armature current constant is in analog value, and the motor output torque is constant at certain value thus, does not change with people's variation of force.When the operator stopped, electric current was 0, so the moment that motor produces produces with the external force effect, was called passive force/moment, the actual conditions of suitable anthropomorphic dummy by bike the time.The induced electromotive force that motor produces changes along with operator's the difference of speed by bike, and the average electrical kinetic potential can reach 150V when maximum, and kilovolt on the instantaneous peak value voltage, the highest average current reach several amperes, and be therefore very high to the anti-power consumption requirement of entire circuit.Except the selection of components and parts, the present invention has also taked effective cooling measure.Power resistor R
PBe used for sharing the power consumption of power tube T2, simultaneously to power tube T2 and power resistor R
PBe equipped with radiating block and fan dispels the heat.That power tube T2 adopts is BU208A, withstand voltage 1500V, power 150W.Power resistor R
PBe 10 Ω, 80W.Since require motor to be in the stall state for a long time, therefore different with common electric machine to the motor properties requirement, can adopt permanent magnet D.C. torque motor, its nominal torque is 4NM, rated speed is 1000 rev/mins.At last, by the size of DSP by D/A output control voltage U, closed-loop control electric current I, thereby the output torque of control motor that can be linear.That DSP adopts is the TMS320C2407 of TI company, and it is a dsp chip of Electric Machine Control special use.
Claims (1)
1, a kind of electromechanical fictitious force sense presentation device, it is characterized in that mainly comprising host computer, digital signal processor, current control circuit and control motor, host computer links to each other with digital signal processor by the communication interface bus, the output of digital signal processor links to each other with the control motor by current control circuit, the output of current control circuit feeds back to the input of current control circuit again through current sensor, the control motor links to each other with load, rotating speed sample code device linking number word signal processor is housed on the motor shaft, current control circuit comprises the PI closed-loop control, electric current amplifies and Current Control three parts, the power control information (Vi) of digital signal processor output and the feedback signal (Vf) of current sensor are connected the input of closed-loop control part, the output of closed-loop control part is connected to the base stage of power tube (T2) in the Current Control part through the electric current amplifier section, the collector electrode of power tube (T2) filter capacitor in parallel with emitter (C5) and voltage stabilizing didoe (D2), the collector electrode of power tube (T2) is through power resistor (R
P), diode (D1), current sensor link to each other with the control motor, the emitter of power tube (T2) links to each other with the control motor through another diode (D3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129388 CN1206794C (en) | 2003-06-19 | 2003-06-19 | Electromechanical type indicator of virtual force sense |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129388 CN1206794C (en) | 2003-06-19 | 2003-06-19 | Electromechanical type indicator of virtual force sense |
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| CN1463072A CN1463072A (en) | 2003-12-24 |
| CN1206794C true CN1206794C (en) | 2005-06-15 |
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| CN 03129388 Expired - Fee Related CN1206794C (en) | 2003-06-19 | 2003-06-19 | Electromechanical type indicator of virtual force sense |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445903A (en) * | 2010-10-07 | 2012-05-09 | 俞建峰 | Hydraulic servo type virtual force sense prompt device |
| NL2019598B1 (en) * | 2017-09-21 | 2019-03-28 | Tacx Roerend En Onroerend Goed B V | Bicycle trainer and method of its operation |
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