JP2641217B2 - Man-machine linear motion controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control device, and more particularly to a man-machine linear motion control device. In particular, the present invention is suitable for a tug control device.

[Technical Background of the Invention] In recent years, tug of war as a team sport has been revived, and various local and national tournaments have been held. In this case, in order to compete, the two teams must of course gather at the same spot. For example, each team must gather at two separate spots, such as Tokyo and Osaka, and conduct the competition. Is impossible.

In such a case, as shown in FIG. 6, the tension f of the rope R is measured by a tension meter m using one tug w, and the tension is set externally. , The rope x may be pulled in a direction opposite to the tension f with a constant tension τ.

[Problems of Background Art] However, when using such a tug of war, there is a drawback that the movement of the tug is different from that of a human to human tug of war, and a feeling of playing with the machine is generated.

[Object of the Invention] The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a man-machine control device capable of producing a situation similar to that of human-to-human behavior by human-to-machine operation. It is.

[Summary of the Invention] In order to achieve the above object, according to the man-machine linear motion control device of the present invention, an external operation amount and a reference set value acting on a prime mover to be controlled are input and the control target is controlled. When modeling is performed, a virtual model unit that calculates the amount of change of the controlled object, and the difference between the amount of displacement and the amount of change of the prime mover of the controlled object are input, and when the difference and the controlled object are modeled. And a control unit for calculating an operation signal from the equation of motion and the equation of motion of the prime mover, and supplying an operation amount to the prime mover according to the computed output.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of a man-machine linear motion control device according to the present invention applied to a tug machine control device will be described with reference to the drawings.

In Figure 1, tug machine controller via a tensiometer tension f ₁ acting on the motor tug unit 2 of the control target 1 is provided in the second internal tension meter 3 or motor tug machine such as a load cell by rope R input is, and a virtual model unit 4 for calculating a change amount x _r of the controlled object 1 when the reference set value f ₂ is obtained by modeling the inputted control object 1, and the angular displacement x tug unit 2 of the control object 1 variation x difference _r is input, calculates an operation signal from the motion equation of the motion equation and the motor tug unit 2 when the model this difference x _r -x and the controlled object 1, the motor in accordance with the calculated output A control unit 5 for applying an operation amount τ to the tug-of-war machine 2.

The virtual model unit 4 and the control unit 5 can be configured by a microcomputer.

Explaining the operation principle of this tug-of-war tug controller, the tug of war between team A and team B as tug-of-war control object 1 can be expressed as shown in FIG. As shown in FIG. 3, the team A and the team B pull the rope R by tensions f ₁ and f ₂ with a spring having a mass M, a spring constant K, and a damper having a friction coefficient F, respectively. Can be modeled as a virtual model. The mass M is the sum of the masses of Team A and Team B and the mass of Class R. _xr is the position change amount of the rope R moved.

These M, F, and K are M ( _xr ), F ( _xr ), K
(X _r ) to approximate the actual tug of war.

The equation of motion that virtually models this tug-of-war control object 1 is shown by the following equation.

M _r + F _r + Kx _r = f ₁ −f ₂ (1) Next, the equation of motion of the motor tug 2 in the controlled object 1 shown in FIG.

M ₁ + F ₁ = τ−k′f ₁ (2) where M ₁ is the moment of inertia of the motor tug 2, F ₁ is the friction coefficient of the motor tug 2, and τ is the torque output of the motor net 2. , f ₁ is the tension that team a is pulling the rope R, k 'is
coefficient for converting the f ₁ to the torque, x is an angular displacement of the motor tug unit 2 to be measured by such as a rotary encoder.

When the difference between the equation of motion (1) and the equation of motion (2), that is, (1) − (2), is calculated, M _r −M ₁ + F _r −F _{1 r} + Kx _r = f ₁ −f ₂ −τ + k′f ₁ .., And this type is arranged to obtain M _{1 r} −M ₁ + F _{1 r} −F ₁ + M _r −M _{1 r} + F _r −F _{1 r} + Kx _r = f ₁ −f ₁ −τ + k′f ₁ . , which gird _{melt, x r -x = e r -} = r - = a _{at, M 1 + F 1 + (} M-M 1) r + (F-F 1) r + Kx r = f 1 -f ₂ −τ + k′f _{1 r, r, x r, f} 1, f 2, M 1, M, F 1, F,
K, since k 'is both known number, all dressed Umate operation signal u _{is, u = f 1 -f 2 -τ} + k'f 1 + (M 1 -M) r + (F 1 -F) r −Kx _r (3), M ₁ + F ₁ = u (4)

= + 0 ... And put together in the determinant of the linear system Becomes

Solving the Riccati equation, the operation signal u becomes Get. When the operation signal u is obtained, it is substituted into the equation (3). The torque output τ of the motor tug 2 is calculated based on the calculation output, and this value is supplied to the tug 2.

For example, using an observer 6 (observer) known in the field of control engineering as shown in FIG. _r can be obtained. In the figure, for example, an observer for obtaining is given by the following linear system.

W = Z-le where l is Is an appropriate value to make. Thus, when e and u are input to the observer 6, the output can be obtained by the linear system. If this observer is used, the error can be reduced and a quick response can be obtained.

Note that, for example, _{r 1} and _{r 2} can also be obtained by a differential method or a difference method without using such an observer.

As shown in FIG. 4, in this tug of war controller,
Tension f _1, reference set value f ₂ is the variation x _r is input to the virtual model section 4 is calculated, the difference between the variation x _r and the displacement amount x of the tug unit 2
An operation signal u is calculated from x _r −x, the equation of motion (1) when the controlled object 1 is modeled, and the equation of motion (2) of the motor tug machine 2, and the motor tug machine 2 is operated according to the arithmetic output. A control system for applying the quantity τ is configured.

References value f ₂ is assigned the intensity over time can be pre-programmed by the ROM to approximate the actual tug.

According [Operation of the Invention] Such tug of war machine control device configured to, when pulling the rope R team A is wound around the pulley P of the motor tug unit 2 (FIG. 1) in tensile force f _1, The tensile force f ₁ is measured via the tensiometer 3 and input to the virtual model unit 4. In addition, add strength over time to approximate the actual tug of war.
References value f _2, which is pre-programmed by the ROM is also input to the virtual model section 4 (FIG. 4). In virtual model section _{4, f 1, f 2,} k ', K from x _r, x _r, x _r is calculated, the control unit 5, tug unit 2 displacement x and the change amount x _r of the controlled object 1 The operation signal u is calculated from the difference _xr− x of the control object, the equation of motion (1) when the controlled object 1 is modeled, and the equation of motion (2) of the motor tug 2, and the motor tug 2 To give the manipulated variable output τ.

Now, when f ₁ > f ₂ , the tug-of-war 2 operates as a generator, the f ₁ side becomes a master, the f ₂ side becomes a slave, and the team A
Presents a mode of overcoming and dragging the tug-of-war tug 2. Conversely, when f ₁ <f ₂ , the tug unit 2 operates as a motor, the f ₁ side is a slave, the f ₂ side is a master, and the team A loses the tug unit 2 and is dragged. When f ₁ = f ₂ , the tug 2 operates as a motor for stopping rotation.
As described above, this tug-of-war controller controls master-slave control.

Thus, according to this tug-of-war controller, a tug-of-war training machine for the tug-of-war machine 2 is constituted by only one team, and the tug of the controller is the same as the virtual model inside the system. Will work.

Then, by using such a tug-of-war tug control device, a human-to-tug of war can perform a battle similar to a human-to-human tug of war.

Note that f ₁ and f ₂ in equations (1) and (2) are coefficients k ₁ ,
or given a k _2, by a function of time t, gender in team A, age, number of persons it is possible to set the handicap of such, also M, F, by the K as a function of x _r, Changes can be made at the start and end of a tug of war.

In the above embodiment, the case where the present invention is applied to a tug-of-war controller is described. However, the present invention is equally applicable to a man-machine controller using other linear momentum as a parameter. In this case, the programs of the virtual model unit and the control unit are changed according to the control target using the linear momentum as a parameter.

[Effects of the Invention] As is clear from the above embodiments, according to the man-machine linear motion control device of the present invention, it is possible to perform a control in which an operation by a human-machine causes a situation similar to a human-human behavior. Can be.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a tug of war controller according to an embodiment of the present invention, FIG. 2 and FIG.
FIG. 4 is an operation block diagram of the tug-of-war tug control device shown in FIG. 1, FIG. 5 is an explanatory diagram showing the operation of the control unit shown in FIG. 1 and FIG. 4, and FIG. FIG. 1 ...... controlled object 2 ...... prime controller (motor tug unit) 4 ...... virtual model section 5 ...... controller f ₁ ...... out operation amount (tension) f ₂ ...... reference set value x _r ...... variation x: displacement amount τ: manipulated value

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Naoyuki Ninomiya 1-6-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (72) Inventor Norio Sugiyama 2-1-1 Oda Ei, Kawasaki-ku, Kawasaki-ku, Kanagawa Prefecture No. 1 Inside Showa Electric Wire & Cable Co., Ltd. (72) Inventor Kazuhiko Asaka 2-1-1 Oda Sakae, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture Inside Showa Electric Wire & Cable Co., Ltd. (56) References JP-A 64-11574 (JP, A)

Claims (1)

(57) [Claims] An external manipulated variable (f ₁ ) and a reference set value (f ₂ ) acting on a prime mover (2) of a controlled object (1) are inputted, and a change amount (x _r ) of the controlled object is calculated. virtual model unit to (4), the amount of change displacement (x) and of the control target of the driving controller when modeling the controlled object difference (x _r) (x _r -x) is input, A control unit that calculates an operation signal from the difference, the equation of motion when the controlled object is modeled, and the equation of motion of the prime mover, and supplies an manipulated variable (τ) to the prime mover according to the computed output. (5) A man-machine linear motion control device comprising: