JPH0627968B2 - Control method of the shaking device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for controlling a rocking device, and more specifically, it includes three sets of upper universal joints, which are respectively arranged at respective vertices of a triangle and are mounted on a rocking table. The upper end of each pair of operating rods is connected to each set of the above, and the lower end of each pair of operating rods is connected to each set, and each of the pair of lower universal joints is provided. It relates to a control method.

[Conventional technology]

The present applicant filed a patent application for FIGS. 5 and 6 first (Patent application Sho 6
(1-104849) No. 1-104849) A conventional rocking device is shown. Three bearing stands are located on the top surface of the base plate (1) at each vertex of an equilateral triangle.
(2) is fixedly installed, and a pair of bearing plates (3) is fixedly installed at a central portion between the bearing bases (2) with a space therebetween. Between the bearing stand (2) and the bearing plate (3), a ball screw (6), which is rotatably driven by an electric motor (5) via a gear (4), is supported. A guide rod (7) is provided parallel to the ball screw (6), and a slide bearing (8) fitted to the guide rod (7) and a nut screwed to the ball screw (6).
(9) is integrated with the lower universal joint (10).

On the lower surface of the rocking base (11), three sets of upper universal joints (12) are attached at the respective vertices of a regular equilateral triangle that is in the opposite direction to the triangle formed by the bearing base (2). Upper Universal (12)
And a pair of lower universal joints (10) corresponding to this,
Each pair of operating rods (13) is connected.

The base plate (1) is rotatably supported by a fixed disk (15) via rollers (14), and is horizontally rotated by a rotation motor (16) and a gear (17). Reference numeral (18) is a guide pulley which is attached to the base plate (1) and prevents the base plate (1) from being displaced during turning. (1
Reference numeral 9) is electric wiring, which is connected to the electric motor (5) and the like.

With the above configuration, two ball screws in a straight line
(6) Electric motor (5) for each shaft via gear (4)
When rotated by, the nut (9) moves horizontally along the ball screw (6). Therefore, two electric motors (5)
The pair of operating rods (13) can be opened and closed like a compass by separately controlling the above, and the upper universal joint (12) is vertically displaced correspondingly. If the lower universal joint (10) of the pair of operating rods (13) is moved in the same manner, the upper universal joint (12) can be displaced laterally. Such operation is the same for the three sets of upper universal joints (12).

In this way, by controlling the six electric motors (5) separately, the three apexes of the operating rod (13) are displaced vertically and horizontally, respectively. It is possible to generate a 6-degree-of-freedom shaking motion on the shaking table (11) to which is attached.

[Problems to be solved by the invention]

In the above-described conventional control method for the rocking device, the six electric motors (5) are controlled separately, but a rational control method that is suitable for real-time processing and is efficient is realized. There was a problem that not.

The present invention is intended to solve such a problem, and an object thereof is to obtain a control method of a rocking device by a program that can be reasonably designed by eliminating waste as much as possible so as to be suitable for real-time processing.

[Means for solving problems]

The control method of the rocking device according to the present invention includes a first step of obtaining the position of the center of gravity of the rocking table and the posture data from the outside, and the position of each operation rod upper fulcrum when there is no posture change, and the posture change. A second step of obtaining a corresponding transformation matrix,
The process comprises a third process for obtaining the position of each movement rod upper fulcrum subjected to the transformation matrix processing and a fourth process for obtaining the guide rod upper position of the lower end of each movement rod.

[Action]

In the present invention, the calculation of the position of the fulcrum at the upper part of each operating rod from the input of the position and posture uses the matrix operation of 3 rows and 3 columns, but finally, on the guide rod at the fulcrum at the lower end of the operating rod. For the position calculation, an expression for obtaining the intersection of the sphere and the straight line is used, and by effectively using the coordinate conversion, all outputs are obtained by the same expression.

〔Example〕

The program of the present invention inputs the required posture and position of the rocking table (11) and outputs the position of each operating rod (13) on the guide rod (7). Each movement rod (1
The calculation of the position of the fulcrum at the upper part of 3) uses a matrix operation of 3 rows and 3 columns, but in the end, the position of the fulcrum at the lower part of the operating rod on the guide rod is calculated by the formula for finding the fulcrum of the sphere and the straight line. By using coordinate transformation effectively, all outputs can be obtained with the same formula. The basic outline is as follows: (a) The position and orientation of the center of gravity of the upper reference triangle corresponding to the shaking table (11) are the basic inputs. Although these data are input from the outside, they are given in a form suitable for the purpose of use (amusement, etc.) of the shaking table (11). For example, if it operates as a flight simulator, it is given as a position signal of the shaking table (11) via a flight equation.

(b) From the basic input, the coordinates of the upper fulcrum of the six operating rods (13) are obtained.

(c) Centering on each fulcrum of the upper end of the operating rod (13), the operating rod (13)
The intersection point between the sphere having the radius as the radius and the corresponding side of the lower reference triangle corresponding to the base plate (1) is obtained.

(d) Perform processing such as code conversion and offset so as to match the system characteristics.

(e) Output as position data on the guide rod (7) of the six operating rods (13).

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5 in addition to FIG. FIG. 1 is a flow chart diagram, and FIG. 2 is a flow chart diagram in which specific symbols, expressions, etc. are displayed in FIG.

(1) Coordinate system The three-dimensional reference coordinates are Cartesian with the center of gravity of the lower reference triangle drawn by the movement of the lower fulcrums of the six operating rods (13) as the origin and the first vertex direction as the Y axis. It is a coordinate system.

The axis designation of the shaking table (11) is as follows.

Rotation around the X axis; Pitch axis (θ) Y 〃; Roll axis (φ) Z 〃; Yaw axis (ψ) (2) System constants Position on the lower surface of the shaking table (11) The names and positions of the fulcrums above the six operating rods (13) are as shown in FIG.

No. 1-PB2 2〃-PS1 3〃-PS2 4〃-PP1 5〃-PP2 6〃-PB1 In Fig. 3, GL: Distance from center of gravity of lower reference triangle (1A) RDL; Upper reference Axial distance OFA from the center of gravity of the triangle (11A) to each fulcrum position on the upper part of the operating rod; offset of the fulcrum position on the upper part of each operating rod from the axis.

(3) Driving equation (a) First, after obtaining the center of gravity position and attitude data of the rocking table (11) from the outside, the 6 of the upper part of each operating rod when there is no attitude change from the barycentric coordinates of the upper reference triangle (11A). Obtain the coordinates of fulcrums (step-1).

The coordinates of the center of gravity are (CGx, CGy, CGz), and the coordinates of the six fulcrums when there is no posture change are as follows.

PB1; (AB1x, AB1y, AB1z) PB2; (AB2x, AB2y, AB2z) PS1; (AS1x, AS1y, AS1z) PS2; (AS2x, AS2y, AS2z) PP1; AP2y, AP2z) The respective formulas are as follows.

(b) Obtain a transformation matrix corresponding to the posture change (step-2).

The matrix is defined as follows.

RA = cosφ × cosψ RB = cosφ × sinψ RC = sinφ RD = −sinθ × sinφ × cosψ−cosθ × sinψ RE = −sinθ × sinφ × sinψ + cosθ × when the posture is θ: bitch, φ: roll, ψ; yaw cosψ RF = sinθ × cosφ RG = −cosθ × sinφ × cosψ + sinθ × sinψ RH = −cosθ × sinφ × sinψ −sinθ × cosψ Ri = cosθ × cosφ (c) (b) The six fulcrum points are used by the matrix. Obtain coordinates (step-3).

The coordinates after coordinate conversion are as follows.

PB1; (BB1x, BB1y, BB1z) PB2; (BB2x, BB2y, BB2z) PS1; (BS1x, BS1y, BS1z) PS2; (BS2x, BS2y, BS2z) PP1; (BP1x, BP1y, BP1B, BP1z) BP2y, BP2z) The respective formulas are as follows.

(d) Obtain the position of the lower end of each operating rod (13) (Step-
4).

At this time, for the 6th and 1st movement rods, one of the X coordinate of the intersection of the sphere centered on the upper fulcrum and having the radius of the length of the movement rod and the corresponding side of the lower reference triangle (1A) can get.

For the other two sets, that is, the operating rods of Nos. 2 and 3, 4 and 5, rotate the fulcrum of the upper end of each operating rod by -120 ° and + 120 ° respectively around the Z axis of the reference coordinate. , No. 6, No. 1, and No. 1 can be handled. OPA1 =-{BB2x + F (BB2y, BB2z)} + OS OPA2 = {A3-F (B3, BS1z), where OPA1 to OPA6 are the position data of the lower ends of the operating rods along the corresponding sides of the lower reference triangle (1A). )} + OS where OPA3 ＝ {A4 ＋ F (B4, BS2z)} ＋ OS Where, OPA4 = {A5-F (B5, BP1z)} + OS where: OPA5 =-{A6 + F (B6, BP2z)} + OS where: OPA6 = {BB1x-F (BB1y, BB1z)} + OS. However, BL = length between upper and lower fulcrums of operating rod (13) GL = distance from center of gravity of lower reference triangle (1A) to side OS = drive zero offset (for making output data all positive data) Figure 4 shows the lower reference triangle (1
The polarity and position data of the side corresponding to the operating rod in A) are shown.

The above position data (OPA1) to (OPA6) are sent to the monitor, and the shaking table (11) is provided with a predetermined shaking device.

〔The invention's effect〕

As described above, according to the present invention, since the required posture and position of the bearing base are externally input and the position on the guide rod of each operating rod is output, it is suitable for real-time processing, and waste is minimized and rationalized. There is an effect that can be controlled dynamically.

[Brief description of drawings]

1 to 4 are for explaining one embodiment of the present invention. FIG. 1 is a flow chart of the control means, and FIG. 2 is a flow chart in which each process is further embodied.
FIG. 3 and FIG. 4 are schematic views of the essential parts of the shaking device. FIG. 5 is a perspective view of a conventional rocking device, and FIG. 6 is a side view of the same. (1) …… Base plate, (7) …… Guide rod, (10) …… Lower universal joint, (11) …… Swing base, (12) …… Upper universal joint, (13) ……
Operating rod, (1A) …… Lower reference triangle, (11A) …… Upper reference triangle. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A pair of operating pestle having an upper end coupled to each set of three sets of upper universal joints arranged at respective vertices of a triangle and attached to a rocking table, and one pair of said operating pestle. And a pair of lower universal joints each of which has a lower end coupled to each other and linearly moves along the guide pestle, and the lower end of the operating pestle is moved along the guide pestle via the lower universal joint, In a method for controlling a rocking device adapted to obtain a desired posture of the rocking table, the center of gravity position and posture data of the rocking table are obtained from the outside, and each of the upper ends of the motion pestle when the posture of the rocking table does not change. A first step of obtaining a position of a fulcrum, a second step of obtaining a conversion matrix according to a change in posture of the rocking table, and a third step of obtaining a position of each of the motion pestle upper end fulcrums processed by the conversion matrix. And the lower end of each of the operating punches The method of agitation device characterized by comprising a fourth step of obtaining a position on the serial guide punch.