JPH11342860A - Turning control method and its device for remote-control model - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a turning control method and its device for a remote-control model, which enables the model to be continuously turned around, and also enables its turning speed not to be decelerated. SOLUTION: In the case of a right proportional turning at the time of straight running, a PWM set value in response to a right inclined quantity of a steering lever is read out while a steering table is being referred to, a PWM signal is generated based on the deceleration multiplying factor of the PWM set value read out for a right driving motor, and on acceleration multiplying factor for a left driving motor so as to allow both the driving motors to be driven, when a right pivotal turn is made, the right driving motor is short-circuited so as to be braked, and meanwhile, a PWM signal is generated based on a PWM set value for the specified multiplying factor 2 with respect to the left driving motor so as to allow the left driving motor to be driven, and when a right ultra-pivotal turn is made, the right driving motor is controlled in reverse rotation, the respective motors are thereby driven by means of both a control signal normally controlling the left driving motor, and a PWM signal generated based on the PWM set value with respect to the right driving motor, and for the specified multiplying factor 1.5 with respect to the left driving motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a remote control (RC).
More particularly, the present invention relates to a method for controlling a turning speed of a model, for example, an RC tank or an RC robot, by turning a remote control to the left or right by turning the model, and a device for implementing the method.

[0002]

2. Description of the Related Art Conventionally, when an RC tank is turned left or right by remote control, there are various methods of controlling the turning speed. However, it is preferable that the control method be such that the operator can steer the vehicle with a steering operation feeling similar to that of a car, enjoy the operation, and can continuously turn. In recent years, there has appeared a type in which an RC tank can be turned left or right by operating a steering lever with a steering operation feeling. In addition to a throttle lever that changes the forward / backward speed of the RC tank by maneuvering in the front and rear direction (hereinafter referred to as forward maneuvering or maneuvering backward), a transmitter (not shown) controls the vehicle horizontally (hereinafter referred to as maneuvering). ,
Equipped with a steering lever that changes the left and right turning radii by turning left or right.
In a configuration as shown in FIG. 4, a receiver 100 for receiving a signal from a transmitter, a microprocessor 103 having input terminals connected to the receiver 100 and amplifiers 101 and 102 connected to its output terminals, and amplifiers 101 and 102 respectively. A right drive motor 104 and a left drive motor 105 connected to each other are mounted, and the signal of the transmitter is converted by the receiver 100 into a pulse current corresponding to each lever operation amount for each throttle lever and steering lever. And processor 1
03, the amplifiers 101, 10 based on the pulse current
The control signal having a predetermined pulse width to be supplied to the second drive motor 2 and the right drive motor 104, the left drive motor 1
05 is driven. The motors 104, 105
Powers each of the left and right caterpillars (not shown) of the RC tank.

[0003] Turning control as shown in FIG. 5 can be performed. In other words, when the throttle lever is steered forward, for example, when it is at the position A + 100% forward position, both the right drive motor 104 and the left drive motor 105 rotate forward at the required speed at this position A, and at this time the RC tank goes straight. ing. However, for example, when the steering wheel is turned rightward, when the steering lever is steered to the right, the right drive motor 104 is decelerated on the B line according to the degree of rightward tilt of the lever, while the left drive motor 105 is driven at a speed on the C line. That is, the rotation at the position A is continued. When the lever is tilted to the right and the speed of the right drive motor 104 reaches zero, that is, at the right pivot position D, the right drive motor 10
4 stops, but the left drive motor 105 continues to rotate at the speed at position A. When the lever is further tilted to the right, it becomes a right super turning area. In this area, the right drive motor 1
04 rotates in reverse to increase the speed on the E line in accordance with the degree of rightward tilt of the lever, while the left drive motor 105 continues to rotate at the speed at the position A.

[0004]

However, such a control method is preferable in that it makes a continuous turn, but the turning speed of the RC tank is reduced at the time of turning, so that the state of the running surface is reduced. In some cases, the vehicle cannot turn smoothly. In addition, since the vehicle is decelerated as soon as the vehicle starts to turn, there is a problem that a sense of incongruity occurs visually. The reason why the speed is reduced during turning in this way is that one of the drive motors is decelerated, while the other drive motor maintains the speed immediately before turning as described above, The RC tank generates a moment of force based on the speed difference between the two drive motors around its center of gravity, and can turn. However, since the speed acting on the center of gravity is based on the sum of the speeds of the two drive motors, This is because the sum of the speeds of the two drive motors at the time of turning becomes smaller than the sum of the speeds of the two drive motors immediately before the turn.

An object of the present invention is to enable continuous turning,
Moreover, it is an object of the present invention to provide a method of controlling turning of a remote control model in which the turning speed does not decrease. Another object of the present invention is to provide a remote control model turning control device that can easily realize the turning control method.

[0006]

In order to solve the above-mentioned problems, a turning control method of a remote control model according to a first aspect of the present invention comprises a throttle lever for changing a forward / backward speed of a remote control model, and a left / right turning lever thereof. This is a method of remotely controlling two drive motors mounted on the remote control model, for example, a DC motor, by a steering lever for changing a turning radius. By controlling the speed, one of the two drive motors is controlled to decelerate, and the other drive motor is controlled to increase the speed in accordance with the deceleration speed. While turning becomes possible by generating a moment of force based on the speed difference between both drive motors, the speed acting on the center of gravity is the speed of both drive motors. To is based on, can maintain the rate sum of the two driving motors immediately before at least turning, turning speed is not decelerated during turning. The turning radius of the remote control model varies depending on the deceleration and acceleration of the drive motor, and the turning speed is determined by dividing the deceleration deceleration and the acceleration increment by the proportional speed just before turning. It can be maintained, and in some cases, can be higher than the speed just before turning. Therefore, the apportionment is not limited to linearly increasing and decreasing the decrement and increment, but may be a non-linear relationship. By the way, since the speed immediately before the turn depends on the throttle position of the operated throttle lever, the turn speed is changed by changing the throttle position.
A desired speed can be obtained in combination with the above-mentioned proportional increase and deceleration by steering lever operation, and it is possible to easily achieve a high-speed turning and a low-speed turning in some cases.

The turning control method according to a second aspect of the present invention is characterized in that when the remote control model is turned left or right,
By operating the steering lever according to the left or right pivot turn, one of the drive motors is stopped, and the other drive motor is driven at a speed (hereinafter, referred to as a command speed) commanded by the throttle lever. When the one drive motor is braked to a stopped state in this way, it is possible not only to make a stable turn without slipping, but also to make the other drive motor Since the speed is controlled to be several times faster than the command speed, the turning speed does not decrease during the pivot turning. When such a pivot turn is performed, the steering position of the steering lever for stopping the drive motor is not limited to one point as in the position D in the above-described conventional example, but extends over a required range. This is preferable for improving the so-called robustness in ground turning. By the way, the above-mentioned several times speed value depends on the motor capacity and the state of the grounding surface of the remote control model, etc., but it can be any double speed value, for example, 2 times speed, 3 times speed, etc. preferable.

According to a third aspect of the present invention, in the turning control method, when the remote control model is turned left or right, the steering lever is steered according to the left or right turning. One of the drive motors is controlled to rotate forward at a speed several times faster than the command speed, and the other drive motor is controlled to rotate reversely at a speed several times faster than the command speed. Can be done. By the way, the above-mentioned several times speed value depends on the motor capacity and the state of the grounding surface of the remote control model in the same manner as described above, but may be an arbitrary double speed value, and the double speed value between forward rotation and reverse rotation may be different. . However, in order to make a stable spin turn, the double speed value must be 1.5 for both forward and reverse rotations.
It is preferable to use a double speed value.

According to a fourth aspect of the present invention, as a turning control device for easily realizing the above control method, a throttle lever for changing the forward / backward speed of the remote control model and a left / right turning radius of the remote control model are changed. A microprocessor to which a signal transmitted by steering lever operation is supplied, and a P which generates a pulse (PWM signal) having a predetermined duty ratio in accordance with a signal level from the processor
A WM controller, and a motor control circuit that causes the two drive motors mounted on the remote control model to rotate forward / reverse or brake at a required speed in accordance with a PWM signal from the controller and a control signal from the processor. A processor for determining a turning mode of the remote-control model based on a signal transmitted by steering lever operation; and a drive motor for supplying to the PWM controller when the turning is determined to be gentle by the determining unit. Control the speed of one of the
A steering table in which a PWM set value for controlling the speed of the other drive motor is stored. The steering table stored in the memory of the microprocessor in advance is used to calculate the acceleration / deceleration according to the steering lever operation amount. The PWM setting value is read out, and the drive motor is driven based on the PWM setting value.

By the way, the memory of the microprocessor is also provided with a throttle table which stores the PWM set value corresponding to the above command speed. Therefore, the data structure of the PWM set value of the steering table is based on the PWM of the throttle table. It is preferable to consider the relationship between the set value and the data structure. A turn in a region where one of the drive motors is controlled to decelerate and the other drive motor is controlled to increase speed is referred to as a gentle turn in order to distinguish it from a pivot turn and a super pivot turn. . The motor control circuit controls the drive of a drive motor connected to a general H-bridge circuit by, for example, a power MOSFET. If a unipolar power MOSFET is used, the switching speed can be increased. Expected and preferred. The H-bridge circuit is used to turn on / off switching elements (for example, the above-described power MOS FET).
The combination of the FF operation enables forward / reverse rotation and braking (short-circuit braking) of the drive motor. The PWM controller is a well-known PWM controller that generates a pulse having a predetermined duty ratio according to an input signal level.

According to a fifth aspect of the present invention, in addition to the PWM set value according to the fourth aspect, the steering table of the device according to the fourth aspect of the present invention supplies the PWM setting value to the PWM controller when it is determined that the pivoting operation is determined by the determination means. The PWM set value for controlling one of the drive motors to a stop state and controlling the other drive motor several times as fast as the commanded speed is stored, whereby the PWM set value of the throttle table is multiplied by several times. The driving of the drive motor based on the PWM set value is as described above. Here, in order to stop the drive motor, the PWM set value of the steering table for the drive motor is set to, for example, “0”, and the drive motor is short-circuited by the ON / OFF operation of the switching element. This can be easily achieved by the
This can be achieved even when the F state is set.

The steering table of the device according to claim 6 of the present invention includes the PW according to claims 4 and 5 described above.
In addition to the M set value, one of the drive motors is controlled to perform normal rotation at a speed several times higher than the command speed for supplying to the PWM controller when the determination unit determines that the turn is a super pivot, and the other drive motor Is stored, and the drive motor is driven based on the PWM set value obtained by multiplying the PWM set value of the throttle table by several times. Is the same as Here, in order to rotate the drive motor forward and backward, ON / O of the switching element is required.
It can be easily achieved by an appropriate combination of FF operations.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a turning control device according to an embodiment of the present invention will be described with reference to FIGS. The turning control device 1 is mounted on an RC tank and can perform various controls, in particular, a control that does not reduce the turning speed when turning left and right. A signal from a transmitter (not shown) is transmitted to a receiver 2.
And a control program for supplying various operation commands based on the signals.
And a pulse having a predetermined duty ratio in accordance with a signal level (a PWM set value of a steering table 9 and a throttle table 10 described later) from the processor 3, that is, PW
A PWM controller 4 that generates an M signal, and a PWM signal from the controller 4 and a control signal from the processor 3 enable forward and reverse rotation and short-circuit braking of the left and right drive motors 5 and 6 mounted on the RC tank. And a motor control circuit 7 that performs the control. The drive motors 5 and 6 apply power to left and right caterpillars (not shown) of the RC tank, respectively. The above-mentioned transmitter is provided with a throttle lever and a steering lever. The forward / backward steering of the throttle lever changes the forward / backward speed of the RC tank, and the left / right steering of the steering lever changes the speed of the RC tank. The left turning and right turning radii of the RC tank can be changed, and the signals respectively transmitted by the two lever operations are supplied to the processor 3 via the receiver 2. By the way, in the present embodiment, the throttle lever is used for forward and backward steering, and the steering lever is used for leftward steering and rightward steering. It may be made to be made.

Further, the processor 3 includes a judging means 8 for judging a turning mode of the RC tank based on a signal transmitted by the steering lever operation, and a PWM controller 4 when the judging means 8 judges that the turning is gentle. One of the drive motors, for example, the right drive motor 5 is decelerated in the case of gentle right turn,
A steering table 9 in which a PWM set value for controlling the speed of the other left drive motor 6 is stored. The steering table 9 is provided with a signal to be supplied to the PWM controller 4 when it is determined that a pivot turn is required.
For example, in the case of a right turn, the right drive motor 5 is stopped, and a PWM set value for controlling the other left drive motor 6 at twice the command speed is stored. One of the drive motors to be supplied to the PWM controller 4 when it is determined to be a ground turn, for example, in the case of a right super pivot turn, the right drive motor 5 is reversely controlled at 1.5 times the command speed, and PW for forward rotation control of the other left drive motor 6 at 1.5 times the command speed
The M setting value is stored. In addition, the processor 3 includes:
Drive motors 5, 6 commanded by the throttle lever
And a throttle table 10 storing PWM set values corresponding to the speeds.

FIG. 2 shows data (PW) of the steering table 9 and the throttle table 10 according to the present embodiment.
M set value). For convenience of explanation, the throttle table 10 shown in FIG. 1B will be described first. In FIG. 2, the vertical axis represents the PWM set value represented by the number of quantization steps 256, and the horizontal axis represents the positive direction of the throttle lever. In this mode, the PWM setting increases in proportion to the amount of forward movement of the lever, and the forward speed of the RC tank is increased. On the other hand, in the backward maneuver, the maneuver amount (-10 to -40%) is set to the braking mode, and the maneuver amount (-40 to -100%) is set to the reverse mode, and the maneuver amount is proportional to the maneuver amount. Then, the PWM set value is increased to increase the braking force in the braking mode, and increase the retreat speed of the RC tank in the reverse mode. Here, the maneuver amount (-
(10 + 10%) is a neutral region, which is a so-called play portion. The drive motors 5 and 6 are simultaneously controlled in each of the above modes by the forward and backward operation of the throttle lever.

Next, the steering table 9 of FIG. 1A will be described. In this embodiment, as shown in FIG. 1, the data structure of the PWM setting value of the steering table is related to that of the throttle table. To this end, a numerical value represented by a magnification of the PWM set value of the throttle table 10 is taken on the vertical axis, a rightward steering of the steering lever in the positive direction of the horizontal axis, and a leftward steering of the lever in the negative direction of the horizontal axis. In the case of the rightward steering of the lever, the steering amount (0 to + 15%) is set to the non-turning mode, the steering amount (+15 to + 70%) is set to the gentle turning (hereinafter referred to as proportional turning) mode, and the steering amount (+ 70%) is set. ＋+ 90%) as the right pivot turn mode, and the maneuver amount (+ 90９０ + 100%)
%) Is set to the right super turning circle mode. Then, in the non-swing mode, the magnification for the two drive motors 5 and 6 is set to “1” so as to be equal to the PWM set value of the command speed. The increasing rate of the PWM set value for the left driving motor 6 is set in inverse proportion to the decreasing rate. In the right pivot mode, the magnification for the right driving motor 5 is set to “0”, while the magnification for the left driving motor 6 is set to “0”. Is set to “2” times the PWM set value of the command speed, and in the right super turning mode, the magnification for the right drive motor 5 is set to “1.5” times the PWM set value of the command speed,
The magnification for the left drive motor 6 is set to "1.5" times the PWM value of the command speed. Here, the non-swirl mode is a so-called non-sensing area. By the way, in the case of the present embodiment, in the right pivot turn mode, the right driving motor 5 is short-circuited and stopped, and in the right super pivot mode, the right drive motor 5 rotates in reverse. The motor control circuits 7 operate in accordance with control signals from the processor 3 so that the left drive motor 6 is controlled to rotate in the normal direction. Note that the operation of the lever to the left is similar to that of the lever to the right, and the description thereof is omitted.

The motor control circuit 7 will be described. The motor control circuit 7 includes drive circuits 11a and 11b for driving power MOS FETs and an H bridge circuit 1 connected to the drive circuits 11a and 11b.
2a and 12b.
a and 12b are switching elements (for example, power MO
S FET) and a processor 3
ON / OF of switching element based on control signal from
By the combination of the F operation, each of the drive motors 5, 6 can be rotated forward / reverse and short-circuited.

Next, the case of making a right turn using the present apparatus 1 will be described with reference to FIGS. In the case of a left turn, the description is omitted because it is equivalent to a right turn. The pilot of the RC tank steers the throttle lever and the steering lever of the transmitter to issue an operation command to the RC tank. At this time, if the operator only steers the throttle lever forward, a signal corresponding to the amount of forward movement of the throttle lever is supplied to the processor 3 via the receiver 2. The PWM setting value of the signal level corresponding to the above signal is read out (step S1), and the PWM signal is generated in the PWM controller 4 based on the read out PWM setting value (step S3). 3 control signals from the H-bridge circuits 12a, 12a
As a result of being supplied to the drive motors 5 and 6 respectively connected to b, the drive motors 5 and 6 are controlled to rotate forward, and the RC tank goes straight.

However, when the RC tank is going straight,
When the steering lever is steered to the right by the driver, a signal corresponding to the amount of right steering of the steering lever is supplied to the processor 3 via the receiver 2 and the processor 3
Then, the PWM setting value of the signal level corresponding to the above signal is read out with reference to the steering table 9 (step S2), and the rightward tilt amount exceeds the non-turning mode and is determined by the determining means 8 to be in the proportional turning mode. (Step S4), the PWM controller 4 reads out the magnification of the read PWM set value, that is, the deceleration magnification of the PWM set value for the right drive motor 5, and the P for the left drive motor 6.
A PWM signal is generated based on the speed-up magnification of the WM set value (step S5), and the PWM signal and the control signal from the processor 3 are supplied to the drive motors 5, 6, as a result.
The RC tank turns right proportionally. In this case, since the turning speed of the RC tank is based on the sum of the speeds of the two drive motors, the sum of the speeds of the two drive motors immediately before turning can be maintained, and the turning speed does not decrease during turning.

When it is determined by the judging means 8 that the rightward tilt amount exceeds the proportional turning mode and is in the right pivot turning mode (step S4), the right drive motor 5 is short-circuit braked by the control signal from the processor 3. On the other hand, in the PWM controller 4, the magnification “2” for the left drive motor 6 read out with reference to the steering table 9.
A PWM signal is generated based on the PWM set value (step S6), and the PWM signal and the control signal from the processor 3 are supplied to the left drive motor 6, so that the RC tank
The turning speed does not decrease even during pivot turning. Further, in the right pivot turn, the steering lever operation amount (70
Since the right drive motor 5 is in a stopped state during the period of about 90%), the robustness is remarkably improved, and the turning operation can be performed stably.

Further, when the judging means 8 judges that the right tilt amount exceeds the right turning turn mode and is in the right turning turn mode (step S4), the right drive motor 5 from the processor 3 is reversely controlled. Then, a control signal for controlling the left drive motor 6 to rotate forward is supplied to each of the drive motors 5 and 6, while the PWM controller 4 reads out the right drive motor 5 read out with reference to the steering table 9.
Based on the PWM setting values of the above-mentioned magnification “1.5” for the left drive motor 6 and the above-mentioned magnification “1.5” for the left drive motor 6.
A signal is generated (step S7), and the PWM signal thus generated is also supplied to the drive motors 5 and 6, respectively. As a result, the turning speed of the RC tank does not decrease even during the turning of the super-basin. Such a series of turns is performed continuously and without deceleration over each mode. Further, such turning speed control is not limited to RC tanks, and can be applied to, for example, RC robots and RC four-wheel drive vehicles.

[0022]

According to the method for controlling turning of a model vehicle of the present invention, continuous turning is possible and the turning speed is not reduced. According to the turning control device for a model vehicle of the present invention, the above control method can be easily realized.

[Brief description of the drawings]

FIG. 1 is a block configuration diagram of a turning control device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating data stored in a microprocessor of the apparatus.

FIG. 3 is a flowchart illustrating a control operation of the present apparatus.

FIG. 4 is a block diagram of a conventional device.

FIG. 5 is a control operation diagram of a conventional device.

[Explanation of symbols]

 Reference Signs List 1 turning control device 3 microprocessor 4 PWM controller 5 right drive motor 6 left drive motor 7 motor control circuit 8 determination means 9 steering table 10 throttle table 11a, 11b drive circuit 12a, 12b H bridge circuit

Claims (6)

[Claims] 1. A remote control model in which two drive motors mounted on the remote control model are remotely controlled by a throttle lever for changing a forward / backward speed of the remote control model and a steering lever for changing a left turning / right turning radius of the model. The turning control method according to claim 1, wherein when the model is turned left or right, the one of the driving motors is decelerated by operating the steering lever in accordance with the left or right turning, and the deceleration is performed. A turning control method for a remote control model, wherein the speed of the other drive motor is controlled to increase according to the control. 2. A remote control model in which two drive motors mounted on the remote control model are remotely controlled by a throttle lever for changing a forward / reverse speed of the remote control model and a steering lever for changing a left turning / right turning radius of the model. In the turning control method, when the model is turned left or right, the one of the drive motors is stopped by steering the steering lever according to the left or right turning. And controlling the other drive motor at a speed several times faster than the speed commanded by the throttle lever. 3. A remote control model in which two drive motors mounted on the remote control model are remotely controlled by a throttle lever for changing a forward / reverse speed of the remote control model and a steering lever for changing a left turning / right turning radius of the model. The turning control method, wherein when the model is turned left or right, the steering lever is steered according to the left or right turning. A remote control model characterized in that the forward rotation control is performed at a speed several times higher than the speed commanded by the lever, and the other drive motor is reversely controlled at a speed several times higher than the speed commanded by the throttle lever. Turning control method. 4. A microprocessor supplied with a signal transmitted by a throttle lever for changing the forward / reverse speed of the remote control model and a steering lever for changing a left turning / right turning radius of the model, and a signal from the processor. A PWM controller for generating a pulse having a predetermined duty ratio in accordance with the level;
A turning control device comprising: a motor control circuit that enables forward / reverse rotation of two drive motors mounted on the model by an M signal and a control signal from the processor; Determining means for determining a turning mode of the model based on a signal transmitted by the steering lever operation; and one of the drive motors for supplying to the PWM controller when the determining means determines that the turning is gentle. Deceleration control,
A steering table in which a PWM set value for controlling the speed of the other drive motor is stored. 5. The steering table according to claim 1, wherein said PWM is provided when said determination means determines that a pivot turn is required.
A PWM set value for controlling one of the drive motors to be in a stopped state and controlling the other of the drive motors to be several times faster than a speed commanded by the throttle lever is stored. The turning control device for a remote control model according to claim 4, wherein 6. The steering table includes the PW when the determination unit determines that the vehicle is turning in the corner.
One of the drive motors to be supplied to the M controller is controlled to rotate forward at several times the speed commanded by the throttle lever, and the other drive motor is driven at a speed several times higher than the speed commanded by the throttle lever. 6. The remote control model turning control device according to claim 4, wherein a PWM set value for performing reverse rotation control at a double speed is stored.