KR100252715B1 - Operating control device for virtual reality system - Google Patents

Abstract

PURPOSE: An operating control device for a virtual reality system is provided to have a constant control performance by controlling a partial-load hydraulic cylinder suitably to the number of passengers of a virtual reality system. CONSTITUTION: An image generating means(240) generates position data showing an operating position of a virtual reality system according to image data. A position data processing means(270) generates a reference signal for operating the virtual reality system by the position data. The reference signal from the position data processing means is inputted to a reference input means(220). A subtracting means(230) subtracts a position estimating signal of the virtual reality system from the reference signal and outputs an error signal. A PID controller(210) improves a control performance by generating a control force by a PID control. A system parameter estimating means(260) estimates the system parameter suitably to the number of passengers by generating a position estimating signal of a plant which operates according to the error signal and the control force. A PID controller keeping means(250) keeps the control performance of the PID controller well by the system parameter.

Description

OPERATING CONTROL DEVICE FOR VITUAL REALITY SYSTEM

The present invention relates to a drive control apparatus of a virtual reality motion reproducer for augmenting virtual reality by matching images and motion reproduction while maintaining a constant control performance by adaptively controlling a single-rod hydraulic cylinder according to the number of occupants. will be.

As shown in FIG. 1, the driving control apparatus of the conventional virtual reality motion reproducer includes a reference input unit 120 for inputting a reference signal r (t) set to arbitrarily move the cylinder of the virtual reality motion reproducer. And a subtractor 130 which outputs an error signal e (t) by subtracting the cylinder position estimation signal y (t) from the reference signal r (t) output from the reference input unit 120. PID controller 110 for compensating through error (e (t)) output from the subtractor 130 through PID (Proportion Integral Differential) control, and the control force output from the PID controller 110 ( display the image on the screen separately when the plant 100 operates according to u (t)) and feeds the output y (t) back to the type force of the subtractor 130, and the virtual reality motion reproducer. It is composed of an image generator 140.

The plant 100 sends or receives the hydraulic pressure introduced by opening and closing the servo valve to the cylinder or by opening and closing the servo valve in accordance with the sub-valve position in order to supply or return the hydraulic pressure from the hydraulic device. 101, a motion reproducing device which operates according to the hydraulic pressure sent through the driving unit 102 and measures the displacement according to the operation of the hydraulic cylinder subjected to external disturbance (ξ) and outputs a displacement measurement signal; An amplifier 104 which amplifies the displacement measurement signal output from the detector 103, the motion reproducer and the detector 103, and outputs a signal for opening and closing the servo valve of the driver 102, and the The amplified position estimation signal y (t) output from the amplifier 104 is output to the subtractor 130 and the control force u (t) output from the PID controller 110, that is, cylinder operation. A signal to the amplifier 104 It consists of the input-output unit 105 for output.

The operation of the drive control device of the conventional virtual reality motion reproducer configured as described above will be described.

The reference signal r (t) is compensated through the PID control in the PID controller 110 after the output signal y (t) fed back from the plant 100 and fed back from the plant 100 in the subtractor 130 is subtracted. . That is, as shown in Equation 1 below, the output e (t) of the adder 100 is output as the control force u (t) through the PID control in the PID controller 110.

u (t) = u (t-1) + q ₀ e (t) + q ₁ e (t-1) + q ₂ e (t-2)

Where q ₀ , q ₁ , q ₂ Is the PID gain and e (t) = r (t)-y (t).

Accordingly, the error value e (t) obtained by subtracting the output value y (t) from the reference input r (t) is compensated by the PID control in the PID controller 110 to the control force u (t). Is output. The control force u (t) output from the PID controller 110 operates the plant 100 and the output value output from the plant 100, that is, the displacement y (t) with respect to the position The subtractor 130 is subtracted from the reference input r (t) which is input to the subtraction terminal (-).

Therefore, the drive control apparatus of the conventional virtual reality motion reproducer has a limitation in control performance because the PID control is dependent on the output value y (t) of the plant 100 with respect to the reference input. That is, since the gain of the controller driving the motion reproducer is fixed, there is a problem in that it is not possible to adequately cope with a change in the exercise conditions or the number of occupants.

In addition, since the image generating unit 140 displays an image on the screen by a separate operation by an operator, the motion of the virtual reality motion reproducer and the image displayed by the image generating unit 140 do not match. Cases may occur. That is, the image reproduced on the screen by the image generating unit 140 operates separately from the virtual reality motion reproducer in order to give the passengers aboard the virtual reality motion reproducer alive, so that the virtual direction cannot be harmonized with the motion direction of the virtual reality motion reproducer. There was a problem of lowering the virtual reality of the reality motion reproducer.

An object of the present invention for improving the above problems is a drive control apparatus of the virtual reality motion reproducer for adaptively controlling the single-rod hydraulic cylinder according to the number of occupants of the virtual reality reproducer to have a certain control performance In providing.

In addition, an object of the present invention is to generate a reference input of the virtual reality motion reproducer according to the generated image to match the movement direction of the displayed image and the virtual reality motion reproducer to enhance the virtual reality motion to enhance the feeling of virtual reality The present invention provides a drive control apparatus.

In order to achieve the above object, the present invention provides an image generating means for generating image data for display on a screen for enhancing realism and position data indicating an operating position of a virtual reality motion reproducer corresponding to the image data. Position data processing means for generating a reference signal for moving the virtual reality motion reproducer with input of position data output from the generating means, reference input means for inputting a reference signal output from the position data processing means, the reference Subtraction means for outputting an error signal by subtracting the position estimation signal of the virtual reality motion reproducer from a reference signal output from an input means, generating a control force by PID control by inputting the error signal output from the subtraction means PI to improve control performance The motion of the virtual reality motion reproducer is generated by estimating a system parameter by generating a position estimation signal of an assumed plant operating according to an error signal output from the D control means, the subtraction means and the control force output from the PID control means. A system parameter estimating means for controlling the control force to be output adaptively according to the conditions and the number of occupants, and a system parameter output from the system parameter estimating means, the control performance of the PID control means being maintained It provides a drive control apparatus for a virtual reality motion reproducer, characterized in that it comprises a PID controller design means.

1 is a configuration diagram of a drive control apparatus of a conventional virtual reality motion reproducer

2 is a configuration diagram of a drive control apparatus for a virtual reality motion reproducer according to the present invention;

<Explanation of symbols for the main parts of the drawings>

100, 200: plant 101, 201: hydraulic part

102, 202: Servo valve 103: motion reproducer and detection unit

104, 204: amplifier 105, 205: input / output unit

110: PID controller 120, 220: reference input unit

130, 230: subtractor 140, 240: image generator

203: motion reproducer 206: sensor

210: PID controller 250: PID controller design unit

260: system parameter estimation unit 270: position data processing unit

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 2, the driving control apparatus of the virtual reality motion reproducer according to the present invention includes a reference input unit 220, a subtractor 230, a PID controller 210, a system parameter estimator 260, a PID controller design unit. 250, an image generator 240, and a data processor 270.

The image generator 240 generates image data for display on a screen to enhance the realism and position data indicating an operating position of a virtual reality motion reproducer corresponding to the image data.

Here, the position data is data corresponding to the position of the camera at the time of capturing an image for display on the screen to enhance the realism.

The position data processor 270 generates a reference signal r (t) for moving the virtual reality motion reproducer by inputting position data output from the image generator 240.

The reference input unit 220 is for inputting a reference signal r (t) output from the position data processing unit 270.

The subtractor 230 subtracts the position estimation signal y (t) of the virtual reality motion reproducer from the reference signal r (t) output from the reference input unit 220 to obtain an error signal e ( t)).

The PID controller 210 generates control force u (t) by PID control by inputting an error signal e (t) output from the subtractor 230 to improve control performance.

)를 발생하여 시스템 매개 변수를 추정하여 가상 현실 운동 재현기의 운동 조건과 탑승자의 수에 따라 적응적으로 제어력을 출력하도록 제어한다.The system parameter estimator 260 adaptively estimates system parameters according to the motion conditions of the virtual reality motion reproducer and the number of occupants, and outputs an error signal e (t (t)) from the subtractor 230. ) And the position estimation signal of the assumed plant operating according to the control force u (t) output from the PID controller 210

System parameters are estimated to control the output of adaptive control according to the exercise conditions and the number of occupants of the virtual reality motion reproducer.

That is, the system parameter estimator 260 inputs an error signal e (t) output from the subtractor 230 and a control force u (t) output from the PID controller 210 as an input. RLS (RecursiveLeast Square) is used to estimate the system parameters according to the exercise conditions and the number of occupants of the virtual reality motion reproducer, and to adaptively output the control power.

The PID controller design unit 250 is designed to maintain the control performance of the PID controller 210 by inputting a system parameter output from the system parameter estimator 260.

On the other hand, the plant 200 operates according to the control force u (t) generated from the adder 260, and contracts and expands the hydraulic cylinder according to the sub-valve position in order to supply or return hydraulic pressure from the hydraulic device. The hydraulic unit 201, opening and closing the servo valve to drive the hydraulic pressure flows into the cylinder to drive or drive the hydraulic cylinder in accordance with the hydraulic pressure sent through the drive unit 202, the drive unit 202 to the hydraulic unit 201 The sensor 206 and the sensor 206 which measure displacement of the motion reproducer 203 and output a displacement measurement signal according to the operation of the motion reproducer 203 that operates, the hydraulic cylinder subjected to external disturbance ξ. An amplifying unit 204 for amplifying the displacement measurement signal outputted from and outputting a signal for opening and closing the servo valve of the driving unit 202, and an amplified position estimation signal output from the amplifying unit 204 (y). subtract the (t)) And an input / output unit 205 for outputting the control force u (t) output from the adder 260, that is, a cylinder operation signal, which is a motion reproducer driving signal, to the amplifier 204. .

The operation of the drive control device of the virtual reality motion reproducer according to the present invention configured as described above will be described.

First, the PID controller 210 for outputting feedback control force, a system parameter estimator 260 and a PID controller design unit 250 for design thereof will be described as follows.

The transfer function C (z ⁻¹ ) of the PID controller is as shown in Equation 2 below.

At this time, the control force u (t) generated from the PID controller 210 is as shown in Equation 3 below.

u (t) = u (t-1) + q ₀ e (t) + q ₁ e (t-1) + q ₂ e (t-2)

On the other hand, the model formula of the plant 200 is as shown in the following equation (4).

는 각각 다음 수학식 5, 6, 7 과 같다.In Equation 4 above, y (t) represents the output, u (t) represents the control force, ξ represents the disturbance,

Are the following Equations 5, 6, and 7, respectively.

Here, substituting Equation 3 into Equation 4 is as follows.

Since the distribution term on the right side of Equation 8 is the characteristic root of the closed loop system, it represents the characteristic of the closed loop system according to the characteristic polynomial. Let the denominator polynomial be M (z ^-1 ) and M (z ^-1 ) be quadratic. Accordingly, M (z ⁻¹ ) is expressed by Equation 9 below.

M (z ^-1 ) = 1 + M ₁ z ^-1 + M ₂ z ^-2

Since M _{1 and} M ₂ are design specifications, designers can arbitrarily adjust and determine PID coefficients using Equations 8 and 9, respectively. q ₀ , q ₁ , q ₂ Obtain

를 구하여 PID 제어기 설계부(250)로 전송하는데, 상기 시스템 매개 변수 추정부(260)에 적용된 RLS는 다음 수학식 10, 11, 12와 같다.Meanwhile, the system parameter estimator 260 that determines the PID coefficients uses a recursive least square (RLS) method.

To obtain and transmit to the PID controller design unit 250, the RLS applied to the system parameter estimator 260 is the following equations (10, 11, 12).

는 추정된 시스템 매개 변수 행렬이고, L(t) 는 다음 수학식 11 에 나타낸 바와 같다.here,

Is the estimated system parameter matrix, L (t) Is as shown in Equation 11 below.

here, Φ (t) Is a state variable matrix that represents a vector for output, control input, and disturbance, λ (t) Is the forgetting factor, P (t) Is equal to the following Equation 12

The PID controller 210 reproduces the virtual reality motion by redesigning the PID controller 210 by a parameter adaptively estimated according to the number of occupants and the motion conditions of the virtual reality motion reproducer by the RLS algorithm. It is possible to adaptively output the control force u (t) according to the exercise condition of the plane and the number of occupants, and the output control force u (t) drives the plant 200 of the virtual reality reproducer.

The operation of the virtual reality motion reproducer controlled by the PID controller 210, the system parameter estimator 260, and the PID controller design unit 250 will be described with reference to FIG. 2.

First, the camera captures an image to be displayed on the screen to enhance the realism. At this time, the image data captured by the camera and the position data corresponding to the position of the camera are recorded in the storage unit, and the recorded image data and the position data are reproduced and generated by the image generator 240.

At this time, the reproduced image data is processed and output so as to be displayed on the screen, and the reproduced and generated position data is output to the data processor 270 to control the operation position for driving the virtual reality motion reproducer.

The position data output from the image generator 240 is input to the position data processor 270 and output as a reference signal r (t) for moving the virtual reality motion reproducer according to the displayed image. The reference signal r (t) output from the position data processor 270 is input to the reference input unit 220.

The reference signal r (t) output from the reference input unit 220 is input to the (+) input terminal of the subtractor 230, and the reference signal output from the reference input unit 220 in the subtractor 230. The error signal e (t) is output by subtracting the position estimation signal y (t) of the current cylinder output from the input / output unit 205 of the plant 200 from (r (t)). .

The error signal e (t) output from the subtraction unit 230 is input to the PID controller 210 to stabilize the instability due to modeling error and improve the control performance u (t). To print.

That is, the PID controller 210 outputs a feedback control force u (t) by PID control according to Equation 1 above by inputting an error signal e (t) output from the subtractor 230. .

The control force u (t) output from the PID controller 210, that is, the cylinder operation signal is input to the amplifying unit 204 through the input / output unit 205 and amplified and then the servo valve of the driving unit 202. Activate That is, the servo valve of the driving unit 202 is opened and closed in accordance with the amplified cylinder operation signal output from the amplifying unit 204.

The hydraulic pressure introduced by opening and closing the servo valve of the driving unit 202 is input to the hydraulic unit 201 to contract and swell the cylinder. In other words, the motion reproducer 203 is driven by supplying or returning hydraulic pressure to the hydraulic device according to the position of the servovalve by opening and closing the servovalve of the drive unit 202 to contract and expand the cylinder.

As such, when the motion reproducer 203 moves in a specific direction according to the reference signal r (t) generated by the position data, an image corresponding to the movement of the motion reproducer is simultaneously generated. Is output from and displayed on the screen.

Meanwhile, an error signal e (t) which is subtracted from the reference signal r (t) in the subtractor 230 and fed back to the PID controller 210 and a control force output from the PID controller 210 ( u (t)) is input to the system parameter estimator 260 to estimate the plant parameters according to the number of occupants so that the PID controller 210 can be redesigned. That is, the system parameter estimator 260 estimates the plant parameters according to the exercise conditions and the number of occupants of the virtual reality motion reproducer using the RLS according to Equations 10, 11, and 12, and the PID controller. The design unit 250 may perform a redesign of the PID controller 210.

The PID controller design unit 250 redesigns the PID controller 210 by using the estimated parameter output from the system parameter estimator 260, thereby allowing the PID controller 210 to depend on the number of occupants. Accordingly, the control force u (t) can be output adaptively.

On the other hand, the sensor 206 measures the displacement of the corresponding time point of the motion reproducer 203 in accordance with the operation of the hydraulic cylinder and outputs to the amplifier 204 as a displacement measurement signal. Since the hydraulic cylinder not only operates according to the hydraulic pressure sent through the servo valve, but also receives external disturbance (ξ), the hydraulic cylinder sensor 206 in the motion reproducer 203 can change the displacement that changes according to the operation of the hydraulic cylinder. The measurement outputs the displacement measurement signal to the amplifier 204.

The displacement measurement signal output from the sensor 206 is amplified by the amplifier 204 and then the negative terminal of the subtractor 230 as a position estimation signal y (t) through the input / output unit 205. Is entered.

In addition, the PID controller 210 adaptively redesigned by the PID controller design unit 250 according to the number of occupants and the exercise conditions of the virtual reality motion reproducer may output a position estimation signal output from the input / output unit 205. y (t)) and an error signal e (t), which is a difference between the reference input output from the reference input unit 220, is input from the subtractor 230 and the adaptive control force u (t) is received. Output to the input / output unit 205 of the 200. In addition, the adaptive control force u (t) is input to the system parameter estimator 260 together with the error signal e (t) to adaptively adapt the PID according to the virtual reality motion reproducer and the number of occupants. Allows the system parameters to be estimated so that the controller can be designed.

As described above, the process is repeated continuously, which is resistant to modeling errors and maintains a constant control performance regardless of the motion conditions and the number of occupants of the virtual reality motion reproducer, and the reference signal for controlling the motion of the virtual reality motion reproducer. Is generated by the image, the motion of the virtual reality motion reproducer is harmonized with the image, and the virtual reality is highlighted.

As described above, the driving control apparatus of the virtual reality motion reproducer according to the present invention has a constant control performance regardless of the number of occupants, for example, even if the system is changed compared to the conventional method using the fixed linear control technique. It is easy to design because it uses PID control method, and the reference signal to control the motion of the virtual reality motion reproducer is generated by the position data of the camera so that the motion and image of the virtual motion motion reproducer can be harmonized. Thus, the virtual reality is greatly given.

Claims (3)

Image generating means (240) for generating image data for display on a screen to enhance the sense of reality and position data indicating an operating position of a virtual reality motion reproducer corresponding to the image data; Position data processing means (270) for generating a reference signal (r (t)) for moving the virtual reality motion reproducer with input of position data output from the image generating means (240); Reference input means (220) for inputting a reference signal (r (t)) output from said position data processing means (270); Subtraction means for subtracting the position estimation signal of the virtual reality motion reproducer from the reference signal output from the reference input means and outputting an error signal; PID control means for generating a control force by PID control by inputting the error signal output from the subtraction means to improve control performance; The system parameter is estimated by generating a position estimation signal of a hypothesized plant operating according to the error signal output from the subtraction means and the control force output from the PID control means. System parameter estimating means for controlling to output a control force adaptively according to the number; And And a PID controller design means for designing such that the control performance of the PID control means is maintained by inputting the system parameter output from the system parameter estimation means. The system of claim 1, wherein the system parameter estimating means An error signal outputted from the subtraction means and a control force outputted from the PID control means are inputted by estimating a system parameter according to the exercise conditions and the number of occupants of the virtual reality motion reproducer by RLS (Recursive Least Square). The driving control device of the virtual reality motion reproducer, characterized in that the control to output a control force. The method of claim 1, wherein the location data is A drive control apparatus for a virtual reality motion reproducer, characterized in that the data corresponding to the position of the camera when shooting the image for display on the screen to enhance the realism.

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