CN101327591B - Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system - Google Patents
Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system Download PDFInfo
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- CN101327591B CN101327591B CN2008100509904A CN200810050990A CN101327591B CN 101327591 B CN101327591 B CN 101327591B CN 2008100509904 A CN2008100509904 A CN 2008100509904A CN 200810050990 A CN200810050990 A CN 200810050990A CN 101327591 B CN101327591 B CN 101327591B
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Abstract
The present invention relates to a two-DOF (degree of freedom) position feedback type bi-directional servo hand controller control system. The system is mainly composed of a driving side electric hand controller, a computer control unit and a driven manipulator. The computer control unit is composed of a driving side controller, a position adjustor, a force adjustor, a driven side controller and a state observer. The driving side electric hand controller is composed of a control handle, an x-direction rotary shaft, a y-direction rotary shaft, servomotors and turbine-worm mechanisms; wherein, the x-direction rotary shaft is crossed by the y-direction rotary shaft; the servomotors drive the rotary shafts; the transmission of the turbine-worm mechanisms has a self-locking function. Breaking the tradition of bi-directional servo control, which is always adopted in the world, the control theory of the bi-directional servo control system formed by the hand controller utilizes the control force of the hand controller to control the driven manipulator, and in turn, the hand controller can move along with the driven manipulator. The two-DOF (degree of freedom) position feedback type bi-directional servo hand controller control system has the advantages that an operator can better handle the position and the interference of the driven manipulator and can have a better feeling of control force.
Description
Technical field
The present invention relates to a kind of 2DOF " position-feedback type " bidirectional servo hand controlled regulator control system, can be widely used in Aero-Space, ocean development, nuclear energy, field such as the relief of speedily carrying out rescue work, medical treatment, virtual reality, recreation industry.
Background technology
At hand controller and the bilateral servo control system that is constituted by manipulating objects, attempted multiple master one at present in the world from method of servo-controlling, comprise position symmetric form, the direct feedback-type of power, power deviation feedback-type, position and power deviation feedback-type or the like.
These force feedback control methods have unified feature:
(1) displacement of hand controller is followed in the displacement of follower hand;
(2) feed back to hand controller after the position deviation information processing with the active force of follower hand and master and slave hand and produce feedback force.
There are the following problems to find these methods by test:
(1) when the follower hand touches rigidity larger object (as stone etc.), suffered feedback force impacts excessively on the hand controller, hand controller is sent out shake and wayward;
(2) situation of perception follower hand and from the movement interference situation of hand preferably from the hand controller, when the follower hand was stuck, hand controller still can be pushed.
(3) hour power sense of hand controller feedback force is not obvious, and hand controller and follower hand were difficult when feedback force was big moves with people's will.
2003, Japan scholar for a long time rich (S.Kudomi) finds after said method is experimentized, the control effect is preferably power deviation feedback-type relatively, but still there is an important deficiency, promptly when the follower hand touches rigidity larger object (as stone etc.), suffered feedback force impacts excessively on the hand controller, hand controller is sent out shake and wayward.In order to improve this shortcoming, he has proposed power position compound control scheme, and has added state observer (Disturbanceobserver) in the control program of hand controller, to eliminate each free degree difference in dynamic characteristics of hand controller.From the experimental result that it provided, though the feedback force that this control method has been alleviated on the hand controller to a certain extent impacts, the follower hand is to the location following characteristic of hand controller variation to some extent.
Summary of the invention
The objective of the invention is to for overcoming the deficiency of force feedback control method in the existing bilateral servo control algolithm, make the operator hold the position situation and the interference situation of follower hand better, and can obtain to control preferably servo-actuated and feedback force sensation, a kind of brand-new two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system is provided.
The object of the present invention is achieved like this, and accompanying drawings is as follows:
A kind of two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system, this system is mainly by master end electrodynamic type hand controller, computer control unit, the follower hand is formed, described computer control unit is by the master end controller, position regulator, force regulator, slave end controller and state observer unit are formed, described master end electrodynamic type hand controller is by control crank, the x of arranged crosswise is to rotating shaft, y is to rotating shaft, the servomotor and the turbine and worm mechanism that drive rotating shaft form, be equipped with on the control crank and can record the operator at x, y to the 2 D force sensor of the application of force, x is equipped with x shaft angle degree sensor and y shaft angle degree sensor to rotating shaft and y to an end of rotating shaft, and the other end is equipped with the turbine and worm transmission mechanism by driven by servomotor; The detected value of described 2 D force sensor and angular transducer is respectively through amplifying circuit and A/D conversion input computer control unit, the data one tunnel of machine control module processing drive 2DOF follower hands movement through D/A conversion output as calculated, drive two servomotors motions by amplifying circuit after another path D/A conversion.
The data of the steering force of described master end electrodynamic type hand controller after 2 D force sensor detection, amplifying circuit amplification, A/D conversion are sent into the force regulator unit, far-end is also sent into the force regulator unit from the data of hand resistance detected value after the A/D conversion, data after the force regulator cell processing are sent into the slave end controller unit, drive 2DOF follower hands movement through D/A conversion output.
The displacement detecting value of described 2DOF follower hand is after the A/D conversion, send into the position regulator unit, the outer corner measurement value of the angular transducer in the electrodynamic type hand controller of master end is amplified by amplifying circuit simultaneously, after the A/D conversion, also send into the position regulator unit, in the regulator unit of position, after relatively calculating, data are sent into the master end controller unit, if difference is arranged, then the master end controller unit sends control signal, this signal is changed through D/A, amplifying circuit amplifies the control signal of back as the control servomotor, drive servomotor, drive the worm screw turbine mechanism, drive hand controller rotating shaft campaign, its displacement is followed the displacement from hand all the time.
Described state observer unit is contained in the follower hand control system, different according to the input signal of 2DOF follower hand and output signal, input to 2DOF follower hand is adjusted, with the difference of eliminating frictional resistance between each free degree of 2DOF follower hand, control hardware difference in dynamic characteristics and with the drift of temperature.
X, y in the electrodynamic type hand controller of described master end is the irreversible transmission of reverse self-locking to the turbine and worm mechanism driving of driven by servomotor, the operator is during to the control crank application of force, can not directly make hand controller do gyration, be that master end electrodynamic type hand controller can only follow the motion of 2DOF follower hand and move along x axle or y direction of principal axis.
The operator puts on power and the follower force signals on hand on the hand controller, detect and be sent to force regulator by the power sensor, multiply by with the steering force of hand controller and deduct the manual power deviation signal of making the resistance gained of follower behind the certain proportion and remove to drive the follower hand and make its generation displacement.This scheme is equivalent to the people and by force transmission mechanism power is passed to follower and overcome its working resistance on hand and finish the work, and compares with existing control scheme, and its control method meets the manual principle of dynamics of doing of follower more.
With the displacement and the master end hand controller displacement signal of follower hand, detect and send it to position regulator by displacement transducer.If position regulator has deviation signal to output to the master end controller, the master end controller sends control signal, drives servomotor, drives the displacement that hand controller is followed the trail of the follower hand by turbine and worm mechanism; If position regulator does not have deviation signal to output to the master end controller, then the master end controller does not have control signal and sends, this type of situation can appear when the slave end manipulator was stuck, this moment, servomotor was in halted state, because turbine and worm mechanism is reverse self-locking, so no matter the operator applies great power on hand controller, manually device can not move, thereby the position that has guaranteed hand controller is that definitely to follow follower chirokinesthetic, can not be subjected to the interference of hand controller feedback force, so just guarantee that from theory of mechanisms the pose of hand controller can reflect the position situation and the interference situation of follower hand exactly.
Impel the follower hand to finish desired action for the ease of the application of force on hand controller, and the control signal of its output can not be subjected to the influence of follower hand feedback force, make the operator can accurately judge follower hand position situation, and the displacement of follower hand is followed in its displacement fully, so the scheme that adopts is: what feed back on the hand controller is displacement signal but not force signal.
Its control principle of " position-feedback type " bilateral servo control scheme is " with steering force and the manual motion of making the power deviation signal control follower hand of resistance of follower; make hand controller follow the follower hands movement again ", no matter be that steering force is greater than working resistance, still working resistance is greater than steering force, the follower hand all can have displacement to produce, the operator forces in behind the hand controller by feeding back to the displacement size on the hand controller, can understand the resistance size that follower acts on hand and the soft or hard of manipulating object.
In follower hand control system, add by " state observer ", operator's operation will is presented more exactly in follower hand one side.The master one who uses in the reality is from formula bilateral servo control system, main hand with generally be isomery from hand, because of the difference of frictional resistance on each free degree power transmission line, the difference of inertia characteristic, the difference of control hardware etc., make the Frequency Response of each free degree that bigger difference is arranged sometimes, if do not compensate, the certain difference of displacement of targets generation that the displacement that produces after handling may be desired with the operator.The present invention eliminates follower each free degree difference in dynamic characteristics on hand with state observer, can make the control characteristic of bilateral servo control system excellent more like this.
Technique effect of the present invention is: hand controller in the past, make people's steering force and feedback force stack back produce displacement, and go to control the motion of follower hand with this displacement signal, bigger because of feedback force when grasping big rigid objects, hand controller can become and be difficult to control, also can produce self-vibration sometimes.Hand controller provided by the invention does not arrive hand controller because of there being force feedback, thus can not produce aforementioned phenomenon, thereby its control procedure can be more stable.
Description of drawings
Fig. 1 is " position-feedback type " bidirectional servo hand controlled regulator control block diagram;
Fig. 2 is " position-feedback type " bidirectional servo hand controlled regulator control system figure.
1-control crank 2,3-y axle worm screw turbine mechanism 4-y axle servomotor 5,6-x axle worm screw turbine mechanism 7-x axle servomotor 8-hand controller x change 20-2 free degree follower hand 23-computer control unit to rotating shaft 9-hand controller y to rotating shaft 10-y shaft angle degree sensor 11-x shaft angle degree sensor 12-2 D force sensor 13,14,22,24,25-amplifying circuit 15,16,17,18-A/D conversion 19,21-D/A among the figure
The specific embodiment
Knot accompanying drawing illustrated embodiment further specifies particular content of the present invention and control procedure thereof below.
Consult accompanying drawing 1,2, " position-feedback type " bidirectional servo hand controlled regulator control system mainly comprises: master end electrodynamic type hand controller (can adopt 2DOF), computer control unit 23 (master end controller, position regulator, force regulator, slave end controller, state observer), 2DOF follower hand 20, A/D conversion 15,16,17,18 and D/A conversion 19,21 and amplifying circuit 13,14,22,24,25.
When the operator by a certain direction during to control crank 1 application of force of master end electrodynamic type hand controller, detect operator's active force by the 2 D force sensor on the control stick 12, and through amplifying circuit 14 amplifications, send among the A/D15, carry out after data after the A/D conversion multiply by certain coefficient, send into the force regulator unit in the computer control unit 23, far-end 2DOF follower hand 20 resistance detected values are changed the force regulator unit of also sending in the computer control unit 23 by A/D18.In the force regulator unit, deduct far-end 2DOF follower hand 20 resistances with the power on the electrodynamic type hand controller of master end, after handling through specific calibration algorithm again, data are sent into slave end controller unit in the computer control unit 23, drive 20 motions of 2DOF follower hand through D/A19 conversion output.2DOF follower hand 20 displacement detecting values are after the A/D17 conversion, data are sent in the position regulator unit in the computer control unit 23, simultaneously, send into after the angular transducer in the master end electrodynamic type hand controller 11,10 is also changed the outer corner measurement value by amplifying circuit 13,25 amplifications, A/D16 in the position regulator unit in the computer control unit 23.In position regulator, to 2DOF follower hand 20 displacement detecting values and master end electrodynamic type hand controller position measurements compares and calculate through specific calibration algorithm after, data are sent into master end controller unit in the computer control unit 23, if between 2DOF follower hand 20 displacement detecting values and the master end electrodynamic type hand controller position measurements difference is arranged, then the master end controller unit sends control signal, this signal is changed through D/A21, amplifying circuit 22,24 amplify the back as two servomotors 4 of control, 7 control signal drives servomotor and drives worm screw turbine mechanism 2,3 and 5,6 displacements that make master end electrodynamic type hand controller displacement follow 2DOF follower hand 20 all the time change.
Consult accompanying drawing 1,, in follower hand control system, added " state observer " for the operation will that makes the operator presents more exactly in 2DOF follower hand 20 1 sides.The displacement detecting value of slave end controller unit output signal and 2DOF follower hand 20 is input in the state observer, calculate back output by specific algorithm, adjust compensation slave end controller unit output signal, make the desired displacement of targets of displacement that 2DOF follower hand 20 produces and operator consistent.
Claims (3)
1. two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system, this system is mainly by master end electrodynamic type hand controller, computer control unit, the follower hand is formed, it is characterized in that described computer control unit is by the master end controller, position regulator, force regulator, slave end controller and state observer unit are formed, described master end electrodynamic type hand controller is by control crank, the x of arranged crosswise to rotating shaft and y to rotating shaft, the servomotor and the turbine and worm mechanism that drive rotating shaft form, be equipped with on the control crank and can record the operator at x, y to the 2 D force sensor of the application of force, x is equipped with x shaft angle degree sensor and y shaft angle degree sensor to rotating shaft and y to an end of rotating shaft, and the other end is equipped with the turbine and worm transmission mechanism by driven by servomotor; The detected value of described 2 D force sensor and angular transducer is respectively through amplifying circuit and A/D conversion input computer control unit, the data one tunnel of machine control module processing are changed output through D/A and are driven 2DOF follower hands movement as calculated, move by two servomotors of amplifying circuit driving after the D/A conversion in another road; The displacement detecting value of described 2DOF follower hand is after the A/D conversion, send into the position regulator unit, the outer corner measurement value of the angular transducer in the electrodynamic type hand controller of master end is amplified by amplifying circuit simultaneously, after the A/D conversion, also send into the position regulator unit, in the regulator unit of position, after relatively calculating, data are sent into the master end controller unit, if difference is arranged, then the master end controller unit sends control signal, this signal is changed through D/A, amplifying circuit amplifies the control signal of back as the control servomotor, drive servomotor, drive the worm screw turbine mechanism, drive hand controller rotating shaft campaign, its displacement is followed the displacement of follower hand all the time, to realize position feedback control; Simultaneously, x, y in the electrodynamic type hand controller of master end is the irreversible transmission of reverse self-locking to the turbine and worm mechanism driving of driven by servomotor, the operator is during to the control crank application of force, can not directly make hand controller do gyration, be that master end electrodynamic type hand controller can only follow the motion of 2DOF follower hand and move along x axle or y direction of principal axis.
2. two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system according to claim 1, the data of steering force after 2 D force sensor detection, amplifying circuit amplification, A/D conversion that it is characterized in that described master end electrodynamic type hand controller are sent into the force regulator unit, the data of far-end follower hand resistance detected value after the A/D conversion are also sent into the force regulator unit, data after the force regulator cell processing are sent into the slave end controller unit, drive 2DOF follower hands movement through D/A conversion output.
3. two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system according to claim 1, it is characterized in that described state observer unit is contained in the follower hand control system, different according to the input signal of 2DOF follower hand and output signal, input to 2DOF follower hand is adjusted, with the difference of eliminating frictional resistance between each free degree of 2DOF follower hand, control hardware difference in dynamic characteristics and with the drift of temperature.
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| CN102393763A (en) * | 2011-06-27 | 2012-03-28 | 北京航空航天大学 | Device and method for outputting adjustable feedback force |
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| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
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| CN107081758A (en) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
| CN107160393A (en) * | 2017-05-25 | 2017-09-15 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN110578791A (en) * | 2019-09-29 | 2019-12-17 | 中国科学院沈阳自动化研究所 | Automatic shifting mechanism for transmission |
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| CN111590537B (en) * | 2020-05-23 | 2023-01-24 | 西北工业大学 | Teleoperation interactive operation method based on force position feedback |
| CN111571595A (en) * | 2020-05-26 | 2020-08-25 | 天津市微卡科技有限公司 | Haptic feedback force control method for manipulator of robot |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
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