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CN-121995969-A - Six-electric-leg-platform attitude adjustment control method

CN121995969ACN 121995969 ACN121995969 ACN 121995969ACN-121995969-A

Abstract

The invention discloses a six-electric-support-leg platform attitude adjustment control method, which is characterized in that a rectangular coordinate system is established by taking the center of a platform as an origin, iteration control of master-slave cooperation and real-time PID compensation is adopted according to pitch angle, roll angle target angle and inclination sensor feedback angle, torque touchdown detection is introduced, six-electric-support-leg cooperation attitude adjustment is controlled, each support leg is ensured to compact the ground, multi-support-leg cooperation PID and iteration fine adjustment are realized, a dynamic following coefficient calculation and real-time compensation mechanism is provided, and the target attitude adjustment precision is less than or equal to 0.01 degrees. According to the invention, dynamic following coefficient calculation and iterative adjustment strategies are adopted, so that the six electric support leg platforms can be self-adapted to complex working conditions such as uneven ground and uneven load distribution, and particularly the pitch angle and roll angle precision repeatability and reliability of the six electric support leg platforms are ensured on uneven ground of a factory building.

Inventors

  • HAO HAIBO
  • WEI YONG
  • LIU ZHENG

Assignees

  • 西安航天赛能自动化科技有限公司

Dates

Publication Date
20260508
Application Date
20251225

Claims (5)

  1. 1. A six-electric support leg platform attitude adjustment control method is characterized by comprising the following steps: Step 1, establishing rectangular coordinates Tying; Establishing rectangular coordinates by taking the center of a six-electric support leg platform as an origin The positions of the six legs in the coordinate system are respectively 、......、 Wherein the rotation around the X axis is a pitch angle and the rotation around the Y axis is a roll angle; Representing the absolute coordinate values of the legs in the X-direction in the coordinate system, Representing the Y-direction absolute coordinate value of the support leg in a coordinate system; Step2, compacting the six electric supporting legs in a grounding manner; After the six electric support leg platforms are in place, controlling each support leg to descend in a torque mode until the preset ground detection torque is detected, turning into a torque mode to ascend until the heights of the six support legs reach the set ground contact height, and finishing the compaction of the platforms; Step 3, calculating theoretical height adjustment of each supporting leg according to the difference value fed back by the target pitch angle, the roll angle and the sensor; selecting the landing leg with the largest height adjustment as a reference landing leg, and adopting proportional-integral-derivative (PID) to control the motion of the landing leg; calculating a following coefficient according to the position relation of each supporting leg, and realizing the cooperative speed following of the rest supporting legs; and detecting the position deviation of each supporting leg in real time, performing PID compensation, and performing iterative adjustment until the actual gesture reaches the target tolerance range.
  2. 2. The six-electric-leg platform attitude adjustment control method according to claim 1, characterized by comprising the following steps: the step 2 specifically includes: The six electric support leg platforms are operated to a target station, and the controller, namely the PLC receives a grounding instruction; Switching the six-leg motor driver into a torque mode according to a preset touchdown torque parameter Ground contact speed parameter Controlling the six supporting legs to descend; when all six leg torques reach Stopping descending and finishing the ground penetrating process; According to preset touchdown torque parameters Height parameter of ground contact position The six-leg lifting operation is controlled, the six-leg height is periodically detected in real time, and if the positions of the six legs are not less than the preset value Stopping the operation and completing the touchdown.
  3. 3. The six electric leg platform attitude adjustment control method according to claim 1 or 2, characterized in that: the step 3 specifically comprises six electric support leg platform pitching adjustment and/or six electric support leg platform rolling adjustment.
  4. 4. The six electric leg platform attitude adjustment control method according to claim 3, characterized in that: the six electric leg platform pitch adjustment comprises the following steps: 1) The PLC receives a pitching adjustment target angle and a pitching adjustment instruction; 2) According to pitch angle fed back by the pitch angle sensor Angle with pitch adjustment target Calculating the difference value and the current adjustment angle ; ; 3) Calculating the height adjustment of each supporting leg Landing leg 1 target height: ; Landing leg 2 target height: ; landing leg 3 target height: ; landing leg 4 target height: ; Landing leg 5 target height: ; Landing leg 6 target height: ; Wherein: The position of each supporting leg is adjusted; For the absolute coordinate values of each leg in the Y direction in the coordinate system, =1,2,3,4,5,6; 4) Recording the current feedback position of the six supporting legs as 、 、 、 、 、 ; 5) The six support legs are unevenly distributed in the coordinate system, the support leg with the highest target position is required to be extracted as an adjusting reference support leg R_L, the position is recorded as a main shaft target position P Main unit , and the other support legs are trailing shafts; 6) Adopts the following steps Calculating the proportion, and taking the highest landing leg P Main unit with the known target position as Variable, calculating the following coefficient of the supporting leg; the leg 1 follows the coefficient: ; the leg 2 follows the coefficient: ; The leg 3 follows the coefficient: ; The leg 4 follows the coefficient: ; the leg 5 follows the coefficient: ; The legs 6 follow the coefficient: ; Wherein: the coefficients are followed for each of the legs, P Main unit is the target position of the spindle; 7) Calculating the target position of the reference landing leg to record the current position of the reference landing leg Target height with reference leg The sum is used as the target position of the adjusting reference landing leg ; ; 8) The position operation increment factor of the reference landing leg is calculated, and the position is fed back periodically in real time by adopting the reference landing leg Difference value between current position and reference landing leg of buffer record As an increment factor ; ; 9) Switching the six-leg motor driver into a speed mode, and adjusting the positions of the reference legs by adopting PID; ; ; ; ; Wherein: The unit is mm/s for the standard landing leg operation target speed; The standard landing leg operation target speed is output by PID, and the unit is mm/s; 10 Six legs, according to Calculating the speed input of other leg motor drivers following the coefficients: Landing leg 1 target speed: ; leg 2 target speed: ; leg 3 target speed: ; leg 4 target speed: ; Leg 5 target speed: ; Leg 6 target speed: ; Wherein: the target speed of each supporting leg is in mm/s; =1,2,3,4,5,6; 11 Calculating the deviation between the current positions of other support legs and the current positions of the reference support legs, subtracting the current positions of the support legs before the buffer record operation from the current positions of the support legs, and subtracting the product of the operation increment factor of the position of the reference support leg and the following coefficient of the support legs to obtain the deviation between the current positions of the other support legs and the current positions of the reference support legs; Deflection of leg 1: ; deflection of leg 2: ; Deviation of the support leg 3: ; Deflection of leg 4: ; The legs 5 deviate: ; deflection of leg 6: ; Wherein: for each of the leg deviations, =1,2,3,4,5,6; 12 Respectively calling PID (proportion integration differentiation) to compensate the target speed of each supporting leg according to the deviation of each supporting leg, and performing master-slave following until the operation of each supporting leg is completed; 13 And (3) comparing the feedback angle of the inclination sensor with the target angle, if the adjustment is completed within the error range, returning to the step 2) to continue the adjustment, and simultaneously setting the adjustment frequency limit, and if the adjustment frequency range is not adjusted in place, outputting an alarm.
  5. 5. The six electric leg platform attitude adjustment control method according to claim 3, characterized in that: Six electric leg platform roll adjustment, including the following steps: 1) The PLC receives a pitching adjustment target angle and a pitching adjustment instruction; 2) According to the roll angle fed back by the inclination sensor To adjust the target angle with the roll Calculating the difference value and the current adjustment angle ; ; 3) Calculating the height adjustment of each supporting leg Landing leg 1 target height: ; Landing leg 2 target height: ; landing leg 3 target height: ; landing leg 4 target height: ; Landing leg 5 target height: ; Landing leg 6 target height: ; Wherein: The position of each supporting leg is adjusted; for the absolute coordinate values of the legs in the X-direction in the coordinate system, =1,2,3,4,5,6; 4) Recording the current feedback position of the six supporting legs as 、 、 、 、 、 ; 5) The six support legs are unevenly distributed in the coordinate system, the support leg with the highest target position is required to be extracted as an adjusting reference support leg R_L, the position is recorded as a main shaft target position P Main unit , and the other support legs are trailing shafts; 6) Adopts the following steps Calculating the proportion, and taking the highest landing leg P Main unit with the known target position as Variable, calculating the following coefficient of the supporting leg; the leg 1 follows the coefficient: ; the leg 2 follows the coefficient: ; The leg 3 follows the coefficient: ; The leg 4 follows the coefficient: ; the leg 5 follows the coefficient: ; The legs 6 follow the coefficient: ; Wherein: the coefficients are followed for each of the legs, P Main unit is the target position of the spindle; 7) Calculating the target position of the reference landing leg to record the current position of the reference landing leg Target height with reference leg The sum is used as the target position of the adjusting reference landing leg ; ; 8) The position operation increment factor of the reference landing leg is calculated, and the position is fed back periodically in real time by adopting the reference landing leg Difference value between current position and reference landing leg of buffer record As an increment factor ; ; 9) Switching the six-leg motor driver into a speed mode, and adjusting the positions of the reference legs by adopting PID; ; ; ; ; Wherein: The unit is mm/s for the standard landing leg operation target speed; The standard landing leg operation target speed is output by PID, and the unit is mm/s; 10 Six legs, according to Calculating the speed input of other leg motor drivers following the coefficients: Landing leg 1 target speed: ; leg 2 target speed: ; leg 3 target speed: ; leg 4 target speed: ; Leg 5 target speed: ; Leg 6 target speed: ; Wherein: the target speed of each supporting leg is in mm/s; =1,2,3,4,5,6; 11 Calculating the deviation between the current positions of other support legs and the current positions of the reference support legs, subtracting the current positions of the support legs before the buffer record operation from the current positions of the support legs, and subtracting the product of the operation increment factor of the position of the reference support leg and the following coefficient of the support legs to obtain the deviation between the current positions of the other support legs and the current positions of the reference support legs; Deflection of leg 1: ; deflection of leg 2: ; Deviation of the support leg 3: ; Deflection of leg 4: ; The legs 5 deviate: ; deflection of leg 6: ; Wherein: for each of the leg deviations, =1,2,3,4,5,6; 12 Respectively calling PID (proportion integration differentiation) to compensate the target speed of each supporting leg according to the deviation of each supporting leg, and performing master-slave following until the operation of each supporting leg is completed; 13 And (3) comparing the feedback angle of the inclination sensor with the target angle, if the adjustment is completed within the error range, returning to the step 2) to continue the adjustment, and simultaneously setting the adjustment frequency limit, and if the adjustment frequency range is not adjusted in place, outputting an alarm.

Description

Six-electric-leg-platform attitude adjustment control method Technical Field The invention belongs to the technical field of platform attitude adjustment control, and relates to a control method for realizing six electric support leg cooperative attitude adjustment by adopting an iterative adjustment mode according to a pitch angle, a roll angle target angle and a tilt angle sensor feedback angle, in particular to a six electric support leg platform attitude adjustment control method. Background In the fields of automatic logistics, equipment docking, aerospace and the like, the six-electric-leg support platform is widely applied to posture adjustment and horizontal positioning tasks. In the prior art, the gesture adjusting method mostly adopts a direct control strategy based on position or displacement, and generally depends on independent servo control of each supporting leg, and the height synchronous adjustment is performed through encoder feedback. However, under the actual working conditions of uneven ground and uneven load distribution, the method has the prominent problems that the phenomenon of broken legs frequently occurs, and the phenomenon of uncompacted or suspended landing legs easily occurs when the landing legs contact the ground due to different softness of the ground, so that the actual supporting points of the platform are insufficient, and the gesture stability is poor. The gesture adjusting precision is limited by adopting open loop or simple closed loop control in the traditional method, so that high-precision angle synchronization is difficult to realize, and particularly accumulated errors are easy to generate in the cooperative motion of multiple supporting legs, and the gesture adjusting precision of less than or equal to 0.01 degree is difficult to reach. The adaptability is poor, and for complex and changeable ground conditions and load distribution, the traditional control strategy lacks dynamic adjustment capability and is easy to generate oscillation, overshoot or adjustment failure. The efficiency is low, the manual intervention is frequent, the debugging period is long, and the requirements of an automatic system on quick and reliable gesture adjustment are difficult to meet. In the prior art, although a method for performing feedback control by adopting an inclination sensor exists, a systematic control strategy is still lacking in the aspects of multi-leg cooperative motion and real-time compensation, so that the repeatability, the reliability and the precision of posture adjustment are difficult to ensure in practical application. Disclosure of Invention Aiming at the problems of low attitude adjustment precision and poor adaptability of the six electric support leg support platforms in the prior art under uneven ground and uneven load conditions, the invention provides an attitude adjustment method based on torque ground contact detection and iterative cooperative control, which realizes high-precision adjustment of pitch angle and roll angle of less than or equal to 0.01 degrees and has good repeatability and reliability. In order to solve the technical problems, the invention provides a six-electric-leg platform attitude adjustment control method, which comprises the following steps: Step 1, establishing rectangular coordinates by taking the center of a six-electric support leg platform as an origin Tying; Step2, compacting the six electric supporting legs in a grounding manner; After the six electric support leg platforms are in place, controlling each support leg to descend in a torque mode until the preset ground detection torque is detected, turning into a torque mode to ascend until the heights of the six support legs reach the set ground contact height, and finishing the compaction of the platforms; step 3, according to the difference value of the target pitch angle, the roll angle and the feedback of the sensor, realizing the posture adjustment of the six electric support leg platform; Calculating theoretical height adjustment of each supporting leg according to the difference value fed back by the target pitch angle, the roll angle and the sensor; Selecting a landing leg with the largest height adjustment as a reference landing leg, and controlling the motion of the landing leg by adopting proportional-integral-derivative (PID); calculating a following coefficient according to the position relation of each supporting leg, and realizing the cooperative speed following of the rest supporting legs; and detecting the position deviation of each supporting leg in real time, performing PID compensation, and performing iterative adjustment until the actual gesture reaches the target tolerance range. Compared with the prior art, the invention has the following beneficial effects: 1. Realizing high-precision posture adjustment The combined control strategy of master-slave cooperation PID control and real-time deviation compensation realizes high-precision adjustment of