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Coaxially-driven assistant torque generator of under-actuated system

A coaxial drive and under-drive technology, applied in the field of scientific research or teaching experimental devices, can solve problems such as difficulty, limited counter torque, and difficult acceleration tracking, etc., and achieve the effect of reducing control difficulty and no mechanical loss

Active Publication Date: 2015-05-13
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Documents "Research on Modeling and Control of One-wheeled Self-balancing Robot" and "Research on Attitude Control of One-wheeled Robot" disclosed a scheme to control the side balance of a one-wheeled robot by using an inertial flywheel. Research on Control Methods of Science and Technology” discloses the scheme of using the inertial flywheel to control the steering of a one-wheeled robot. The way that the inertial flywheel provides reverse torque is also widely used in satellite attitude adjustment. It is difficult because the reaction torque provided by the rotation of the inertial flywheel is proportional to the rotational acceleration of the flywheel, and the motor is a speed servo system, so it is not easy to track the acceleration. When the flywheel rotates at a constant speed, there is no reaction torque generated, and Due to the limitation of motor speed, the amount of reaction torque provided is also limited

Method used

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  • Coaxially-driven assistant torque generator of under-actuated system
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  • Coaxially-driven assistant torque generator of under-actuated system

Examples

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Effect test

Embodiment 1

[0032] Embodiment 1, side balance control of a unicycle robot. Load the device of the present invention onto the body of the unicycle robot, and keep the surface formed by the rotation of the armature winding perpendicular to the forward direction of the uniwheel robot during installation, that is, the axis of the armature winding is parallel to the roll axis roll of the unicycle robot system. The one-wheeled robot should maintain a vertical state as a whole when walking normally, that is, keep the roll angle at zero degrees. If no lateral moment is applied, the one-wheeled robot will fall sideways when it is disturbed by gravity, and it cannot automatically reach a balanced state from an inclined state when it is started. Let the expected roll angle of the one-wheeled robot be Φ E , the real-time roll angle obtained by the one-wheeled robot through the attitude sensor is Φ, and the angles are all positive in the counterclockwise direction, the same below. By calculating Φ ...

Embodiment 2

[0033] Embodiment 2, the steering control of the unicycle robot. Load the device of the present invention onto the body of the unicycle robot, and keep the plane formed by the rotation of the armature winding parallel to the forward direction of the unicycle robot during installation, that is, the axis of the armature winding is parallel to the yaw axis yaw of the unicycle robot system. The control scheme of the yaw moment is similar to the side balance control of the unicycle robot, and will not be repeated here.

Embodiment 3

[0034] Embodiment 3, attitude control of satellites, space shuttles and missiles. Three devices of the present invention are fixedly mounted on satellites, space shuttles or missiles in an orthogonal manner. When it is detected that the above-mentioned objects need to make attitude adjustments, first calculate which axes to rotate around according to the control algorithm, and then drive the directions of the axes in turn. The motor on the upper body rotates to increase the required rotational torque to complete the attitude adjustment. In the case of high control timeliness, when the device configuration is high enough, the torque of the three axes can be provided at the same time, and the attitude adjustment can be completed in one step.

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PUM

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Abstract

The invention relates to a coaxially-driven assistant torque generator of an under-actuated system, belonging to an electromagnetic torque-type torque generator. The coaxially-driven assistant torque generator is characterized in that the assistant torque generator comprises a case (1), a magnet group (2), an armature winding (3), a front end cover (6), a motor (8), a motor seat (10) and a load (11), wherein the case is coaxially fixedly connected with the under-actuated system. Based on the electromagnetic induction principle, the motor drives the armature winding to rotate in the magnetic field to generate an electromagnetic torque in a direction opposite to the motor driving direction; and the magnet group is applied with an inverse electromagnetic torque having the same intensity and opposite direction in relative to the armature winding, and transmits the inverse electromagnetic torque to the under-actuated system to provide desired torque. Particularly, the torque provided by the generator is in direct ratio with the velocity item; the control difficulty is lowered remarkably, and the assistant torque generator can realize two-stage electromagnetic speed regulation. The coaxially-driven assistant torque generator provided by the invention is simple and reliable in system design and clear in structure, can be applied for adjusting attitude of one-wheeled robot, satellite, space shuttle and missiles and also can be applied for overcoming reactive torque of helicopters or saucer-type flight vehicles, and so on.

Description

technical field [0001] The invention relates to an experimental device for scientific research or teaching, in particular to a torque generator for an underactuated system, which can provide the required torque for the underactuated system, and is widely used in the lateral attitude adjustment of a one-wheeled robot, One-wheel robot steering, satellite attitude adjustment, spacecraft attitude adjustment, missile attitude adjustment, helicopter or butterfly aircraft main propeller anti-torque overcoming and other fields. Background technique [0002] Due to the lack of direct acting force or moment, the underactuated system brings great difficulty to the system control. For example, a one-wheeled robot cannot provide lateral moment because only one wheel is in contact with the ground, and ordinary wheels can only move forward and backward. The steering of a one-wheeled robot also requires torque; satellites, spacecraft, and missiles all need torque to drive in order to point ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02K7/10G05D1/08
Inventor 阮晓钢朱晓庆马圣策于乃功龚道雄左国玉孙荣毅魏若岩林佳张晓平
Owner BEIJING UNIV OF TECH