A posture control method of a three-hanging-point performance disc
An attitude control, three hanging point technology, applied in the direction of control without feedback, can solve the problems of low precision of hanging pan attitude control and poor control effect.
Active Publication Date: 2020-05-05
北京北特圣迪科技发展有限公司
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Problems solved by technology
In the prior art, the attitude control method of the hanging pan mainly adopts the manual control method, which has the problems of low precision of the attitude control of the hanging pan and poor control effect
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[0058] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0059] The invention provides a posture control method of a three-hanging-point performance disk, which is used for the posture control of the suspension disk in the stage equipment industry. The technology controls the posture of the disk by changing the length of the rope at the three-hanging points, so as to meet the stage scene layout and performance activities demand. The main ideas are as follows: First, establish the three-dimensional space coordinate system of the disc, and match the lifting point coordinates and fixed point coordinates of the lifting point; then...
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The invention provides an attitude control method for a three-hanging-point performance disc. The attitude control method comprises the steps of: establishing a disc space coordinate system; matchingcoordinates of each hanging point and a fixed point in a three-dimensional coordinate system; determining a rotating axis and a tilting axis on the surface of the performance disc in a horizontal attitude; determining initial coordinates of the lowest point in a tilting attitude; determining a distance from a circle center of the disc to the rotating axis; determining a tilt angle; determining coordinates of an intersection point of the rotating axis and the tilting axis, a vector of the rotating axis and a vector of the tilting axis; calculating coordinates of the hanging points after changing the attitude; and calculating a rope variable quantity corresponding to each hanging point separately, so that a corresponding motor performs rope expansion and contraction operations, thereby making the hanging disc rotate around the rotating axis, and further controlling the variation of the attitude of the hanging disc. The attitude control method for the three-hanging-point performance discprovided by the invention has the advantages of high hanging disc attitude control precision, simple implementation process, high control flexibility and wide application range.
Description
technical field [0001] The invention belongs to the technical field of control systems, and in particular relates to a posture control method for a performance disc with three suspension points. Background technique [0002] Hanging pans are commonly used stage equipment in stage scenery. For example, a ring of lights is installed on the hanging pans. By controlling the posture of the hanging pans, the direction of light irradiation can be controlled to achieve stage lighting effects. In the prior art, a manual control method is mainly used for the attitude control of the suspension pan, which has the problems of low precision of the attitude control of the suspension pan and poor control effect. Contents of the invention [0003] Aiming at the defects in the prior art, the present invention provides a posture control method of a three-hanging-point performance disc, which can effectively solve the above-mentioned problems. [0004] The technical scheme that the present i...
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IPC IPC(8): G05D3/10
CPCG05D3/10
Inventor 刘庆龙余志雄于瑞鑫
Owner 北京北特圣迪科技发展有限公司