Signal processing method for handle direct position control

Abstract

The invention relates to the technical field of motion control, and discloses a signal processing method for handle direct position control. The signal processing method comprises the following steps of: carrying out distortion correction processing on a handle angle signal to obtain a handle effective angle signal after distortion correction processing; converting the processed effective angle signal of the handle into a position signal; performing speed constraint on the position signal to obtain a target position signal after speed constraint; and smoothing the target position signal subjected to speed constraint to obtain a smoothed position signal, and performing direct position control by a servo system according to the smoothed handle position signal. According to the signal processing method, absolute position control is realized, an application scene requiring direct position control is satisfied, the handle change sensitivity is set, and compared with direct gear setting, the gear switching disturbance is avoided, and the position control precision is high.

Description

Technical field [0001] The present invention relates to the field of motion control technology, and in particular to a signal processing method of a handle direct position control. Background technique [0002] In the prior art, the operating handle is used as a manipulation component in the position control system, which is widely used in engineering machinery, transportation tools, medical equipment, measuring devices, etc., Etc., For manipulating the above instruments or equipment. The operating handle has a central location and can be swinged around the center position, when the handle is swing, when the handle is swung, the angular sensor disposed on the handle is measured in real time, and the handle angle signal is transmitted to the controller for processing. However, the operating handle signal processing method in the existing position control system is to integrate the handle angle signal as the speed, and then perform position control, only relative position control, ...

AI Technical Summary

Problems solved by technology

The operating handle has a central position and can swing back and forth, left and right relative to the central position. When the operating handle is swinging left and right or forward and backward, the angle sensor set on the handle measures the handle angle signal in real time and sends the handle angle signal to the controller for processing , however, the operating handle signal processing method in the existing position control system is to integrate the handle angle signal as a speed, and then perform position control, which can only achieve relative position control, and the position control accuracy is poor, which cannot meet the industrial needs of direct position control. Position control application scenarios. In addition, in the existing position control system, the position gear is switched by directly setting the gear position. When the position gear is switched, it will bring disturbance to the entire control system. The gear setting affects the position control accuracy.

Images