A controllable multi-channel load control system

Abstract

The embodiment of the present invention discloses a controllable multi-channel control load system, which relates to the field of mechanical control technology. The system includes: a control load device and a main controller, wherein the control load device includes an electric actuator cylinder; the main controller is used to control the action of the electric actuator cylinder according to the interactive commands of the three channels to generate the control force of the control load device. The present invention can control the action of the electric actuator cylinder according to the interactive commands of the three channels to generate the control force of the control load device, thereby realizing multi-channel control of the control load system and effectively improving the user experience of the operator.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical control, and in particular relates to a controllable multi-channel control load system. Background Art

[0002] The control load system is a system that provides the operator with a sense of control force, and is generally used to improve the effect of simulation training. The control force of the control load system is generated by a hydraulic actuator, which is a power conversion device that converts hydraulic energy into mechanical energy. At present, the hydraulic actuator is generally controlled by a three-channel interactive command to provide driving force for various transportation carriers, test (simulation) systems, and mechanical engineering. Among them, the protocols of the three-channel interactive command are SPI, serial port, and pin PWM wave control protocol.

[0003] In order to prevent the three-channel interactive commands from conflicting with each other, the existing three-channel interactive command management method sets priorities for the three-channel interactive commands, such as setting the pin PWM wave control protocol to the highest priority, followed by the serial port, and finally the SPI. Correspondingly, the pin PWM wave control protocol will be processed first, then the serial port interactive command, and finally the SPI interactive command, which often makes the interactive commands of the channels with earlier time and lower priority not be processed in time, greatly affecting the user experience. In order to process the interactive commands with earlier time, all interactive commands (including the interactive commands of the serial port and SPI) are implemented through the pin PWM wave control protocol, which consumes a lot of interactive command conversion time and computing resources. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a controllable multi-channel control load system to solve the problem that the existing three-channel interactive command management method cannot coordinate and process the three-channel interactive commands well, resulting in a poor user experience. The present invention can control the action of the electric actuator according to the interactive commands of the three channels to generate the control force of the control load device, realize multi-channel control of the control load system, and effectively improve the user experience of the operator.

[0005] The embodiment of the present invention provides a controllable multi-channel control load system, comprising a control load device and a main controller, wherein the control load device comprises an electric actuator cylinder;

[0006] The main controller is used to control the movement of the electric actuator according to the interactive commands of the three channels to generate the control force of the control load device.

[0007] In an optional embodiment, the three channels include an SPI control channel, a serial port control channel, and a pin PWM wave control channel;

[0008] The main controller uses the pin PWM wave control channel as the main control channel, and uses the SPI control channel and the serial port control channel as auxiliary control channels.

[0009] In an optional embodiment, the main controller includes:

[0010] A data conversion module, used for converting the command data received by the SPI control channel into binary SPI pulse data, and converting the command data received by the serial port control channel into binary serial port pulse data;

[0011] A data integration module, used for integrating the command signal received by the pin PWM wave control channel according to the binary SPI pulse data and the binary serial port pulse data, to obtain binary integrated pulse data;

[0012] A conversion module, used for converting the binary integrated pulse data into a pulse control signal;

[0013] A control module is used to control the electric actuator according to the pulse control signal.

[0014] In an optional embodiment, the data transmitted by the SPI control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as a first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as a first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail is pulse data in hexadecimal form;

[0015] The data transmitted by the serial port control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as the first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as the first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail are pulse data in hexadecimal form.

[0016] In an optional embodiment, the data conversion module is specifically used to convert the command data received by the SPI control channel and the command data received by the serial port control channel into binary SPI pulse data and binary serial port pulse data respectively according to the first formula;

[0017] The data integration module is specifically used to integrate the binary SPI pulse data, the binary serial port pulse data and the command signal received by the pin PWM wave control channel according to the second formula to obtain binary integrated pulse data;

[0018] Among them, the first formula is:

[0019]

[0020] In the first formula, S2 represents binary SPI pulse data; U2 represents binary serial port pulse data; D 16 Indicates the command data received by the SPI control channel; F 16 Indicates the command data received by the serial port control channel; Indicates circular left shift; >> indicates right shift; []2 indicates converting the data in the brackets into binary data;

[0021] The second formula is:

[0022]

[0023] In the second formula, P2 represents the integrated pulse data of the binary; t represents the sum of the time of the high level in the command signal received by the pin PWM wave control channel; T represents the total signal time of the command signal received by the pin PWM wave control channel; len() represents the number of data bits in the brackets; sum() represents the number of binary numbers with a value of 1 in the binary numbers in the brackets; N represents the number of times the high level in the command signal received by the pin PWM wave control channel is reduced to a low level; INT{} represents rounding the value in the brackets; Represents a binary number, the first bit is 1, and the following The values ​​of the bits are all 0; []|×N means copying the original binary number in the brackets N times, and adding the N copied binary numbers to the back of the original binary number in the brackets in sequence to form new binary data with N groups of repeated data.

[0024] In an optional embodiment, the conversion module is specifically used to convert the binary integrated pulse data into a pulse control signal according to a third formula;

[0025] Wherein, the third formula is:

[0026]

[0027] In the third formula, t + Indicates the pulse duration of the pulse control signal; t - It represents the interval time between two adjacent pulses in the pulse control signal; T0 represents the total control time of the pulse control signal; t0 represents the duration of continuous high level in the command signal received by the pin PWM wave control channel.

[0028] In an optional embodiment, the controllable multi-channel manipulation load system further includes:

[0029] A force sensor, one end of which is fixedly connected to the load plate of the operating load device, and the other end of which is fixed to the fixed end connecting plate of the electric actuator cylinder, and the force sensor is used to detect the current operating force of the operating load device and feed it back to the main controller;

[0030] The main controller is also used to adjust the control of the electric actuator according to the current operating force of the operating load device fed back by the force sensor.

[0031] The present invention provides a controllable multi-channel control load system, which is equipped with a main controller and can control the movement of the electric actuator cylinder according to the interactive commands of the three channels to generate the control force of the control load device in the control load system, effectively coordinate the interactive commands of the three channels, and realize multi-channel control of the control load system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic structural diagram of a controllable multi-channel control load system according to an embodiment of the present invention;

[0034] Figure 2 A schematic structural diagram of a second embodiment of a controllable multi-channel control load system provided by an embodiment of the present invention;

[0035] Figure 3 A schematic structural diagram of a third embodiment of a controllable multi-channel control load system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0037] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Figure 1 A schematic diagram of the structure of a controllable multi-channel control load system according to an embodiment of the present invention. Figure 1 , the system comprises: a load control device 4 and a main controller 1;

[0039] The load manipulation device 4 includes an electric actuator 2.

[0040] The main controller 1 is used to control the electric actuator 2 to move according to the interactive commands of the three channels, so as to generate the operating force of the load device 4.

[0041] In this embodiment, the main controller 1 uses the pin PWM wave control channel as the main control channel, and the SPI control channel and the serial port control channel as auxiliary control channels. The structure of the three channels of the existing main controller 1 and the primary and secondary configuration information are not modified here, which effectively saves the system implementation cost.

[0042] The present invention provides a controllable multi-channel control load system, which is equipped with a main controller and can control the movement of the electric actuator cylinder according to the interactive commands of the three channels to generate the control force of the control load device in the control load system, effectively coordinate the interactive commands of the three channels, and realize multi-channel control of the control load system.

[0043] Figure 2 This is a schematic diagram of the structure of a controllable multi-channel control load system according to an embodiment of the present invention. Figure 2 This embodiment is based on the structure of the aforementioned controllable multi-channel control load system embodiment 1. Further, the main controller 1 includes a data conversion module 11, a data integration module 12, a conversion module 13 and a control module 14:

[0044] The data conversion module 11 is used to convert the command data received by the SPI control channel into binary SPI pulse data, and to convert the command data received by the serial port control channel into binary serial port pulse data.

[0045] In this embodiment, the data transmitted by the SPI control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as the first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as the first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail is pulse data in hexadecimal form. The data transmitted by the serial port control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as the first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as the first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail is pulse data in hexadecimal form.

[0046] Preferably, the data conversion module 11 is specifically used to convert the command data received by the SPI control channel and the command data received by the serial port control channel into binary SPI pulse data and binary serial port pulse data respectively according to a first formula; wherein the first formula is:

[0047]

[0048] In the first formula, S2 represents binary SPI pulse data; U2 represents binary serial port pulse data; D 16 Indicates the command data received by the SPI control channel; F 16 Indicates the command data received by the serial port control channel; Indicates circular left shift; >> indicates right shift; []2 indicates converting the data in the brackets into binary data.

[0049] In this embodiment, it is assumed that the command data received by the SPI control channel is D 16 =0xAB1234EF, then according to the first formula, U2 can be obtained in the same way. The data of the SPI and serial control channels are converted into binary pulse data, so that the system side (i.e., the main controller 1) can distinguish the information of multiple channels and perform corresponding information extraction and data conversion, thereby achieving the purpose of automatic extraction and conversion of data, which is convenient for subsequent data integration.

[0050] The data integration module 12 is used to integrate the command signal received by the pin PWM wave control channel according to the binary SPI pulse data and the binary serial port pulse data to obtain binary integrated pulse data. Preferably, the data integration module 12 is specifically used to integrate the binary SPI pulse data, the binary serial port pulse data and the command signal received by the pin PWM wave control channel according to the second formula to obtain binary integrated pulse data. The second formula is as follows:

[0051]

[0052] In the second formula, P2 represents the integrated pulse data of the binary; t represents the sum of the time of the high level in the command signal received by the pin PWM wave control channel; T represents the total signal time of the command signal received by the pin PWM wave control channel; len() represents the number of data bits in the brackets; sum() represents the number of binary numbers with a value of 1 in the binary numbers in the brackets; N represents the number of times the high level in the command signal received by the pin PWM wave control channel is reduced to a low level; INT{} represents rounding the value in the brackets; Represents a binary number, the first bit is 1, and the following The values ​​of the bits are all 0; []|×N means copying the original binary number in the brackets N times, and adding the N copied binary numbers to the back of the original binary number in the brackets in sequence to form new binary data with N groups of repeated data.

[0053] In this embodiment, according to the binary pulse data received by the SPI and serial port control channels, the pin PWM wave control channel is integrated and corrected to obtain the final binary pulse data (binary integrated pulse data) of the electric actuator, and then the pin PWM wave control channel is used as the main method, and the SPI and serial port control channels are used as the auxiliary methods to perform mutual integration and correction between the data, so that the subsequently obtained pulse control signal is more accurate and reliable, thereby ensuring the accuracy of the system operation.

[0054] The conversion module 13 is used to convert the binary integrated pulse data into a pulse control signal. Preferably, the conversion module 13 is used to convert the binary integrated pulse data into a pulse control signal according to a third formula;

[0055] Wherein, the third formula is:

[0056]

[0057] In the third formula, t + Indicates the pulse duration of the pulse control signal; t - It represents the interval time between two adjacent pulses in the pulse control signal; T0 represents the total control time of the pulse control signal; t0 represents the duration of continuous high level in the command signal received by the pin PWM wave control channel.

[0058] In this embodiment, the binary integrated pulse data is converted into a pulse control signal for control, thereby converting the binary pulse data into a controllable time signal. Furthermore, the corresponding pulse is automatically obtained by accurately controlling the time and controlling the on and off, thereby realizing multi-channel control of the control load system.

[0059] The control module 14 is used to control the electric actuator 2 according to the pulse control signal.

[0060] The present invention provides a controllable multi-channel control load system, which first converts the command data received by the SPI and serial port control channels into binary pulse data, then integrates the command signal received by the pin PWM wave control channel according to the binary pulse data to obtain binary integrated pulse data, and finally converts the binary integrated pulse data into a pulse control signal and sends it to the electric actuator cylinder. The present invention can control the action of the electric actuator cylinder according to the interactive commands of the three channels to generate a control force, thereby realizing multi-channel control of the control load system.

[0061] Figure 3 This is a schematic diagram of the structure of a controllable multi-channel load control system according to an embodiment of the present invention. Figure 3 This embodiment is based on the structure of the aforementioned controllable multi-channel control load system embodiment 2. Further, the controllable multi-channel control load system also includes:

[0062] The force sensor 3 has one end fixedly connected to the load plate of the operating load device 4 and the other end fixed to the fixed end connecting plate of the electric actuator cylinder 2. The force sensor 3 is used to detect the current operating force of the operating load device 4 and feed it back to the main controller 1.

[0063] The main controller 1 is also used to adjust the control of the electric actuator 2 according to the current operating force of the operating load device 4 fed back by the sensor 3.

[0064] In this embodiment, after the main controller 1 sends an interactive command to the electric actuator cylinder 2 to control the movement of the electric actuator cylinder 2 to generate operating force, the operating force of the operating load device 4 is then measured through the force sensor 3. When the operating force does not meet the requirements of the interactive command, the control of the electric actuator cylinder 2 is further adjusted, thereby effectively improving the accuracy of the interactive command control.

[0065] The present invention provides a controllable multi-channel control load system, which first converts the command data received by the SPI and serial port control channels into binary pulse data, then integrates the command signals received by the pin PWM wave control channel according to the binary pulse data to obtain binary integrated pulse data, and then converts the binary integrated pulse data into a pulse control signal and sends it to the electric actuator cylinder to move, generate operating force, and adjust the control of the electric actuator cylinder when the operating force is different from the operating force required by the pulse control signal. The present invention can not only control the electric actuator cylinder to generate operating force according to the interactive commands of the three channels, realize multi-channel control of the control load system, but also improve the accuracy of interactive command control.

[0066] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0069] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and variations. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A controllable multi-channel load control system, comprising a load control device, wherein the load control device comprises an electric actuator, characterized in that: Also includes: A main controller, used for controlling the movement of the electric actuator cylinder according to the interactive commands of the three channels to generate the manipulating force of the manipulating load device; Among them, the three channels include SPI control channel, serial port control channel, and pin PWM wave control channel; The main controller uses the pin PWM wave control channel as the main control channel, and uses the SPI control channel and the serial port control channel as auxiliary control channels; Wherein, the main controller includes: A data conversion module, used for converting the command data received by the SPI control channel into binary SPI pulse data, and converting the command data received by the serial port control channel into binary serial port pulse data; A data integration module, used for integrating the command signal received by the pin PWM wave control channel according to the binary SPI pulse data and the binary serial port pulse data, to obtain binary integrated pulse data; A conversion module, used for converting the binary integrated pulse data into a pulse control signal; A control module, used for controlling the electric actuator according to the pulse control signal; The data conversion module is specifically used to convert the command data received by the SPI control channel and the command data received by the serial port control channel into binary SPI pulse data and binary serial port pulse data respectively according to the first formula; The data integration module is specifically used to integrate the binary SPI pulse data, the binary serial port pulse data and the command signal received by the pin PWM wave control channel according to the second formula to obtain binary integrated pulse data; Among them, the first formula is: In the first formula, S2 represents binary SPI pulse data; U2 represents binary serial port pulse data; D 16 Indicates the command data received by the SPI control channel; F 16 Indicates the command data received by the serial port control channel; Indicates circular left shift; >> indicates right shift; []2 indicates converting the data in the brackets into binary data; The second formula is: In the second formula, P2 represents the integrated pulse data of the binary; t represents the sum of the time of the high level in the command signal received by the pin PWM wave control channel; T represents the total signal time of the command signal received by the pin PWM wave control channel; len() represents the number of data bits in the brackets; sum() represents the number of binary numbers with a value of 1 in the binary numbers in the brackets; N represents the number of times the high level in the command signal received by the pin PWM wave control channel is reduced to a low level; INT{} represents rounding the value in the brackets; Represents a binary number, the first bit is 1, and the following The values ​​of the bits are all 0; []|×N means copying the original binary number in the brackets N times, and adding the N copied binary numbers to the back of the original binary number in the brackets in sequence to form new binary data with N groups of repeated data.

2. The controllable multi-channel control load system according to claim 1, characterized in that: The data transmitted by the SPI control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as a first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as a first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail are pulse data in hexadecimal form; The data transmitted by the serial port control channel is in the form of hexadecimal data, and the first two bits of the hexadecimal data are used as the first frame header for distinguishing the communication channel, and the last two bits of the hexadecimal data are used as the first frame tail for indicating the end of the data, and the data between the first frame header and the first frame tail are pulse data in hexadecimal form.

3. The controllable multi-channel control load system according to claim 1, characterized in that: The conversion module is specifically used to convert the binary integrated pulse data into a pulse control signal according to a third formula; Wherein, the third formula is: In the third formula, t + Indicates the pulse duration of the pulse control signal; t - It represents the interval time between two adjacent pulses in the pulse control signal; T0 represents the total control time of the pulse control signal; t0 represents the duration of continuous high level in the command signal received by the pin PWM wave control channel.

4. The controllable multi-channel control load system according to any one of claims 1 to 3, characterized in that: The system also includes: A force sensor, one end of which is fixedly connected to the load plate of the operating load device, and the other end of which is fixed to the fixed end connecting plate of the electric actuator cylinder, and the force sensor is used to detect the current operating force of the operating load device and feed it back to the main controller; The main controller is also used to adjust the control of the electric actuator according to the current operating force of the operating load device fed back by the force sensor.

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