360° pendulum swing control system

Abstract

The application discloses a 360-degree pendulum swing control system, which is applied to amusement equipment including a swing arm, a support frame, a cabin and a counterweight arm and specifically comprises an execution motor, a driver, an encoder and a controller, wherein the execution motor is connected with the swing arm in linkage to control swing size and direction of the swing arm; the driver is in communication connection with the execution motor; the encoder is installed on the swing arm; the controller is in communication connection with the encoder and the driver, is used for collecting feedback signals of the encoder, calculating speed and angle of the swing arm in combination with preset parameters in the controller and adjusting driving force size, direction, ramp time and starting and ending time of the driving force output by the driver according to the calculation result; and the man-machine interface is in man-machine interaction with external staff and is also in communication connection with the controller and is used for changing the preset parameters in the controller. The 360-degree pendulum swing control system avoids the problem that only the driver can control the torque output size of the execution motor and the problem that the switching and acceleration and deceleration are not smooth enough.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of amusement equipment, more specifically, it relates to a 360 ° pendulum swing control system. BACKGROUND

[0002] 360 ° Challenger journey (commonly known as 360 ° pendulum) game machine is upgraded on the basis of original Challenger journey, can realize 360 ° rotation of swing arm.360 ° Challenger journey is mainly composed of swing arm, support frame, cockpit, swing arm is connected on support frame and can swing 360 °, cockpit is fixed at the lower end of swing arm, counterweight arm is fixed on the upper end of swing arm, swing arm, cockpit, counterweight arm are realized swing by execution motor and driver, as disclosed in the invention patent with the patent number 2013207228664 and the name of a new type of control system of game machine applied by the company in 2013, for the existing control method of pendulum is by encoder installation in motor tail portion after direct access driver, it is difficult to realize real-time detection of the angle and speed of swing arm, only by driver according to the parameters collected by encoder, through the pre-set fixed slope time and driving force size to adjust, in the process of swing arm switching direction and acceleration and deceleration, cause running jitter and not smooth, its control method needs to be improved. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a 360 ° pendulum swing control system with more smooth control.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a 360 ° pendulum swing control system applied to an amusement equipment including swing arm, support frame, cockpit and counterweight arm, specifically comprising:

[0005] Execution motor, linked with swing arm, to control the swing size and direction of swing arm;

[0006] Driver, in communication connection with execution motor, to drive execution motor to control the swing size and direction of swing arm;

[0007] Encoder, installed on swing arm, to output pulse signal to feedback the state of swing arm;

[0008] Controller, in communication connection with encoder and driver, to collect feedback signal of encoder and calculate the speed and angle of swing arm in combination with preset parameters in it, and adjust the driving force size, direction, slope time and given start and end time of driving force output by driver according to the calculation result;

[0009] Human-machine interface, in human-computer interaction with external staff, also in communication connection with controller, to change preset parameters in controller.

[0010] As a further improvement of the present application, the controller adjusts the direction of the driver output in the following way: the controller calculates the difference value and the cumulative difference value per unit time after collecting the feedback signal of the encoder, and compares the calculated difference value and the cumulative difference value with the preset difference value and the cumulative difference value in the controller, and when the obtained difference value and the cumulative difference value reach the set interval, the controller adjusts the driving force size and the swing direction of the driver output; wherein the driving force size, the ramp time and the given start and end time of the driving force are all preset parameters in the controller.

[0011] As a further improvement of the present application, the human-machine interface also accepts the speed and angle data of the swing arm calculated by the controller, and displays the speed and angle data in real time.

[0012] As a further improvement of the present application, it also includes a number of detection switches, which are arranged at the upper end of the support frame to detect the number of 180° swings of the swing arm, and the controller detects that the number of swings of the swing arm does not reach the set number of swings, and performs swing acceleration operation, giving the swing arm a same direction driving force, and detects that the number of swings of the swing arm reaches the set number of swings, and gives the swing arm a reverse driving force to perform swing zero operation.

[0013] Wherein, the zero speed calculation signal of the swing arm exists continuously within a set time range, and the set number of swings is a preset parameter in the controller set by the human-machine interface.

[0014] As a further improvement of the present application, the human-machine interface is a touch screen.

[0015] As a further improvement of the present application, the controller calculates the speed and angle of the swing arm by combining the feedback signal and the preset parameters in the controller: the calculated difference value and the cumulative difference value are combined with the preset deceleration ratio to calculate the speed and angle of the swing arm.

[0016] The beneficial effects of the present application are that the encoder detects the running state of the swing arm, the encoder is directly connected to the controller, and the controller can accurately realize the given driving force size, direction and ramp of the driver through calculation, and the human-machine interface is convenient and fast for parameter fine tuning, so that the swing arm runs more smoothly, and the convenience of adjustment and the stability of operation are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The structure schematic diagram of the control system of the present application applies to amusement equipment;

[0018] Figure 2 The module block diagram of the control system of the present application. DETAILED DESCRIPTION

[0019] The present application will be further described in detail below with reference to the embodiments given in the accompanying drawings.

[0020] Referring to Figure 1 The 360° pendulum swing control system of the embodiment shown is applied to a recreational equipment including a swing arm 1, a support frame 7, a cabin 8, and a counterweight arm 9. The swing arm 1 is connected to the support frame 7 and can swing 360°. The cabin 8 is fixed to the lower end of the swing arm 1. The counterweight arm 9 is fixed to the upper end of the swing arm 1. The system specifically includes:

[0021] An execution motor 3 is linked to the swing arm 1 to control the swing size and direction of the swing arm 1.

[0022] A driver 4 is communicatively connected to the execution motor 3 to drive the execution motor 3 to control the swing size and direction of the swing arm.

[0023] An encoder 2 is installed on the swing arm 1 to output pulse signals to feedback the state of the swing arm 1.

[0024] A controller 5 is communicatively connected to the encoder 2 and the driver 4 to collect the feedback signals of the encoder 2, calculate the speed and angle of the swing arm 1 in combination with the preset parameters in the controller 5, and adjust the driving force size, direction, ramp time, and given start and end time of the driving force output by the driver 4 according to the calculation results.

[0025] A human-machine interface 6 is communicatively connected to the controller 5 and the external staff to change the preset parameters in the controller 5. In the process of using the control system of the embodiment, an independent driver 4 is used to control each execution motor 3. The controller 5 is used to realize the synchronous action and smooth operation without shaking of each execution motor 3. The controller 5 is directly used to control the driver 4. The signals feedback by the corresponding encoder 2 are directly input into the controller 5. Compared with the way of directly connecting the encoder 2 to the driver 4 in the prior art, the controllability is stronger. The adjustment of the controller 5 can solve the problem of shaking and non-smooth operation of the swing arm 1 caused by the direct driving of the driver 4 when the encoder 2 detects 0 speed. As an improved specific embodiment, the controller 5 adjusts the direction of the driving force output by the driver 4 in the following way: the controller 5 calculates the difference value and cumulative difference value per unit time after collecting the feedback signals of the encoder 2, compares the obtained difference value and cumulative difference value with the preset difference value and cumulative difference value in the controller 5, and adjusts the driving force size and swing direction output by the driver 4 when the obtained difference value and cumulative difference value reach the set interval.

[0026] The driving force size, the ramp time and the given start and end time of the driving force are all preset parameters in the controller 5, and through the above setting, the state of the swing arm 1 can be understood by using the controller 5 to calculate the difference value and the cumulative difference value in a unit time, for example, the unit time in the embodiment is 100 milliseconds, that is, the controller 5 collects the pulses of the encoder 2 every 100 milliseconds, assuming that the first collection pulse value is 1000, the second is 1050, and the third is 1070, thus the difference values are 50 and 20, and the difference values gradually decrease, thus indicating that the swing arm 1 is in a deceleration state, so that the speed of the swing arm 1 can be understood, and the effect of the pre-control of the controller 5 is realized, so that the control process can better fit the actual situation of the swing arm 1.

[0027] As an improved specific embodiment, the human-computer interface 6 also accepts the swing arm speed and angle data calculated by the controller 5 and displays the speed and angle data in real time, through the above setting, the visualization of the speed and angle data can be effectively realized, the encoder 2 is installed at the swing arm 1 and can intuitively reflect the current angle and speed of the swing arm, and the human-computer interface 6 can facilitate personnel to make parameter fine adjustment according to the running condition.

[0028] As an improved specific embodiment, the number of turns detection switch is arranged at the upper end of the support frame 7 for detecting the number of turns of the swing arm 1 swinging through 180°, the controller 5 detects that the number of turns of the swing arm 1 does not reach the number of turns setting value and performs swing acceleration operation, gives the swing arm the same direction driving force, and detects that the number of turns of the swing arm 1 reaches the number of turns setting value and gives the swing arm 1 reverse driving force to perform swing arm 1 zero return operation.

[0029] The zero speed calculation signal of the swing arm 1 exists continuously in the set time range and then stops, the number of turns setting value is a preset parameter of the human-computer interface 6 in the controller 5, and through the above setting, the zero return operation can be effectively performed when the swing arm 1 swings enough turns.

[0030] As an improved specific embodiment, the human-computer interface 6 is a touch screen, which is convenient to use and simple to operate. As an improved specific embodiment, the controller 5 calculates the speed and angle of the swing arm 1 in combination with the feedback signal and the preset parameters in the controller 5, that is, the difference value and the cumulative difference value calculated are combined with the preset deceleration ratio to calculate the speed and angle of the swing arm 1, through the above setting, the speed and angle of the swing arm 1 can be simply and effectively calculated.

[0031] To sum up, the control system of the embodiment can effectively realize the setting of various parameters in the controller 5 through the setting of the man-machine interface 6, and the staff can realize the controllable driving of the swing arm 1 through the man-machine interface 6 and the controller 5, so that the swing arm 1 runs more smoothly, and the convenience of adjustment and the stability of operation are improved.

[0032] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-described embodiments. Any technical solution falling within the concept of the present application belongs to the protection scope of the present application. It should be noted that, for ordinary technical personnel in the technical field, some improvements and refinements without departing from the principles of the present application should also be considered as the protection scope of the present application.

Claims

1. A 360° pendulum swing control system, applied to an amusement device comprising a swing arm (1), a support frame (7), a cabin (8), a counterweight arm (9), characterized in that: Specifically comprising: An execution motor (3) linked with the swing arm (1) to control the swing size and direction of the swing arm (1); A driver (4) in communication connection with the execution motor (3) to drive the execution motor (3) to control the swing size and direction of the swing arm; An encoder (2) installed on the swing arm (1) to output pulse signals to feedback the state of the swing arm (1); A controller (5) in communication connection with the encoder (2) and the driver (4) to collect the feedback signals of the encoder (2) to calculate the speed and angle of the swing arm (1) in combination with the preset parameters in the controller (5), and to adjust the driving force size, direction, ramp time and starting and ending time of the driving force output by the driver (4) according to the calculation results; A human-machine interface (6) in communication connection with the controller (5) and the external staff to change the preset parameters in the controller (5); The controller (5) adjusts the direction of the output of the driver (4) in the following way: the controller (5) calculates the difference value and cumulative difference value per unit time after collecting the feedback signals of the encoder (2), and compares the calculated difference value and cumulative difference value with the preset difference value and cumulative difference value in the controller (5), when the obtained difference value and cumulative difference value reach the set interval, the controller (5) adjusts the driving force size and swing direction of the output of the driver (4); Wherein, the driving force size, ramp time and starting and ending time of the driving force given all belong to the preset parameters in the controller (5); further comprising a number of detection switches, which are arranged at the upper end of the support frame (7) to detect the number of 180° swings of the swing arm (1), the controller (5) detects that the number of swings of the swing arm (1) does not reach the number of set values, and performs swing acceleration operation to give the swing arm the same direction driving force, and detects that the number of swings of the swing arm (1) reaches the number of set values to give the swing arm (1) a reverse driving force to perform swing arm (1) zero operation; Wherein, the zero speed calculation signal of the swing arm (1) stops after existing in the set time range, and the number of set values is the preset parameter set in the controller (5) by the human-machine interface (6).

2. The 360° pendulum swing control system of claim 1, wherein: The human-machine interface (6) also accepts the speed and angle data of the swing arm calculated by the controller (5), and displays the speed and angle data in real time.

3. The 360° pendulum swing control system of claim 2, wherein: The human-machine interface (6) is a touch screen.

4. The 360° pendulum swing control system of claim 3, wherein: The controller (5) calculates the speed and angle of the swing arm (1) in combination with the feedback signals and the preset parameters in the controller (5) in the following way: the calculated difference value and cumulative difference value are combined with the preset deceleration ratio to calculate the speed and angle of the swing arm (1).

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