Rheostat type rocker power-on self-calibration and sensitivity self-adaptive adjustment method

Abstract

The invention discloses a rheostat type rocker power-on self-calibration and sensitivity self-adaptive adjustment method, which comprises the following steps: firstly, substituting an ideal median resistance parameter of a rocker into a sampling circuit, calculating a median voltage sampling value under an ideal working condition, recording the median voltage sampling value as ADZero, and recording a full-scale voltage sampling value of the sampling circuit as ADFull; defining three user-defined coefficients; cmd is defined as a control instruction normally sent by a main controller, and Cmdmax is defined as a maximum control instruction capable of being sent by the main controller; continuously sampling the median sampling voltage value for multiple times, taking an average value, and recording the average value as ADRa0; the ADZero is compared with the ADRa0; and after a rheostat type rocker power-on self-calibration process is carried out, a sensitivity self-adaptive adjustment process is carried out. The invention aims to carry out power-on self-calibration and sensitivity self-adaptive adjustment on the rheostat type rocker in a mode based on dynamic level detection. According to the method, technicians do not need to carry out personalized calibration work, software and hardware technical states are normalized, and the manpower maintenance cost and the guarantee difficulty are reduced.

Description

Technical Field

[0001] The invention relates to the field of electronic equipment control methods, and in particular to a method for self-calibration and adaptive sensitivity adjustment of a variable resistor rocker. Background Art

[0002] With the development of modern industrial control technology, human-machine collaborative operation has become the mainstream of most control scenarios. As the main carrier of human-machine interaction, joystick terminals have been widely used in industrial vehicles, engineering machinery, drone control, medical equipment and other fields. The most common joystick control technologies currently include rheostat joystick technology and Hall joystick technology.

[0003] For mobile equipment such as tractors working in explosion-proof areas of ships, Hall-type joysticks are limited by the power consumption of the circuit signal acquisition principle and are difficult to meet the intrinsically safe explosion-proof requirements, making them difficult to be used in explosion-proof areas of ships. Although rheostat joysticks can limit power consumption through intrinsically safe circuits and safety barriers to meet the requirements, they will have the following problems during operation:

[0004] 1. The resistance values ​​of rheostat joysticks of the same model and different batches are different, which leads to poor consistency of potential acquisition when in the middle position. In order to ensure uniform control performance, personalized calibration is required for different joysticks through software. There are many versions of software and hardware technical status, which increases the cost of human maintenance and the difficulty of guarantee.

[0005] Second, as the frequency of use of the rheostat joystick increases, its internal carbon brushes wear out, causing the resistance value to change, causing the same joystick's mid-position acquisition potential to drift over time, and eventually causing an erroneous control signal to be issued in the mid-position state, shortening the joystick's life and easily creating safety hazards. In severe cases, the internal spring-type mechanical structure will be completely damaged, which may cause the controlled object to move out of control and cause safety hazards;

[0006] 3. As the frequency of use of rheostat joysticks increases, the internal carbon brushes wear out, causing the resistance value to change, which in turn causes the control range of the same joystick to change, ultimately resulting in inaccurate action control commands issued by the joystick or substandard control command range, reducing control performance and human-machine friendliness;

[0007] In view of the above problems, this solution proposes a method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat joystick to solve the above problems. Summary of the invention

[0008] The purpose of the present invention is to provide a method for power-on self-calibration and adaptive sensitivity adjustment of a rheostat joystick, so as to solve the safety hazards caused by poor factory resistance consistency of the rheostat joystick, the mid-position drift of the joystick as the frequency of use increases, which causes the controlled object to lose control, and the control range change problem caused by the change in resistance value of the joystick as the frequency of use increases.

[0009] To achieve the above object, the present invention provides the following technical solution: a method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker, the adjustment method comprising the following steps:

[0010] The first step is to substitute the ideal mid-resistance parameter of the joystick into the sampling circuit, calculate the mid-voltage sampling value under ideal working conditions, record it as AD_Zero, record the full-scale voltage sampling value of the sampling circuit as AD_Full, and use AD_Zero and AD_Full as ideal benchmarks respectively;

[0011] The second step is to define three custom coefficients, denoted as X0, X max and X min ;

[0012] The third step is to define C md The control command normally issued by the main control is defined as C mdmax The maximum control command that the master controller can issue;

[0013] Step 4: After the device is powered on, delay a certain period of time until the circuit works stably to ensure that the rheostat rocker is in the middle position. The middle sampling voltage value of the rheostat rocker at this time is continuously sampled multiple times to obtain the average value, which is recorded as AD_Ra0;

[0014] Step 5: Compare AD_Zero and AD_Ra0. If the absolute value of the deviation exceeds the product of AD_Full and X0, the main control chip issues an alarm command and no longer generates control commands. If the deviation is within the custom range, the main control chip records the AD_Ra0 collected during this power-on.

[0015] Step 6. After the rheostat joystick power-on self-calibration process, the joystick should be able to work normally and enter the sensitivity adaptive adjustment process.

[0016] Preferably, X0 represents the ratio of the absolute value of the allowable median voltage acquisition deviation value to AD_Full during the power-on self-calibration process.

[0017] Preferably, the X max Characterizing the sensitivity adaptive adjustment process, the software definition can generate the ratio of the absolute lower limit of the maximum control command voltage acquisition value to AD_Full.

[0018] Preferably, the X minCharacterizes the sensitivity adaptive adjustment process. The software defines the ratio of the absolute upper limit of the voltage acquisition value to AD_Full without generating a control command.

[0019] Preferably, the AD_Ra0 represents a mid-voltage sampling value of the power-on calibration of the joystick.

[0020] Preferably, the main control chip records AD_Ra0 collected at power-on as a mid-voltage sampling reference value of the joystick, thereby completing the power-on self-calibration function of the variable resistor type joystick.

[0021] Preferably, the sensitivity adaptive adjustment process is to record the voltage sampling value when the rheostat rocker is in a certain position as AD_Ra, and compare AD_Ra with AD_Ra0.

[0022] Preferably, if the absolute value of the deviation exceeds AD_Full and X max The main control chip issues the maximum control instruction.

[0023] If the deviation value is greater than or equal to 0, a C mdmax If the deviation is less than 0, a -C mdmax ;

[0024] If the absolute value of the deviation is less than or equal to AD_Full and X min The main control chip does not generate any control instructions.

[0025] Preferably, if the absolute value of the deviation is between AD_Full and X min The product of AD_Full and X max The sensitivity is adjusted adaptively to ensure that the joystick can linearly cover the absolute value within this deviation range and is not greater than C mdmax All control instructions.

[0026] Preferably, the calculation instruction C md , expressed as:

[0027] C md =C mdmax *(AD_Ra-AD_Ra0-AD_Full*X min ) / (AD_Full*X max -AD_Full*X min ) (1);

[0028] At this time, the deviation value is greater than or equal to 0;

[0029] C md =-C mdmax *(AD_Ra-AD_Ra0+AD_Full*X min ) / (-AD_Full*Xmax +AD_Full*X min ) (2);

[0030] At this time, the deviation value is less than 0.

[0031] Technical effects and advantages of the present invention:

[0032] (1) The present invention aims to perform power-on self-calibration and sensitivity adaptive adjustment on a rheostat rocker based on dynamic level detection. This method eliminates the need for technicians to carry out personalized calibration work, normalizes the technical status of software and hardware, and reduces human maintenance costs and assurance difficulties;

[0033] (2) The present invention can automatically calibrate the middle level of the rocker each time the power is turned on again, thereby ensuring the normal use of the rheostat rocker when it drifts slightly, and realizing the out-of-control safety protection function when the rheostat rocker is seriously damaged;

[0034] (3) After each power-on self-calibration, the present invention can realize adaptive adjustment of the sensitivity of the joystick motion range through software, thereby improving control performance and human-machine friendliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the electrical signal collection principle of the rheostat type rocker of the present invention.

[0036] Figure 2 The figure is a flowchart of the power-on self-calibration process of the variable resistor type rocker according to the present invention.

[0037] Figure 3 This is a workflow diagram for adaptive adjustment of the sensitivity of a rheostat joystick handle. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the 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.

[0039] The present invention provides a method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker, comprising the following steps:

[0040] The first step is to substitute the ideal mid-resistance parameter of the joystick into the sampling circuit, calculate the mid-voltage sampling value under ideal working conditions, record it as AD_Zero, record the full-scale voltage sampling value of the sampling circuit as AD_Full, and use AD_Zero and AD_Full as ideal benchmarks respectively;

[0041] It should be noted that the sampled joystick is a rheostat type joystick, refer to Figure 1 As shown, the working principle of the rheostat rocker is: the rocker has a built-in sliding rheostat, the rheostat includes two fixed ends and one sliding end, the sliding end is directly related to the movement of the rocker, when the sliding end moves, the resistance distributed at the sliding end relative to the fixed end changes, thereby generating a voltage signal proportional to the position of the rocker.

[0042] The second step is to define three custom coefficients, denoted as X0, X max and X min ;

[0043] Specifically, X0 represents the ratio of the absolute value of the allowable median voltage acquisition deviation value to AD_Full during the power-on self-calibration process; X max Characterize the sensitivity adaptive adjustment process, the software definition can generate the ratio of the absolute value lower limit of the maximum control command voltage acquisition value to AD_Full; X min Characterizes the sensitivity adaptive adjustment process. The software defines the ratio of the absolute upper limit of the voltage acquisition value to AD_Full without generating a control command.

[0044] It should be noted that X0, X max and X min They represent different self-calibration and adaptive adjustment parameters in the voltage acquisition process, where;

[0045] X0 (power-on self-calibration process): This parameter indicates the ratio between the absolute value of the collected median voltage deviation value and AD_Full (maximum value of the full-scale ADC) when the device is powered on and self-calibrated. This ratio can be used to evaluate the accuracy and stability of the device during initialization. A smaller ratio means that the device's self-calibration process after power-on is more successful and can better reflect the actual voltage value.

[0046] X max (Lower limit of the sensitivity adaptive adjustment process): X max Indicates the ratio of the absolute lower limit of the maximum control command voltage acquisition value that can be generated during the sensitivity adaptive adjustment process to AD_Full. This lower limit ensures that the control command will not be too low during the adjustment process, thereby affecting the responsiveness and performance of the system. This can help the system maintain appropriate sensitivity under different working conditions.

[0047] X min (Upper limit of sensitivity adaptive adjustment process): X minIt represents the ratio of the absolute upper limit of the voltage acquisition value that does not generate a control command to AD_Full under the same sensitivity adaptive adjustment. This upper limit ensures that in some cases, such as when the signal is too strong or the noise is too large, the device will not generate too high a control command, thereby preventing the system from overloading or failing.

[0048] The third step is to define C md The control command normally issued by the main control is defined as C mdmax The maximum control command that the master controller can issue;

[0049] Step 4: Reference Figure 2 As shown, after the device is powered on, a certain time is delayed until the circuit works stably to ensure that the rheostat rocker is in the middle position. The middle sampling voltage value of the rheostat rocker at this time is continuously sampled multiple times and the average value is recorded as AD_Ra0. AD_Ra0 represents the middle voltage sampling value of the power-on calibration of the rocker;

[0050] Step 5: Compare AD_Zero and AD_Ra0. If the absolute value of the deviation exceeds the product of AD_Full and X0, the main control chip issues an alarm command and no longer generates control commands. If the deviation is within the custom range, the main control chip records the AD_Ra0 collected during this power-on.

[0051] Specifically, the main control chip records AD_Ra0 collected at power-on as a mid-voltage sampling reference value of the joystick, thereby completing the power-on self-calibration function of the variable resistor joystick.

[0052] It should be noted that the main control chip records AD_Ra0 (the sampling value of the analog-to-digital converter) when it is powered on, and uses it as the mid-voltage sampling reference value of the joystick. This process realizes the power-on self-calibration function of the rheostat joystick. The power-on self-calibration process includes:

[0053] Power-on state: When the device is powered on, the main control chip starts and initializes, including the detection of various sensors and input devices;

[0054] AD_Ra0 sampling, the main control chip samples the voltage signal of the joystick through the ADC (analog-to-digital converter) to obtain AD_Ra0. This value represents the voltage output of the joystick when it is in the middle position (or not in operation);

[0055] Record the reference value and use the collected AD_Ra0 value as the reference value for comparison and calibration in subsequent operations. This value is usually the ideal mid-position voltage of the joystick in a static state, representing the "zero" point of the joystick;

[0056] During the calibration process, the subsequent voltage sampling will be compared with this reference value to determine the actual position of the joystick. By calculating the difference between the current sampling value and the reference value, the offset of the joystick relative to the mid-position can be obtained;

[0057] After obtaining the offset, the main control chip can adjust the control instructions according to the design logic to achieve precise control of the device. For example, if the joystick is offset, the control instructions can be adjusted accordingly to ensure that the device operates as the user intends.

[0058] Step 6. After the rheostat joystick power-on self-calibration process, the joystick should be able to work normally and enter the sensitivity adaptive adjustment process.

[0059] Specifically, the sensitivity adaptive adjustment process is to record the voltage sampling value when the variable resistor rocker is at a certain position as AD_Ra, and compare AD_Ra with AD_Ra0.

[0060] It should be noted that the sensitivity adaptive adjustment process is usually used to automatically adjust the sensitivity in the system according to the change of the input signal. The adjustment process is:

[0061] Initialize the parameters, set the initial voltage sampling value to AD_Ra0, which is the voltage value when the joystick is at a certain reference position, and set the threshold and range of sensitivity adjustment;

[0062] Sampling voltage: when the joystick is in a specific position, collect the current voltage value AD_Ra;

[0063] Compare the voltage values, AD_Ra and AD_Ra0. If AD_Ra is greater than AD_Ra0, it means that the input signal is enhanced and the sensitivity of the system needs to be increased. If AD_Ra is less than AD_Ra0, it means that the input signal is weakened and the sensitivity of the system needs to be reduced.

[0064] Adjust the sensitivity. According to the comparison result, adjust the sensitivity parameter. To increase the sensitivity, adjust the relevant gain or parameter to make the system more sensitive to the input signal. To reduce the sensitivity, adjust the relevant gain or parameter to make the system insensitive to the input signal.

[0065] Furthermore, if the absolute value of the deviation exceeds AD_Full and X max The main control chip issues the maximum control instruction.

[0066] If the deviation value is greater than or equal to 0, a C mdmax If the deviation is less than 0, a -C mdmax ;

[0067] If the absolute value of the deviation is less than or equal to AD_Full and X minThe main control chip does not generate control instructions;

[0068] If the absolute value of the deviation is between AD_Full and X min The product of AD_Full and X max The sensitivity is adjusted adaptively to ensure that the joystick can linearly cover the absolute value within this deviation range and is not greater than C mdmax All control instructions.

[0069] Calculation instruction C md , expressed as:

[0070] C md =C mdmax *(AD_Ra-AD_Ra0-AD_Full*X min ) / (AD_Full*X max -AD_Full*X min ) (1);

[0071] At this time, the deviation value is greater than or equal to 0;

[0072] C md =-C mdmax *(AD_Ra-AD_Ra0+AD_Full*X min ) / (-AD_Full*X max +AD_Full*X min ) (2);

[0073] At this time, the deviation value is less than 0, and thus, the full range linear coverage of the control instructions of different rocker rheostats after the power-on self-calibration is achieved.

[0074] The method for self-calibration and adaptive sensitivity adjustment of the power-on of the rheostat rocker in the present invention can automatically calibrate the median voltage sampling value when the rheostat is initially powered on through a software algorithm, and can effectively solve the problem of differentiated software median calibration introduced due to poor resistance consistency when different rheostat rockers leave the factory, thereby improving the level of intelligence and saving the cost of manpower calibration and technical status version management; at the same time, the median voltage sampling value when the rocker is initially powered on is judged through a software algorithm, and an alarm is given for abnormal values ​​without generating control instructions, thereby solving the safety hazards of the rheostat rocker, such as the resistance value changing due to wear of the internal carbon brushes of the rheostat rocker caused by increased frequency of use, causing the median acquisition potential of the same rocker to drift or be damaged over time, resulting in loss of control of the controlled object, etc. from the source; a unique adaptive sensitivity adjustment method is used to achieve full-range linear coverage of control instructions for different rheostat rockers, and a normalized method is used to improve control performance.

[0075] In the first embodiment, a portable hand control box of a certain type of explosion-proof vehicle product is used as an example. The wire control box is integrated with a rheostat rocker. The specific product is the 4R182S1E3249 rheostat rocker of APEM. The rocker is used to control the forward, backward and steering movement of the vehicle. Figure 1 The electrical signal acquisition topology in the software integrates the self-calibration and sensitivity adaptive adjustment method of the rheostat joystick when it is powered on, realizing the automatic differential mid-voltage reference value calibration of the same model and different batches of rheostat joysticks when they are powered on, and the automatic adjustment of the sensitivity within the full control range of the joystick. From the perspective of usage effect, this method significantly improves the service life and intelligence level of the handle, improves the reliability and safety of the task, saves the cost of human calibration and technical status version management, and verifies the feasibility and effectiveness of this method.

[0076] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker, characterized in that: The adjustment method comprises the following steps: The first step is to substitute the ideal mid-resistance parameter of the joystick into the sampling circuit, calculate the mid-voltage sampling value under ideal working conditions, record it as AD_Zero, record the full-scale voltage sampling value of the sampling circuit as AD_Full, and use AD_Zero and AD_Full as ideal benchmarks respectively; The second step is to define three custom coefficients, denoted as X0, X max and X min； The third step is to define C md The control command normally issued by the main control is defined as C mdmax The maximum control command that the master controller can issue; Step 4: After the device is powered on, delay a certain period of time until the circuit works stably to ensure that the rheostat rocker is in the middle position. The middle sampling voltage value of the rheostat rocker at this time is continuously sampled multiple times to obtain the average value, which is recorded as AD_Ra0; Step 5: Compare AD_Zero and AD_Ra0. If the absolute value of the deviation exceeds the product of AD_Full and X0, the main control chip issues an alarm command and no longer generates control commands. If the deviation is within the custom range, the main control chip records the AD_Ra0 collected during this power-on. Step 6. After the rheostat joystick power-on self-calibration process, the joystick should be able to work normally and enter the sensitivity adaptive adjustment process.

2. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The X0 represents the ratio of the absolute value of the allowable median voltage acquisition deviation value to AD_Full during the power-on self-calibration process.

3. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The X max Characterizing the sensitivity adaptive adjustment process, the software definition can generate the ratio of the absolute lower limit of the maximum control command voltage acquisition value to AD_Full.

4. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The X min Characterizes the sensitivity adaptive adjustment process. The software defines the ratio of the absolute upper limit of the voltage acquisition value to AD_Full without generating a control command.

5. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The AD_Ra0 represents the mid-position voltage sampling value of the power-on calibration of the joystick.

6. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The main control chip records the AD_Ra0 collected at power-on as the mid-voltage sampling reference value of the joystick, thereby completing the power-on self-calibration function of the variable resistor type joystick.

7. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 1, characterized in that: The sensitivity adaptive adjustment process is to record the voltage sampling value when the variable resistor rocker is at a certain position as AD_Ra, and compare AD_Ra with AD_Ra0.

8. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 7, characterized in that: If the absolute value of the deviation exceeds AD_Full and X max The main control chip issues the maximum control instruction. If the deviation value is greater than or equal to 0, a C mdmax If the deviation value is less than 0, a -C is issued. mdmax ; If the absolute value of the deviation is less than or equal to AD_Full and X min The main control chip does not generate any control instructions.

9. A method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat rocker according to claim 8, characterized in that: If the absolute value of the deviation is between AD_Full and X min The product of AD_Full and X max The sensitivity is adjusted adaptively to ensure that the joystick can linearly cover the absolute value within this deviation range and is not greater than C mdmax All control instructions.

10. The method for power-on self-calibration and sensitivity adaptive adjustment of a rheostat type rocker according to claim 9, characterized in that: Calculation instruction C md , expressed as: C md =C mdmax *(AD_Ra-AD_Ra0-AD_Full*X min ) / (AD_Full*X max -AD_Full*X min ) (1); At this time, the deviation value is greater than or equal to 0; C md =-C mdmax *(AD_Ra-AD_Ra0+AD_Full*X min ) / (-AD_Full*X max +AD_Full*X min ) (2); At this time, the deviation value is less than 0.

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