A method for self-calibration and sensitivity adaptive adjustment of a rheostat-type rocker

Abstract

The application discloses a variable resistor type rocker power-on self-calibration and sensitivity adaptive adjustment method, first, the ideal median resistance parameter of the rocker is substituted into a sampling circuit, the median voltage sampling value under ideal working conditions is calculated, and is recorded as AD_Zero; a full-scale voltage sampling value of the sampling circuit is recorded as AD_Full; three self-defined coefficients are defined; C md is defined as the control instruction that can be sent by the master control mdmax ; the maximum control instruction that can be sent by the master control is defined; the median sampling voltage value is continuously sampled for multiple times and the average value is recorded as AD_Ra0; AD_Zero is compared with AD_Ra0; after the variable resistor type rocker power-on self-calibration process, the sensitivity adaptive adjustment process is entered. The application aims to perform power-on self-calibration and sensitivity adaptive adjustment on the variable resistor type rocker based on a dynamic level detection mode. The method enables the technical personnel to not need to carry out individual calibration work, normalizes the software and hardware technical states, and reduces the manpower maintenance cost and guarantee difficulty.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electronic device control methods, in particular to a variable resistor type joystick power-on self-calibration and sensitivity adaptive adjustment method. BACKGROUND

[0002] With the development of modern industrial control technology, human-machine collaborative operation has become the mainstream of most current control scenarios, and the rocker terminal as the main carrier of human-computer interaction has been widely used in industrial vehicles, engineering machinery, unmanned aerial vehicle control, medical equipment and other fields. The most common rocker control technology currently mainly includes variable resistor type rocker technology and Hall type rocker technology.

[0003] For human-machine collaborative operation mobile equipment such as traction vehicles working in ship explosion-proof areas, Hall type rocker is limited by circuit signal acquisition principle power consumption and is difficult to meet the requirements of intrinsically safe explosion-proof, and is difficult to apply to ship explosion-proof areas. Although the variable resistor type rocker can meet the requirements by limiting the power of the intrinsically safe circuit and the safety barrier, it will have the following problems in work:

[0004] 1. The same type of variable resistor type rocker has resistance difference between different batches, which causes poor consistency of the midpoint acquisition potential between each other. In order to ensure the unified performance of the control, individual calibration needs to be done for different rockers through software, and the number of software and hardware technical state versions is large, which increases the human maintenance cost and difficulty of protection;

[0005] 2. As the use frequency of the variable resistor type rocker increases, the internal carbon brush wears out, causing the resistance to change, causing the midpoint acquisition potential of the same rocker to drift over time, eventually causing the rocker to send an error control signal in the midpoint state, shortening the service life of the rocker and easily causing safety hazards. In severe cases, the internal spring type mechanical structure will be completely damaged, which may cause the controlled object to lose control and cause safety hazards;

[0006] 3. As the use frequency of the variable resistor type rocker increases, the internal carbon brush wears out, causing the resistance to change, causing the same rocker action control range to change, eventually causing the rocker to send inaccurate action control instructions or the control instruction range to be substandard, reducing the control performance and human-machine friendliness;

[0007] In view of the above problems, the present application provides a variable resistor type rocker power-on self-calibration and sensitivity adaptive adjustment method to solve the above problems. SUMMARY

[0008] The present application aims to provide a variable resistor type rocker power-on self-calibration and sensitivity adaptive adjustment method to solve the poor consistency of variable resistor type rocker factory resistance, the safety hazard caused by the controlled object out of control due to the rocker mid-point drift caused by the increase of use frequency, and the control range change problem caused by the resistance change of the rocker caused by the increase of use frequency.

[0009] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a variable resistor type rocker power-on self-calibration and sensitivity adaptive adjustment method, the adjustment method comprising the following steps:

[0010] First, the ideal mid-point resistance parameters of the rocker are substituted into the sampling circuit to calculate the mid-point voltage sampling value under ideal working conditions, denoted as AD_Zero, the full-scale voltage sampling value of the sampling circuit is denoted as AD_Full, and AD_Zero and AD_Full are used as ideal references, respectively.

[0011] Second, three user-defined coefficients are defined, denoted as X0, X max and X min , respectively.

[0012] Third, C md is defined as the control command normally issued by the master control, and C mdmax is defined as the maximum control command that can be issued by the master control.

[0013] Fourth, after the device is powered on, a certain time delay is set to ensure that the circuit works stably, and the variable resistor rocker is in the middle position. The mid-point sampling voltage value of the variable resistor rocker at this time is continuously sampled multiple times and averaged, denoted as AD_Ra0.

[0014] Fifth, compare AD_Zero and AD_Ra0. If the absolute value of the deviation exceeds the product of AD_Full and X0, the master control chip issues an alarm command and no longer generates a control command. If the deviation is within the user-defined range, the master control chip records the AD_Ra0 collected during this power-on.

[0015] Sixth, after the variable resistor type rocker power-on self-calibration process, the rocker should work normally and enter the sensitivity adaptive adjustment process.

[0016] The sensitivity adaptive adjustment process is to record the voltage sampling value of the variable resistor rocker at a certain position as AD_Ra, and compare the deviation of AD_Ra and AD_Ra0.

[0017] If the absolute value of the deviation exceeds the product of AD_Full and X max , the master control chip issues the maximum control command.

[0018] If the absolute value of the deviation exceeds the product of AD_Full and X maxIf the product of the two values ​​has a deviation value greater than or equal to 0, then issue C. mdmax If the deviation value is less than 0, then -C is issued. mdmax ;

[0019] If the absolute value of the deviation is less than or equal to AD_Full and X min If the sum is insufficient, the main control chip will not generate control commands.

[0020] Preferably, X0 represents the ratio of the absolute value of the allowable median voltage acquisition deviation to AD_Full during the power-on self-calibration process.

[0021] Preferably, the X max The software defines the ratio of the absolute lower limit of the maximum control command voltage acquisition value to AD_Full, representing the sensitivity adaptive adjustment process.

[0022] Preferably, the X min The sensitivity adaptive adjustment process is characterized by the ratio of the upper limit of the absolute value of the voltage acquisition value to AD_Full, which is defined by the software without generating control commands.

[0023] Preferably, AD_Ra0 represents the power-on calibration midpoint voltage sample value of the joystick.

[0024] Preferably, the main control chip records the AD_Ra0 acquired upon power-on as the midpoint voltage sampling reference value of the joystick, thus completing the power-on self-calibration function of the rheostat-type joystick.

[0025] Preferably, if the absolute value of the deviation between AD_Ra and AD_Ra0 exceeds the difference between AD_Full and X... max When the sum of these is reached, the main control chip issues the maximum control command.

[0026] If the deviation value is greater than or equal to 0, then issue C. mdmax If the deviation value is less than 0, then -C is issued. mdmax ;

[0027] If the absolute value of the deviation is less than or equal to AD_Full and X min If the sum is insufficient, the main control chip will not generate control commands.

[0028] Preferably, if the absolute value of the deviation is between AD_Full and X min The product of AD_Full and X max Between these values, sensitivity adaptive adjustment is performed to ensure that the joystick can linearly cover the range of deviations where the absolute value does not exceed C. mdmax All control commands.

[0029] Preferably, calculate all control commands C md ;

[0030] If the deviation value is greater than or equal to 0, the calculation is represented as:

[0031] (1);

[0032] If the deviation value is less than 0, the calculation is represented as:

[0033] (2).

[0034] Technical effects and advantages of the present application:

[0035] (1) The present application aims to calibrate and adjust the sensitivity of the rheostat rocker through dynamic level detection.

[0036] (2) The present application can automatically calibrate the rocker mid-level each time it is powered on, ensuring normal use when the rheostat rocker drifts slightly and implementing the safety protection function when the rheostat rocker is severely damaged.

[0037] (3) The present application can automatically calibrate the rheostat rocker each time it is powered on, and can adjust the sensitivity of the rocker motion range through software, improving the control performance and human-computer friendliness. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The present application is a rheostat rocker electrical signal acquisition principle diagram.

[0039] Figure 2 The present application is a rheostat rocker power self-calibration work flow chart.

[0040] Figure 3 The present application is a rheostat rocker handle sensitivity adaptive adjustment work flow chart. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] The present application provides a rheostat rocker power self-calibration and sensitivity adaptive adjustment method, comprising the following steps:

[0043] First, the ideal mid-point resistance parameter of the rocker is substituted into the sampling circuit, the mid-point voltage sampling value under ideal working conditions is calculated, denoted as AD_Zero, the full-scale voltage sampling value of the sampling circuit is denoted as AD_Full, and AD_Zero and AD_Full are taken as ideal references respectively;

[0044] It should be noted that the sampled rocker is a rheostat type rocker, as shown in Figure 1 The working principle of the rheostat type rocker is that the rocker is built-in with a sliding rheostat, the rheostat includes two fixed ends and one sliding end, the sliding end is directly associated with the movement of the rocker, when the sliding end moves, the resistance of the sliding end relative to the fixed end changes, thereby generating a voltage signal proportional to the position of the rocker.

[0045] Second, three custom coefficients are defined, denoted as X0, X max and X min respectively.

[0046] Specifically, X0 represents the power-on self-calibration process, the ratio of the allowable mid-point voltage acquisition deviation value absolute value to AD_Full; X max represents the sensitivity adaptive adjustment process, the ratio of the lower limit of the absolute value of the maximum control instruction voltage acquisition value that can be generated to AD_Full; X min represents the sensitivity adaptive adjustment process, the ratio of the upper limit of the absolute value of the control instruction voltage acquisition value that is not generated to AD_Full.

[0047] It should be noted that X0, X max and X min represent different self-calibration and adaptive adjustment parameters in the voltage acquisition process, wherein;

[0048] X0 (power-on self-calibration process): This parameter represents the ratio between the absolute value of the mid-point voltage deviation value acquired during the self-calibration process after the device is powered on and AD_Full (the maximum value of the full-scale ADC). This ratio can be used to evaluate the accuracy and stability of the device during initialization. A smaller ratio means that the self-calibration process after the device is powered on is more successful, and can better reflect the true voltage value.

[0049] X max (lower limit of sensitivity adaptive adjustment process): X max represents the ratio between the absolute value of the lower limit of the maximum control instruction voltage acquisition value that can be generated during the sensitivity adaptive adjustment process and AD_Full. This lower limit ensures that the control instruction is not too low during the adjustment process, thereby affecting the response ability and performance of the system. This can help the system maintain appropriate sensitivity under different working conditions.

[0050] X min (upper limit of sensitivity adaptive adjustment process): X min represents the ratio of the absolute value of the voltage acquisition value that does not generate a control instruction at the same sensitivity adaptive adjustment to AD_Full. This upper limit ensures that the device does not generate excessively high control instructions in certain situations, such as excessively strong signals or excessively large noise, thereby preventing system overload or failure.

[0051] Third step, define C md as the maximum control instruction that the master can issue; mdmax

[0052] Fourth step, refer Figure 2 as shown, delay for a certain time after the device is powered on to ensure that the circuit is stable, and ensure that the rheostat rocker is at the center position. The average value of the sampling voltage value of the rheostat rocker at this time is continuously sampled multiple times and recorded as AD_Ra0, which represents the power-on calibration midpoint voltage sampling value of the rocker;

[0053] Fifth step, compare AD_Zero and AD_Ra0. If the absolute value of the deviation exceeds the product of AD_Full and X0, the master chip issues an alarm instruction and does not generate a control instruction. If the deviation is within the self-defined range, the master chip records the AD_Ra0 collected during this power-on;

[0054] Specifically, the master chip records the AD_Ra0 collected during power-on as the midpoint voltage sampling reference value of the rocker, completing the rheostat rocker power-on self-calibration function.

[0055] It should be noted that the master chip records AD_Ra0 (analog-to-digital converter sampling value) during power-on and uses it as the midpoint voltage sampling reference value of the rocker. This process realizes the rheostat rocker power-on self-calibration function. The power-on self-calibration process includes:

[0056] Power-on state, when the device is powered on, the master chip starts and initializes, including detection of various sensors and input devices;

[0057] AD_Ra0 sampling, the master chip samples the voltage signal of the rocker through the ADC (analog-to-digital converter) to obtain AD_Ra0. This value represents the voltage output of the rocker at the midpoint position (or in the unoperated state);

[0058] Record the reference value, use the collected AD_Ra0 value as the reference value for comparison and calibration in subsequent operations. This value is usually the ideal midpoint voltage of the rocker in the stationary state, representing the "zero" point of the rocker;

[0059] ​The calibration process, the subsequent voltage sampling will be compared with this reference value, to determine the actual position of the rocker. By calculating the difference between the current sampling value and the reference value, the offset of the rocker relative to the neutral position can be obtained;

[0060] Control instructions, after obtaining the offset, the host chip can adjust the control instructions according to the design logic, to realize the precise control of the device. For example, if the rocker is offset, the control instructions can be adjusted accordingly, to ensure that the device operates according to the user's intention.

[0061] The sixth step, after the variable resistor rocker power self-calibration process, the rocker should work normally, and enter the sensitivity adaptive adjustment process.

[0062] Specifically, the sensitivity adaptive adjustment process is to record the voltage sampling value of the variable resistor rocker at a certain position as AD_Ra, and compare the deviation of AD_Ra and AD_Ra0.

[0063] 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:

[0064] Initialization parameters, set the initial voltage sampling value as AD_Ra0, which is the voltage value when the rocker is at a certain reference position, and set the threshold and range of sensitivity adjustment;

[0065] Sampling voltage, when the rocker is at a certain position, collect the current voltage value AD_Ra;

[0066] Compare the voltage values, compare 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 improved; 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;

[0067] Adjust the sensitivity, according to the comparison result, adjust the sensitivity parameter, increase the sensitivity, adjust the relevant gain or parameter, so that the system is more sensitive to the input signal, reduce the sensitivity, adjust the relevant gain or parameter, so that the system is not sensitive to the input signal.

[0068] Further, if the absolute value of the deviation exceeds the product of AD_Full and X max , the host chip sends the maximum control instruction;

[0069] If the absolute value of the deviation of AD_Ra and AD_Ra0 exceeds the product of AD_Full and X max , when the deviation value is greater than or equal to 0, C mdmax is sent, when the deviation value is less than 0, -C mdmax is sent;

[0070] If the absolute value of the deviation is less than or equal to the product of AD_Full and X min , the master chip does not generate control instructions.

[0071] If the absolute value of the deviation is between the product of AD_Full and X min and the product of AD_Full and X max , sensitivity adaptive adjustment is performed to ensure that the joystick can linearly cover all control instructions with an absolute value not greater than C within this deviation value range. mdmax .

[0072] Calculate all control instructions C md .

[0073] If the deviation value is greater than or equal to 0, the calculation is represented as:

[0074] (1).

[0075] If the deviation value is less than 0, the calculation is represented as:

[0076] (2).

[0077] At this point, the control instruction full range linear coverage of different joystick potentiometers after completing the power-on self-calibration is achieved.

[0078] The potentiometer type joystick power-on self-calibration and sensitivity adaptive adjustment method in the application can automatically calibrate the median voltage sampling value of the potentiometer under the initial power-on condition through a software algorithm, effectively solving the software differentiation median calibration problem caused by poor resistance consistency of different potentiometer type joysticks when they are shipped, improving the intelligent level, saving the manpower calibration and technical state version management cost; at the same time, the median voltage sampling value of the joystick under the initial power-on is judged through the software algorithm, and the abnormal value is alarmed and prompted, and no control instruction is generated, which solves the safety hazards such as the drift of the median collection potential of the same joystick over time or the loss of control of the controlled object caused by the change of the resistance value of the potentiometer type joystick due to the increase of the use frequency of the carbon brush inside the potentiometer type joystick from the source; through the specific sensitivity adaptive adjustment method, the control instruction full range linear coverage of different potentiometer joysticks is achieved, and the control performance is improved by using the normalization method.

[0079] Example one, taking a portable hand-operated box of a certain type of explosion-proof vehicle product as an example, the potentiometer type joystick is integrated on the drive-by-wire box, and the specific product is the 4R182S1E3249 type potentiometer type joystick of APEM company, and the joystick functions to control the forward and backward movement and steering movement of the vehicle. Figure 1The method is characterized in that the power supply of the variable resistor type rocker is automatically calibrated and the sensitivity is automatically adjusted in the software, and the same type of variable resistor type rockers of different batches are automatically calibrated in the power-on differential median voltage reference value and the sensitivity in the whole control range of the rocker is automatically adjusted.

[0080] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing detailed description of the present application is made with reference to the foregoing embodiments, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A method for self-calibration and sensitivity adaptive adjustment of a varistor rocker switch, characterized in that, The adjusting method comprises the following steps: In the first step, the ideal mid-position resistance parameter of the rocker is substituted into the sampling circuit, the mid-position voltage sampling value under the ideal working condition is calculated, and is recorded as AD_Zero. The full-scale voltage sampling value of the sampling circuit is recorded as AD_Full, and AD_Zero and AD_Full are taken as ideal references respectively; Second step, define three custom coefficients, respectively, X0, X max and X min； Step 3, define C md C is the maximum number of control commands that the master can issue mdmax C is the maximum number of control commands that the master can issue In the fourth step, the device is powered on and delayed for a certain time until the circuit works stably, and the variable resistor rocker is ensured to be in the mid-position. The mid-position sampling voltage value of the variable resistor rocker at this time is continuously sampled for multiple times and averaged, and is recorded as AD_Ra0; In the fifth step, AD_Zero and AD_Ra0 are compared. If the absolute value of the deviation exceeds the product of AD_Full and X0, the main control chip sends an alarm instruction and does not generate a control instruction. If the deviation is within the self-defined range, the main control chip records AD_Ra0 collected at this time of power-on; In the sixth step, after the power-on self-calibration process of the variable resistor rocker, the rocker can work normally and enter the sensitivity self-adaptive adjusting process. The sensitivity self-adaptive adjusting process is that the voltage sampling value of the variable resistor rocker at a certain position is recorded as AD_Ra, and the deviation of AD_Ra and AD_Ra0 is compared. If the absolute value of the deviation exceeds the product of AD_Full and X max , the master chip issues the maximum control instruction; If the absolute value of the deviation exceeds the product of AD_Full and X max , when the deviation value is greater than or equal to 0, a C mdmax , when the deviation value is less than 0, a -C mdmax ; If the absolute value of the deviation is less than or equal to AD_Full and X min If the sum is insufficient, the main control chip will not generate control commands.

2. A method for self-calibration and sensitivity adaptive adjustment of a varistor rocker switch according to claim 1, characterized in that X0 represents the power-on self-calibration process, and the ratio of the absolute value of the allowable mid-position voltage collection deviation value to AD_Full.

3. The method of claim 1, wherein the method further comprises: The X max The sensitivity adaptive adjustment process is characterized, and the software-defined maximum control instruction voltage acquisition value absolute value lower limit and the ratio of AD_Full.

4. The method of claim 1, wherein the method further comprises: The X min The sensitivity adaptive adjustment process is characterized by the ratio of the absolute value of the control instruction voltage acquisition value generated by the software to the upper limit of the AD_Full.

5. The method of claim 1, wherein the method further comprises: AD_Ra0 represents the power-on calibration mid-position voltage sampling value of the rocker.

6. A method for self-calibration and sensitivity adaptive adjustment of a varistor rocker switch according to claim 1, characterized in that, The main control chip records the power-on collected AD_Ra0 as the mid-position voltage sampling reference value of the rocker, and completes the power-on self-calibration function of the variable resistor rocker.

7. The method of claim 1, wherein the method further comprises: If the absolute value of the deviation between AD_Ra and AD_Ra0 is between the product of AD_Full and X min and the product of AD_Full and X max , then sensitivity self-adapting adjustment is performed to ensure that the joystick can linearly cover all control commands whose absolute value is not greater than C mdmax within the deviation value range.

8. A method of self-calibration and sensitivity adaptive adjustment of a varistor rocker according to claim 7, characterized in that, calculating the total control command C md ; If the deviation value is greater than or equal to 0, the calculation is represented as: （1）； If the deviation value is less than 0, the calculation is represented as: （2）。

Images