Control method and device based on variable-diameter force balancing device, control equipment and medium

Abstract

The embodiment of the invention relates to the field of instrument control, and provides a control method and device based on a variable-diameter force balancing device, control equipment and a medium. The control method comprises the steps that the current wheel diameter of the variable-diameter force balancing device is obtained; determining the force deviation between the loading force and the pre-tightening output force of the variable-diameter force balancing device; outputting compensation torque for compensating the force deviation according to the current wheel diameter; and controlling the variable-diameter force balancing device according to the compensation torque so as to keep the variable-diameter force balancing device balanced. According to the scheme, constant driving force can be provided for different force deviations, and the balance effect and dragging flexibility are guaranteed.

Description

Technical Field

[0001] The present application relates to the field of instrument control, and more specifically, to a control method, device, control equipment and medium based on a variable diameter force balancing device. Background Art

[0002] With the rapid development of robotics technology, surgical robots are becoming more and more popular for their less bleeding and high precision. To ensure the safety and stability of the operation, the robotic arms of surgical robots are generally designed to be heavier. In actual use, in order to ensure the safety and high-precision movement of the robotic arms, the prior art usually requires the use of a force balancing device to balance the load force on the robotic arms. The balancing device of the force balancing device in the prior art does not have an active motion function and cannot provide a constant driving force to ensure the balancing effect for different load changes, resulting in a poor balancing effect of the force balancing device and the dragging of the robotic arms is not smooth enough.

[0003] Therefore, there is an urgent need to provide a control method for a balancing device to improve the balancing effect and drag compliance performance of the force balancing device. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, control equipment and medium based on a variable diameter force balancing device, which can improve the balancing effect and drag compliance performance of the force balancing device.

[0005] In a first aspect, a control method based on a variable diameter force balancing device is provided; the control method comprises:

[0006] Obtaining the current wheel diameter of the variable diameter force balancing device;

[0007] determining a force deviation between a load force and a preload output force of the variable diameter force balancing device;

[0008] Outputting a compensation torque for compensating the force deviation according to the current wheel diameter;

[0009] The variable diameter force balancing device is controlled according to the compensation torque to keep the variable diameter force balancing device balanced.

[0010] The control method based on the variable diameter force balancing device provided by the present application first obtains the current wheel diameter of the variable diameter force balancing device, and then calculates and outputs the compensation torque for compensating the force deviation according to the current wheel diameter. The force deviation is the force deviation between the load force and the preload output force of the variable diameter force balancing device. Since different wheel diameters correspond to different compensation torques, and the compensation torques of different force deviations under the same wheel diameter are also different, the current wheel diameter and the current force deviation can determine the compensation torque required for the variable diameter force balancing device to output a constant force. Finally, the variable diameter force balancing device is controlled according to the compensation torque to keep the variable diameter force balancing device balanced. The above scheme can provide corresponding compensation torques to control the variable diameter force balancing device for different force deviations to ensure the balancing effect and drag compliance performance.

[0011] In a possible implementation manner of the first aspect, outputting a compensation torque for compensating the force deviation according to the current wheel diameter includes:

[0012] When the variable diameter force balancing device outputs a constant force, based on a preset first relationship, a compensation torque for compensating the force deviation is output according to the current wheel diameter and the force deviation. The first relationship is a functional relationship between the wheel diameter of the variable diameter force balancing device and the torque controlling the variable diameter force balancing device.

[0013] In the above possible implementation methods, different wheel diameters correspond to different driving torques. When there is a deviation between the load force and the preload output force of the variable-diameter force balancing device, compensating and controlling the torque of the variable-diameter force balancing device can achieve constant force output, thereby ensuring that the variable-diameter force balancing device can maintain constant force output for different load forces, thereby improving the dragging compliance performance of the variable-diameter force balancing device.

[0014] In a possible implementation manner of the first aspect, obtaining the current wheel diameter of the variable diameter force balancing device includes:

[0015] Obtaining the current position of the target object;

[0016] According to the current position, the current wheel diameter of the variable diameter force balancing device is determined.

[0017] In the above possible implementation manner, the current wheel diameter of the balancing device is calculated by the current position of the target object, and a unique correct solution can be accurately obtained.

[0018] In a possible implementation manner of the first aspect, the current position refers to an absolute position at a current moment relative to an initial position; and obtaining the current position of the target object includes:

[0019] Measuring, by a linear encoder, a first displacement value of the target object relative to an initial position at the current moment, wherein the initial position refers to the position of the target object when the linear encoder has a zero displacement value;

[0020] The current position of the target object is acquired according to the first displacement value.

[0021] In the above possible implementation methods, the first displacement value of the target object can be obtained through a linear encoder. The first displacement value is an absolute displacement relative to the zero displacement value, and the current position of the corresponding target object is the absolute position. Using the absolute displacement of the target object as the current position can reduce the complexity of the variable diameter force balancing device in calculating the real-time wheel diameter.

[0022] In a possible implementation manner of the first aspect, before determining the current wheel diameter of the variable diameter force balancing device according to the current position, the method further includes:

[0023] Acquire an initial wheel diameter of the variable-diameter force balancing device, where the initial wheel diameter is the wheel diameter of the variable-diameter force balancing device when the target object is at an initial position;

[0024] Determining the current wheel diameter of the variable diameter force balancing device according to the current position includes:

[0025] The current wheel diameter of the variable-diameter force balancing device is determined according to a first displacement value corresponding to the current position and an initial wheel diameter of the variable-diameter force balancing device, wherein the first displacement value is an absolute displacement value of the current position relative to the initial position.

[0026] In the above possible implementation methods, the change in wheel diameter of the variable-diameter force balancing device determines the change in position of the target object. The first displacement value is an absolute displacement value. However, under normal circumstances, the initial wheel diameter of the variable-diameter force balancing device is not zero. Therefore, it is more accurate to calculate the current wheel diameter based on the obtained initial wheel diameter.

[0027] In a possible implementation manner of the first aspect, determining the current wheel diameter of the variable-diameter force balancing device according to the first displacement value corresponding to the current position and the initial wheel diameter of the balancing device includes:

[0028] Determining a current wheel diameter of the variable-diameter force balancing device according to the first displacement value corresponding to the current position, the initial wheel diameter, and a gain coefficient;

[0029] The gain coefficient is the slope of the wheel diameter of the variable diameter force balancing device changing with the rotation angle.

[0030] In the above possible implementations, the slope of the wheel diameter changing with the rotation angle can be obtained from the linear relationship between the wheel diameter and the rotation angle of the variable-diameter force balancing device, and the slope is used as a gain coefficient to determine the current wheel diameter of the variable-diameter force balancing device together with the calibrated initial wheel diameter and the first displacement value corresponding to the current position. The linear relationship between the wheel diameter and the rotation angle of the variable-diameter force balancing device can be obtained by calibration, and a linearized method is used in a possible implementation to determine the current wheel diameter of the variable-diameter force balancing device, which makes it easier to accurately obtain the real-time wheel diameter of the variable-diameter force balancing device.

[0031] In a possible implementation manner of the first aspect, controlling the variable diameter force balancing device according to the compensation torque so that the variable diameter force balancing device maintains balance includes:

[0032] Converting the compensation torque into a command current and inputting it into a current controller;

[0033] The current controller outputs a first driving signal to control the variable-diameter force balancing device according to the first driving signal, so that the variable-diameter force balancing device maintains balance.

[0034] In the above possible implementation, the compensation torque is converted into a first drive signal. First, the compensation torque can be converted into a corresponding command current. The command current is used to instruct the current controller to output the first drive signal, thereby completing the control of the variable diameter force balancing device to maintain balance.

[0035] In a possible implementation manner of the first aspect, the method further includes:

[0036] Obtaining the expected current at the current moment and the current driving current of the variable diameter force balancing device;

[0037] Determining a driving current deviation between the current driving current and the expected current;

[0038] inputting the driving current deviation and the command current into the current controller;

[0039] The current controller outputs a second driving signal to control the variable diameter force balancing device according to the second driving signal.

[0040] In the above possible implementations, the current controller can also be used to correct the driving current deviation. Therefore, the driving current deviation and the command current are input into the current controller together, and the output second driving signal can not only compensate for the force deviation but also correct the driving current deviation.

[0041] In a possible implementation manner of the first aspect, obtaining the expected current at the current moment includes:

[0042] Obtaining the current position of the target object;

[0043] Based on the position controller, correct the position deviation between the current position and the command position, and output the desired angular velocity of the variable diameter force balancing device;

[0044] The speed deviation between the desired angular velocity and the current angular velocity of the variable-diameter force balancing device is input into a speed controller for correction, and the desired current at the current moment is output.

[0045] In the above possible implementations, the desired current can be obtained through dual closed-loop feedback control of the position loop and the speed loop, which can improve the accuracy of obtaining the desired current.

[0046] In a possible implementation manner of the first aspect, the correcting the position deviation between the current position and the command position based on the position controller and outputting the expected angular velocity of the variable diameter force balancing device includes:

[0047] The position deviation is corrected based on the position controller and the speed reduction ratio corresponding to the current wheel diameter, and a desired angular velocity of the variable diameter force balancing device is output.

[0048] In the above possible implementation methods, by calculating the real-time diameter of the variable diameter force balancing device, the variable reduction ratio can be accurately calculated, and then the speed command corresponding to the target object's running trajectory can be accurately calculated. The speed command is brought into the speed controller for calculation, which can improve the position following accuracy of the target object's trajectory movement.

[0049] In a possible implementation manner of the first aspect, the correcting the position deviation based on the position controller and the variable reduction ratio corresponding to the current wheel diameter, and outputting a desired angular velocity of the variable diameter force balancing device, includes:

[0050] Determine the reduction ratio corresponding to the current wheel diameter according to the linear motion speed of the target object corresponding to the current wheel diameter and the rotational angular velocity of the variable diameter force balancing device when the variable diameter force balancing device outputs a constant force;

[0051] Correcting the position deviation based on the position controller and outputting the linear running speed of the target object;

[0052] According to the linear running speed and the speed reduction ratio corresponding to the current wheel diameter, the expected angular velocity of the variable diameter force balancing device is determined and output.

[0053] In the above possible implementation methods, since the movement speed corresponding to the target object is the linear running speed and the variable diameter force balancing device corresponds to the angular velocity, the linear running speed is converted into the desired angular velocity by using a variable reduction ratio and then the balancing device is driven to rotate, which can improve the deviation correction accuracy.

[0054] In a second aspect, a control device based on a variable diameter force balancing device is provided; the control device comprises:

[0055] An acquisition module, used for acquiring the current wheel diameter of the variable diameter force balancing device;

[0056] A force deviation determination module, used to determine a force deviation between a load force and a preload output force of the variable diameter force balancing device;

[0057] A torque output module, used for outputting a compensation torque for compensating the force deviation according to the current wheel diameter;

[0058] A driving module is used to control the variable diameter force balancing device according to the compensation torque so that the variable diameter force balancing device maintains balance.

[0059] In a third aspect, a variable diameter force balancing device is provided, the variable diameter force balancing device comprising a variable diameter step pulley, a variable diameter step pulley assembly and a driving device;

[0060] The variable diameter step pulley is used to change the wheel diameter by rotating to output the preload output force;

[0061] The driving device is used to output a compensating torque to balance the force deviation between the preload output force and the load force.

[0062] In a fourth aspect, a control device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0063] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and wherein when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0064] In a sixth aspect, a computer program product is provided. When the computer program product runs on a control device, the control device executes the method described in the first aspect.

[0065] It can be understood that the second aspect, third aspect, fourth aspect, fifth aspect and sixth aspect provided above are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a flow chart of a control method based on a variable diameter force balancing device provided in Example 1 of the present application;

[0067] Figure 2 It is a motion control drive block diagram based on compensation torque;

[0068] Figure 3 is a schematic diagram of a flow chart of obtaining the current wheel diameter of the variable diameter force balancing device provided in the second embodiment of the present application;

[0069] Figure 4 is a curve of the relationship between the wheel diameter of the variable diameter force balancing device and the rotation angle of the variable diameter force balancing device;

[0070] Figure 5 It is a flow chart of another control method based on a variable diameter force balancing device provided in Embodiment 3 of the present application;

[0071] Figure 6 It is a motion control drive block diagram for implementing three corresponding variable diameter force balancing devices;

[0072] Figure 7 It is a structural schematic diagram of a control device based on a variable diameter force balancing device provided in an embodiment of the present application;

[0073] Figure 8 It is a structural schematic diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0075] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0076] Force balancing equipment can usually offset or reduce the effect of the object's load through a balancing device, so that the object can remain in a balanced state, making it easier to control or handle these objects. In the prior art, tension springs, constant force springs, gas springs, etc. are usually used to balance the object's load, but since these balancing devices have no driving source, they cannot adapt to changes in the object's load force. Their balancing effect is heavily dependent on structural matching, and they cannot additionally compensate for changes in the object's load force, and they have no active motion function. Through research, it was found that the traditional ball screw transmission control solution can achieve better active motion control performance, but its friction resistance is large, resulting in a large starting torque during the dragging process and poor compliance during the dragging process.

[0077] In response to the above problems, the present application provides a control method based on a variable diameter force balancing device, firstly, the current wheel diameter of the variable diameter force balancing device is obtained, and then the compensation torque required to compensate for the force deviation is calculated according to the current wheel diameter. The force deviation is the force deviation between the load force and the preload output force of the variable diameter force balancing device. Since different wheel diameters correspond to different compensation torques, and the compensation torques of different force deviations under the same wheel diameter are also different, the current wheel diameter and the current force deviation can determine the compensation torque required for the variable diameter force balancing device to output a constant force. Finally, the variable diameter force balancing device is controlled according to the compensation torque to keep the variable diameter force balancing device balanced. The above scheme can provide a constant driving force for different force deviations to ensure the balancing effect and drag compliance performance.

[0078] It should be understood that the order of execution of each step in this embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In order to illustrate the technical solution of the present application, the following is an illustration through a specific embodiment.

[0079] The variable diameter force balancing device in the present application can control the target object to reach the command position by changing the magnitude of the output force, wherein the variable diameter force balancing device may include a variable diameter tower wheel whose wheel diameter can change in real time, and the diameter of the variable diameter tower wheel changes with its rotation angle.

[0080] For example, in an actual application scenario, the variable diameter force balancing device can be used in the vertical joint of a robotic arm. The variable diameter force balancing device is provided with a variable diameter pulley and a driving device (such as a driving motor or other driving device). The driving device controls the vertical joint to perform linear motion by driving the variable diameter pulley to rotate. The end of the vertical joint away from the variable diameter pulley can be connected to the target object, so that the target object can be transported to the command position when the vertical joint performs linear motion.

[0081] It should be understood that the application of the variable diameter force balancing device in the vertical joint is for example rather than limitation, and the variable diameter force balancing device can also be applied to other structures for balancing gravity, such as large mechanical equipment, cranes or elevators in the industrial field and other structures for balancing gravity.

[0082] Reference Figure 1 , shows a flow chart of a control method based on a variable diameter force balancing device provided in Example 1 of the present application, the method comprising the following steps:

[0083] Step 101, obtaining the current wheel diameter of the variable diameter force balancing device.

[0084] In this embodiment, the wheel diameter of the variable-diameter force balancing device will change in real time as its rotation angle changes, and the variable-diameter force balancing device can also drive the mobile end to move in a straight line through the rope wrapped around its own tower wheel, wherein the above-mentioned mobile end can refer to the object that needs to be balanced, that is, the object of the load force of the variable-diameter force balancing device, such as a robotic arm.

[0085] The variable-diameter force balancing device can retract and lower the rope wound on its own tower wheel by rotating. When the variable-diameter force balancing device lowers the rope by rotating, the vertical joint will move linearly in the direction away from the variable-diameter force balancing device; when the variable-diameter force balancing device retracts the rope by rotating, the vertical joint will move linearly in the direction close to the variable-diameter force balancing device; therefore, the linear motion displacement of the vertical joint will change in real time with the change of the rotation angle of the variable-diameter force balancing device.

[0086] It can be seen from the above that the wheel diameter of the variable force balancing device and the linear motion displacement of the vertical joint are both related to the rotation angle of the variable force balancing device. Therefore, the current wheel diameter of the variable force balancing device can be obtained by the rotation angle of the variable force balancing device or the linear motion displacement of the vertical joint. Among them, the rotation angle of the variable force balancing device can be measured by an encoder installed on the end face of the balancing device; the linear motion displacement of the vertical joint can be measured by a linear encoder installed at the output end of the vertical joint. If the output end of the vertical joint is connected to the target object, then the linear motion displacement of the vertical joint is the linear motion displacement of the target object.

[0087] After obtaining the current rotation angle or the current linear motion displacement through the corresponding encoder, the current wheel diameter of the variable diameter force balancing device can be obtained based on the correlation between the wheel diameter and the rotation angle or the correlation between the rotation angle and the linear motion displacement.

[0088] Specifically, if the current rotation angle is obtained, the current wheel diameter of the variable force balancing device is calculated based on the correlation between the wheel diameter of the variable force balancing device and the rotation angle. If the current linear motion displacement is obtained, the current rotation angle is first obtained based on the correlation between the rotation angle and the linear motion displacement, and then the current wheel diameter of the variable force balancing device is calculated based on the correlation between the wheel diameter of the variable force balancing device and the rotation angle.

[0089] Step 102, determining a force deviation between the load force and the preload output force of the variable diameter force balancing device;

[0090] The load force may refer to the force applied vertically to the target object due to support or other external effects. The target object may refer to the load that the variable diameter force balancing device drives the vertical joint to move up and down in a straight line. It should be noted that when the target object is located on a horizontal surface or suspended on a support, the load force is usually equal to the gravity of the target object, the magnitude of the load force is equal to the gravity of the object, and the direction is perpendicular to the support surface.

[0091] If there is a deviation between the load force and the preload output force of the variable diameter force balancing device, the variable diameter force balancing device cannot balance the load force according to the preload output force. If the force deviation is not compensated at this time, the variable diameter force balancing device will not be able to output a constant force to control the target object to reach the command position, resulting in poor drag compliance performance. Therefore, when there is a deviation between the load force and the preload output force of the variable diameter force balancing device, it is necessary to output a compensation torque to compensate for the force deviation so that the target object can remain balanced.

[0092] The preload output force of the variable diameter force balancing device refers to the force pre-applied to the variable diameter force balancing device. For example, a volute spring is arranged at the connection of the drive shaft of the variable diameter force balancing device. The elastic force applied to the variable diameter force balancing device after the volute spring is compressed is called the preload output force. The magnitude of the preload output force is related to the tension degree and material of the volute spring.

[0093] Step 103: outputting a compensation torque for compensating for force deviation according to the current wheel diameter.

[0094] In this embodiment, after the load force is obtained, the load force is subtracted from the preload output force to obtain the force deviation. Since different wheel diameters correspond to different compensation torques, and the compensation torques for different force deviations under the same wheel diameter are also different, it can be seen that the compensation torque used to compensate for the force deviation is related to the real-time wheel diameter of the variable diameter force balancing device. Therefore, the compensation torque used to compensate for the force deviation can be output based on the current wheel diameter and force deviation of the variable diameter force balancing device obtained.

[0095] Among them, when the target object is located on a horizontal surface or suspended on a support, the load force is usually equal to the weight of the target object, the magnitude of the load force is equal to the weight of the object, and the direction is perpendicular to the support surface; or the target object is suspended on a rope, the tension of the rope on the target object is the load force, and the magnitude of this tension is equal to the weight of the object. That is, in many cases, when the target object is supported, the load force is equal to the weight of the target object.

[0096] In a possible implementation, outputting a compensation torque for compensating for force deviation according to the current wheel diameter includes:

[0097] When the variable diameter force balancing device outputs a constant force, based on a preset first relationship, according to the current wheel diameter and the force deviation, a compensation torque for compensating the force deviation is output.

[0098] The first relational expression is a functional relational expression between the wheel diameter of the variable-diameter force balancing device and the torque driving the variable-diameter force balancing device to rotate.

[0099] In this embodiment, since the wheel diameter D of the variable force balancing device is variable, according to the formula T=F*D / 2, when the torque T provided by the spiral spring to drive the variable force balancing device to rotate is non-constant, if the variable force balancing device outputs a constant force F, the wheel diameter D of the variable force balancing device and the torque T provided by the spiral spring to drive the variable force balancing device to rotate need to cooperate with each other, that is, the first relationship is T=F*D / 2. Based on the first relationship, assuming that the force deviation is △F and the current wheel diameter of the variable force balancing device is D1, the current wheel diameter D1 and the force deviation are brought into the first relationship, and the compensation torque △T=△F*D1 / 2 for compensating the force deviation can be obtained. After obtaining the compensation torque, the driving device can apply the compensation torque to the variable force balancing device so that the preload output force and the compensation torque output by the variable force balancing device can balance the load force.

[0100] Through the above implementation method, the vertical joint can maintain balance when loaded with different loads, and the constant force output of the variable diameter force balancing device can be achieved, thereby improving the dragging compliance performance of the joint.

[0101] Step 104: Control the variable diameter force balancing device according to the compensation torque to keep the variable diameter force balancing device balanced.

[0102] In this embodiment, the variable diameter force balancing device can be controlled by outputting a driving signal, and the driving signal can be a duty cycle signal. The voltage that controls the variable diameter force balancing device to maintain balance is adjusted by outputting the duty cycle signal, so that the variable diameter force balancing device can maintain balance according to the compensation torque, so that when there is a deviation between the load force and the pre-tightening output force of the variable diameter force balancing device, the variable diameter force balancing device can maintain balance, thereby achieving the driving force balancing device to ensure the balancing effect for different load changes.

[0103] In a possible implementation, controlling the variable diameter force balancing device according to the compensation torque so that the variable diameter force balancing device maintains balance includes:

[0104] Convert the compensation torque into command current and input it into the current controller;

[0105] The current controller outputs a first driving signal to control the variable diameter force balancing device according to the first driving signal, so that the variable diameter force balancing device maintains balance.

[0106] Among them, the input of the current controller is a current signal, and the output is a driving signal; therefore, the compensation torque can be converted into a command current, and the command is to drive the variable-diameter force balancing device to maintain balance according to the compensation torque. Therefore, the command current is used as a command signal to control the current controller, which is used to make the current controller control the driving device to output the corresponding compensation torque to drive the variable-diameter force balancing device to maintain balance. The variable-diameter force balancing device drives the joint movement in a balanced state, thereby driving the displacement of the target object to change.

[0107] In a possible implementation, the current controller may also correct the deviation of the driving current, so the control method based on the variable diameter force balancing device may also include:

[0108] Obtaining the expected current at the current moment and the current driving current of the variable diameter force balancing device;

[0109] Determine a driving current deviation between a current driving current and a desired current;

[0110] inputting the driving current deviation and the command current into the current controller;

[0111] The current controller outputs a second driving signal to control the variable diameter force balancing device according to the second driving signal.

[0112] The compensation torque is used to compensate for the unbalanced effect caused by the force deviation. In order to enable the target object to reach the command position, the current driving its driving device can be sampled in real time to obtain the driving current deviation of the variable diameter force balancing device, and then the deviation is corrected by the current controller to output a driving signal (i.e., the second driving signal) that enables the variable diameter force balancing device to control the target object to reach the command position while maintaining a balanced state.

[0113] The second driving signal is output to control the balancing device. Specifically, the second driving signal is output to drive the driving device to rotate, and then the driving device controls the balancing device to drive the target object to a specified position while maintaining a balanced state.

[0114] For example, Figure 2 As shown, a motion control drive block diagram based on compensation torque is shown, wherein the current controller can correct the driving current deviation between the current driving current obtained by current sampling and the expected current at the current moment (i.e., the expected current that can control the target object to reach the specified position), and then, in the case of force deviation, the current controller can also control the driving device to output the corresponding compensation torque to control the movement of the balancing device based on the above-mentioned command current. Among them, the current controller can adopt a PI controller or a PID controller, which is not limited in this application.

[0115] It should be noted that the PI controller consists of two control parts: proportional and integral. In the current loop, the proportional part is used to respond to the current error, and the integral part is used to process the accumulated error to ensure the stability and accuracy of the system. The PID controller includes three control parts: proportional, integral, and differential. In the current loop, the differential part helps to reduce overshoot and improve the response speed of the system, but it may also increase the noise sensitivity of the system. Choosing a PI controller or a PID controller depends on the characteristics and performance requirements of the system.

[0116] In the embodiment of the present application, after obtaining the current wheel diameter of the variable diameter force balancing device, a compensation torque for compensating the force deviation can be outputted according to the current wheel diameter. The force deviation is the force deviation between the load force and the preload output force of the variable diameter force balancing device. Since different wheel diameters correspond to different compensation torques, and the same wheel diameter corresponds to different compensation torques for different force deviations, the current wheel diameter and the current force deviation can determine the compensation torque required for the variable diameter force balancing device to output a constant force. Finally, the variable diameter force balancing device is controlled according to the compensation torque to keep the variable diameter force balancing device balanced. The above scheme can provide a constant driving force for different force deviations to ensure the balancing effect and drag compliance performance.

[0117] Reference Figure 3, shows a schematic diagram of a process for obtaining the current wheel diameter of a balancing device provided in the second embodiment of the present application; obtaining the current wheel diameter of the balancing device includes the following steps:

[0118] Step 301, obtaining the current position of the target object.

[0119] In this embodiment, the target object is connected to a vertical joint, and the current position of the target object can be obtained by obtaining the linear motion displacement of the vertical joint.

[0120] In a possible implementation, the current position refers to an absolute position at a current moment relative to an initial position; obtaining the current position of the target object includes:

[0121] Measuring a first displacement value of the target object relative to an initial position at a current moment by a linear encoder;

[0122] The current position of the target object is acquired according to the first displacement value.

[0123] The initial position refers to the position of the target object when the linear encoder is at zero displacement value.

[0124] In an embodiment of the present application, the target object is installed at the output end of the vertical joint, and its linear encoder is also installed at the output end of the vertical joint. The first displacement value of the vertical joint performing linear motion can be directly measured through the linear encoder. Since the initial position refers to the position of the target object at zero displacement value, the first displacement value can be directly used to characterize the current position of the target object, that is, the absolute position.

[0125] Step 302: Determine the current wheel diameter of the variable diameter force balancing device according to the current position of the target object.

[0126] Among them, the current position refers to the displacement value of the target object, and it has been determined in the above-mentioned embodiment that the displacement value of the target object is related to the rotation angle of the variable-diameter force balancing device, and the real-time wheel diameter of the variable-diameter force balancing device is also related to the rotation angle of the variable-diameter force balancing device. Therefore, when the displacement value of the target object is known, the current wheel diameter of the variable-diameter force balancing device can be determined based on the displacement value of the target object, and the correlation between the displacement value of the target object and the real-time wheel diameter of the variable-diameter force balancing device and the rotation angle of the variable-diameter force balancing device.

[0127] In a possible implementation manner, before determining the current wheel diameter of the variable diameter force balancing device according to the current position, the method further includes:

[0128] Obtaining an initial wheel diameter of the variable diameter force balancing device;

[0129] Determining the current wheel diameter of the variable diameter force balancing device according to the current position of the target object includes:

[0130] The current wheel diameter of the variable-diameter force balancing device is determined according to the first displacement value corresponding to the current position of the target object and the initial wheel diameter of the variable-diameter force balancing device.

[0131] The initial wheel diameter is the wheel diameter of the variable diameter force balancing device when the target object is at the initial position, and the first displacement value is the absolute displacement value of the current position relative to the initial position.

[0132] In the embodiment of the present application, the current wheel diameter D of the variable diameter force balancing device x The first displacement value S corresponding to the current position of the target object x The relationship between them is: Among them, D 0 is the initial wheel diameter of the variable force balancing device, which is an accurate value obtained through calibration calculation after the force balancing device is installed; k is the gain coefficient of the relationship between the real-time wheel diameter of the variable force balancing device and the rotation angle of the variable force balancing device. Therefore, according to the first displacement value corresponding to the current position and the initial wheel diameter, the current wheel diameter of the variable force balancing device can be determined.

[0133] In a possible implementation, determining the current wheel diameter of the variable diameter force balancing device according to the first displacement value corresponding to the current position and the initial wheel diameter of the variable diameter force balancing device includes:

[0134] Based on a preset second relationship, the current wheel diameter of the variable diameter force balancing device is determined according to the first displacement value corresponding to the current position, the initial wheel diameter, and the gain coefficient;

[0135] The second relational expression is a functional relational expression between the wheel diameter of the variable-diameter force balancing device and the displacement value of the target object movement, and the gain coefficient is a slope of the wheel diameter of the variable-diameter force balancing device changing with the rotation angle.

[0136] In this embodiment, the second relationship can be derived based on the functional relationship between the wheel diameter of the variable-diameter force balancing device and the rotation angle and the functional relationship between the displacement value of the target object movement and the wheel diameter and rotation angle of the variable-diameter force balancing device.

[0137] Specifically, first, according to the initial wheel diameter and rotation angle of the variable diameter force balancing device when the target object is at the initial position, and the terminal wheel diameter and rotation angle of the variable diameter force balancing device when the target object is at the end position of the stroke, a third relationship between the wheel diameter of the variable diameter force balancing device and the rotation angle is determined, and a gain coefficient is determined according to the third relationship between the wheel diameter of the variable diameter force balancing device and the rotation angle.

[0138] Secondly, according to the displacement value of the target object movement, the wheel diameter and rotation angle corresponding to the variable diameter force balancing device at this time, and the initial wheel diameter of the variable diameter force balancing device, a fourth relationship between the displacement value of the target object movement and the wheel diameter and rotation angle of the variable diameter force balancing device is determined;

[0139] Finally, the third relational expression and the fourth relational expression are combined to obtain a second relational expression, which includes a correlation relationship between the wheel diameter of the balancing device and the displacement value of the target object movement.

[0140] In this embodiment, the third relational expression refers to the functional relational expression of the wheel diameter of the variable-diameter force balancing device with the rotation angle, the fourth relational expression refers to the functional relational expression between the displacement value of the target object movement and the wheel diameter and the rotation angle of the variable-diameter force balancing device, and the second relational expression refers to the functional relational expression between the wheel diameter of the variable-diameter force balancing device and the displacement value of the target object movement. The second relational expression can be derived from the third and fourth relational expressions.

[0141] For example, the process of combining the third relational expression and the fourth relational expression to obtain the second relational expression can be seen in the following example. Figure 4 The relationship curve between the wheel diameter of the variable diameter force balancing device and the rotation angle of the variable diameter force balancing device is shown. Figure 4 In, D 0 is the initial wheel diameter of the variable diameter force balancing device, θ 0 is the rotation angle of the variable diameter force balancing device when the target object is in the initial position, D all is the terminal wheel diameter of the variable diameter force balancing device, θ all is the rotation angle of the variable diameter force balancing device when the target object forms the terminal position; 0 , D 0 ) and point (θ all , D all ) is substituted into the binary linear equation, and the third relationship between the wheel diameter of the variable diameter force balancing device and the rotation angle is obtained as D x = k * θ x +D 0 ; The gain coefficient is k, that is Figure 4 The slope of the curve.

[0142] Figure 4 In (θ 0 , D 0 ), (θ x , D x ), (θ 0 , 0) and (θ x , 0) is the area S x, that is, the displacement value recorded by the linear encoder when the target object is at any position within the stroke. Therefore, the fourth relationship between the displacement value of the target object movement and the wheel diameter and rotation angle of the variable diameter force balancing device is:

[0143] Among them, S x It can be measured by a linear encoder, D 0 After the variable diameter force balancing device is installed, the accurate value can be obtained through calibration calculation. By solving the third and fourth relationship equations, the functional relationship between the wheel diameter of the variable diameter force balancing device and the displacement value of the target object movement can be obtained as follows: That is the second relation.

[0144] Therefore, after obtaining the second relationship, the current wheel diameter D of the variable diameter force balancing device can be determined according to the first displacement value corresponding to the current position, the gain coefficient and the initial wheel diameter. x .

[0145] In an embodiment of the present application, a linear relationship between the displacement value of the target object movement and the wheel diameter of the variable force balancing device is derived from the linear relationship between the wheel diameter and the rotation angle of the variable force balancing device and the linear relationship between the displacement value of the target object movement and the wheel diameter of the variable force balancing device. Based on the clear linear relationship between the displacement value of the target object movement and the wheel diameter of the variable force balancing device, it is easier to accurately obtain the current wheel diameter of the variable force balancing device by obtaining the current position of the target object.

[0146] See also Figure 5 , shows a flow chart of another control method based on a variable diameter force balancing device provided in Embodiment 3 of the present application; the method comprises the following steps:

[0147] Step 501, obtaining the current wheel diameter of the variable diameter force balancing device.

[0148] Step 502, determining a force deviation between the load force and the preload output force of the variable diameter force balancing device.

[0149] Step 503: outputting a compensation torque for compensating for force deviation according to the current wheel diameter.

[0150] Steps 501 to 503 of this embodiment are the same as steps 101 to 103 of the above-mentioned embodiment, and can refer to each other, and will not be described in detail in this embodiment.

[0151] Step 504, obtaining the current position of the target object;

[0152] Step 504 of this embodiment is the same as step 301 of the above embodiment, and they can refer to each other, and will not be described in detail in this embodiment.

[0153] Step 505: Based on the position controller, the position deviation between the current position and the command position is corrected, and the desired angular velocity of the variable diameter force balancing device is output.

[0154] In this embodiment, in order to enable the target object to accurately reach the command position, the position of the target object can be tracked in real time, the position deviation between the current position of the target object and the command position can be determined, and the position deviation is input into the position controller, which performs deviation correction.

[0155] The position controller may be a PI controller or a PID controller, which is not limited in this application. The position deviation is input into the position controller, and the output desired angular velocity can control the variable diameter force balancing device to rotate according to the desired angular velocity so that the target object reaches the target position.

[0156] It should be noted that the PI controller consists of two control parts: proportional and integral. In the position loop, the proportional part is used to respond to the current error, and the integral part is used to process the accumulated error to ensure the stability and accuracy of the system. The PID controller includes three control parts: proportional, integral, and differential. In the position loop, the differential part helps to reduce overshoot and improve the response speed of the system, but it may also increase the noise sensitivity of the system. The choice of PI controller or PID controller depends on the characteristics and performance requirements of the system.

[0157] In a possible implementation, based on the position controller, the position deviation between the current position and the command position is corrected, and the desired angular velocity of the variable diameter force balancing device is output, including:

[0158] The position deviation is corrected based on the position controller and the variable speed ratio corresponding to the current wheel diameter, and the desired angular velocity of the variable diameter force balancing device is output.

[0159] The position deviation is corrected based on the position controller and the variable speed ratio corresponding to the current wheel diameter, and the desired angular velocity of the variable diameter force balancing device is output.

[0160] In this embodiment, different wheel diameters correspond to different speed reduction ratios, and the speed reduction ratio is the speed ratio between the input end and the output end of the vertical joint. Since one end of the vertical joint is connected to the variable diameter force balancing device and the other end is connected to the target object, and the variable diameter force balancing device performs rotational motion and the target object performs linear motion, the movement of the target object corresponds to the linear velocity, and the movement of the variable diameter force balancing device corresponds to the angular velocity. Since the current position of the variable diameter force balancing device obtained by the linear encoder is a linear displacement value, the position deviation also refers to the linear displacement value. The position controller first obtains the target linear velocity based on the position deviation, and the feedback value of the speed loop is the angular velocity obtained by measurement. Therefore, a speed reduction ratio is required to convert the target linear velocity into a target angular velocity, and v / w=D x / 2, v is the target linear velocity output by the position controller, and w is the target angular velocity. Since the speed reduction ratio is the radius of the wheel diameter of the variable diameter force balancing device, when the wheel diameter of the variable diameter force balancing device changes in real time, the speed reduction ratio also changes in real time. Therefore, it is necessary to correct the position deviation based on the speed reduction ratio corresponding to the current wheel diameter and output the desired angular velocity of the variable diameter force balancing device. That is, to implement the above steps, specifically:

[0161] Determine the speed reduction ratio corresponding to the current wheel diameter according to the linear motion speed of the target object corresponding to the current wheel diameter and the rotational angular speed of the variable diameter force balancing device when the variable diameter force balancing device outputs constant force;

[0162] Correcting the position deviation based on the position controller and outputting the linear running speed of the target object;

[0163] According to the linear running speed and the speed reduction ratio corresponding to the current wheel diameter, the expected angular velocity of the variable diameter force balancing device is determined and output.

[0164] Step 506: input the speed deviation between the expected angular velocity and the current angular velocity of the variable-diameter force balancing device into the speed controller for correction, and output the expected current at the current moment.

[0165] The current angular velocity of the variable-diameter force balancing device can be measured by a speed feedback encoder. The expected angular velocity is the angular velocity for controlling the target object to reach the command position. Therefore, if the current angular velocity of the variable-diameter force balancing device is different from the expected angular velocity, the target object will not be able to accurately reach the command position at the next moment. Therefore, the speed deviation between the expected angular velocity and the current angular velocity of the variable-diameter force balancing device needs to be input into the speed controller for correction and output of the expected current.

[0166] It should be noted that the speed controller can adopt a PI controller or a PID controller, which is not limited in this application. The PI controller consists of two control parts: proportional and integral. In the speed loop, the proportional part is used to respond to the current error, and the integral part is used to process the accumulated error to ensure the stability and accuracy of the system. The PID controller includes three control parts: proportional, integral and differential. In the speed loop, the differential part helps to reduce overshoot and improve the response speed of the system, but it may also increase the noise sensitivity of the system. Choosing a PI controller or a PID controller depends on the characteristics and performance requirements of the system.

[0167] Step 507, determining a driving current deviation between the current driving current and the desired current, inputting the driving current deviation and the command current into a current controller, and having the current controller output a second driving signal to control the variable diameter force balancing device according to the second driving signal.

[0168] In this embodiment, the current driving current can be obtained by sampling the driving current that drives the variable-diameter force balancing device to rotate. The second driving signal is the duty cycle for controlling the target object to reach the command position. Therefore, if the driving signal that controls the variable-diameter force balancing device is different from the second driving signal, the variable-diameter force balancing device will not be able to accurately rotate and control the target object to reach the command position. Therefore, it is necessary to first determine the driving current deviation that affects the reaching of the command position, and then correct it, and finally output the second driving signal to make the target object reach the command position.

[0169] For example, Figure 6 The figure shows a motion control drive block diagram of a variable diameter force balancing device for implementing three correspondences. Based on the control drive block diagram, the specific implementation process of this embodiment is described as follows:

[0170] In practical applications, when the variable diameter force balancing device drives the joint to move, the displacement value of the joint movement (i.e., the displacement value of the target object movement) can be obtained through the position feedback linear encoder installed at one end of the joint, and the displacement value at the current moment is compared with the command position at the current moment to determine the position deviation and input it into the position controller. The position controller corrects the position deviation and outputs the target linear velocity (i.e., the linear motion velocity of the target object), and then converts the target linear velocity into the target angular velocity according to the variable reduction ratio corresponding to the current wheel diameter. The speed deviation is obtained according to the current angular velocity and the target angular velocity fed back by the speed feedback encoder, and the speed deviation is input into the speed controller to output the second drive signal.

[0171] In the absence of force deviation, the driving current deviation between the expected current and the current driving current is input into the current controller to output a third driving signal, eliminate the error, and drive the variable diameter force balancing device to rotate to control the target object to reach the command position.

[0172] In the presence of force deviation, the drive current deviation and the command current are both input into the current controller to output a first drive signal, which can not only compensate for the torque required for the constant force output of the force balancing device, but also drive the balancing device to rotate, thereby correcting the drive current deviation and controlling the target object to reach the command position.

[0173] Compared with the first embodiment, in the embodiment of the present application, a position loop, a current loop and a current loop are used for closed-loop feedback correction of corresponding deviations to obtain the most accurate target drive current, wherein, within the position loop, the corresponding variable reduction ratio is calculated by the current diameter of the variable diameter force balancing device, and then the speed command corresponding to the running trajectory of the target object can be accurately calculated, and the speed command is brought into the speed controller for calculation, and the expected current is output, and then the current drive current deviation of the variable diameter force balancing device is determined and input into the current controller for deviation correction. This embodiment improves the position following accuracy of the trajectory movement of the target object.

[0174] See also Figure 7 , shows a schematic diagram of the structure of a control device based on a variable diameter force balancing device provided in an embodiment of the present application; for ease of explanation, only the parts related to the embodiment of the present application are shown.

[0175] The control device based on the variable diameter force balancing device may specifically include the following modules:

[0176] An acquisition module 701 is used to acquire the current wheel diameter of the variable diameter force balancing device;

[0177] A force deviation determination module 702, for determining a force deviation between a load force and a preload output force of a variable diameter force balancing device;

[0178] The torque output module 703 is used to output a compensation torque for compensating the force deviation according to the current wheel diameter.

[0179] The driving module 704 is used to control the variable diameter force balancing device according to the compensation torque so that the variable diameter force balancing device maintains balance.

[0180] In the embodiment of the present application, the torque output module 703 may specifically include the following submodules:

[0181] The compensation torque output submodule is used to output a compensation torque for compensating the force deviation based on a preset first relationship and according to the current wheel diameter and force deviation when the variable diameter force balancing device outputs a constant force. The first relationship is a functional relationship between the wheel diameter of the variable diameter force balancing device and the torque controlling the variable diameter force balancing device.

[0182] In the embodiment of the present application, the acquisition module 701 may specifically include the following submodules:

[0183] The current position acquisition submodule is used to obtain the current position of the target object;

[0184] The current wheel diameter acquisition submodule is used to determine the current wheel diameter of the variable diameter force balancing device according to the current position.

[0185] In the embodiment of the present application, when the current position refers to the absolute position at the current moment relative to the initial position, the current position acquisition submodule may specifically include the following units:

[0186] A measuring unit, used for measuring a first displacement value of the target object at a current moment relative to an initial position by means of a linear encoder, wherein the initial position refers to a position of the target object when the linear encoder is at a zero displacement value;

[0187] The position determination unit is used to obtain the current position of the target object according to the first displacement value.

[0188] In the embodiment of the present application, the acquisition module 701 may further include the following submodules:

[0189] An initial wheel diameter acquisition submodule is used to acquire an initial wheel diameter of the variable diameter force balancing device, where the initial wheel diameter is the wheel diameter of the variable diameter force balancing device when the target object is at an initial position;

[0190] Correspondingly, the current wheel diameter acquisition submodule may specifically include the following units:

[0191] The current wheel diameter calculation unit is used to determine the current wheel diameter of the variable diameter force balancing device according to the first displacement value corresponding to the current position and the initial wheel diameter of the variable diameter force balancing device. The first displacement value is the absolute displacement value of the current position relative to the initial position.

[0192] In the embodiment of the present application, the current wheel diameter calculation unit is specifically used for:

[0193] Determine the current wheel diameter of the variable diameter force balancing device according to the first displacement value corresponding to the current position, the initial wheel diameter and the gain coefficient;

[0194] The gain coefficient is the slope of the wheel diameter of the variable diameter force balancing device changing with the rotation angle.

[0195] In the embodiment of the present application, the control device based on the variable diameter force balancing device may further include the following modules:

[0196] A torque conversion module, used to convert the compensation torque into a command current and input it into a current controller;

[0197] The first driving module is used for outputting a first driving signal through a current controller, so as to control the variable diameter force balancing device to maintain balance according to the first driving signal.

[0198] In the embodiment of the present application, the control device based on the variable diameter force balancing device may further include the following modules:

[0199] A current acquisition module, used to acquire the expected current at the current moment and the current driving current of the variable diameter force balancing device;

[0200] A current deviation determination module, used to determine a driving current deviation between a current driving current and a desired current;

[0201] A deviation input module, used for inputting the driving current deviation and the command current into the current controller;

[0202] The second driving module is used to output a second driving signal through the current controller to control the variable diameter force balancing device according to the second driving signal.

[0203] In the embodiment of the present application, the current acquisition module may specifically include the following submodules:

[0204] The position acquisition submodule is used to obtain the current position of the target object;

[0205] A position deviation correction submodule is used to correct the position deviation between the current position and the command position based on the position controller, and output the desired angular velocity of the variable diameter force balancing device;

[0206] The speed deviation correction submodule is used to input the speed deviation between the expected angular velocity and the current angular velocity of the variable diameter force balancing device into the speed controller for correction, and output the expected current at the current moment.

[0207] In the embodiment of the present application, the position deviation correction submodule may specifically include the following units:

[0208] The expected speed output unit corrects the position deviation based on the position controller and the variable speed ratio corresponding to the current wheel diameter, and outputs the expected angular velocity of the variable diameter force balancing device.

[0209] In the embodiment of the present application, the expected speed output unit is used to:

[0210] Determine the speed reduction ratio corresponding to the current wheel diameter according to the linear motion speed of the target object corresponding to the current wheel diameter and the rotational angular speed of the variable diameter force balancing device when the variable diameter force balancing device outputs constant force;

[0211] Based on the position controller, the position deviation is corrected and the linear running speed of the target object is output;

[0212] According to the linear running speed and the speed reduction ratio corresponding to the current wheel diameter, the expected angular velocity of the variable diameter force balancing device is determined and output.

[0213] The control device based on the variable diameter force balancing device provided in the embodiment of the present application can be applied in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment, which will not be repeated here.

[0214] Figure 8 is a structural block diagram of a control device provided in an embodiment of the present application. Figure 8As shown, the control device 800 of this embodiment includes: a processor 810, a memory 820, and a computer program 830 stored in the memory 820 and executable on the processor 810, such as a control program for a force balancing device. When the processor 810 executes the computer program 830, the steps in each embodiment of the control method based on the variable diameter force balancing device are implemented, such as Figure 1 101 to 103 shown in the figure, or, when the processor 810 executes the computer program 830, the above Figure 7 The functions of each module in the corresponding embodiment are, for example, Figure 7 For details on the functions of modules 701 to 703, please refer to Figure 7 Corresponding to the relevant description in the embodiment.

[0215] Exemplarily, the computer program 830 may be divided into one or more modules, one or more modules are stored in the memory 820, and are executed by the processor 810 to complete the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 830 in the control device 800. For example, the computer program 830 may be divided into various unit modules, and the specific functions of each module are as described above.

[0216] The control device 800 may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will appreciate that Figure 8 It is only an example of the control device 800 and does not constitute a limitation of the control device 800. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the control device may also include input and output devices, network access devices, buses, etc.

[0217] The processor 810 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0218] The memory 820 may be an internal storage unit of the control device 800, such as a hard disk or memory of the control device 800. The memory 820 may also be an external storage device of the control device 800, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the control device 800. Furthermore, the memory 820 may also include both an internal storage unit of the control device 800 and an external storage device.

[0219] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0220] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0221] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0222] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0223] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0224] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0225] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0226] The present application implements all or part of the processes in the above-mentioned embodiment method, and may also be completed through a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing.

[0227] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method based on a variable diameter force balancing device, It is characterized in that The control method comprises: Obtaining the current wheel diameter of the variable diameter force balancing device; determining a force deviation between a load force and a preload output force of the variable diameter force balancing device; Outputting a compensation torque for compensating the force deviation according to the current wheel diameter; The variable diameter force balancing device is controlled according to the compensation torque to keep the variable diameter force balancing device balanced.

2. The control method according to claim 1, It is characterized in that The outputting a compensation torque for compensating the force deviation according to the current wheel diameter includes: When the variable diameter force balancing device outputs a constant force, based on a preset first relationship, a compensation torque for compensating the force deviation is output according to the current wheel diameter and the force deviation. The first relationship is a functional relationship between the wheel diameter of the variable diameter force balancing device and the torque controlling the variable diameter force balancing device.

3. The control method according to claim 1, It is characterized in that The obtaining of the current wheel diameter of the variable diameter force balancing device includes: Get the current position of the target object; According to the current position, the current wheel diameter of the variable diameter force balancing device is determined.

4. The control method according to claim 3, It is characterized in that The current position refers to the absolute position at the current moment relative to the initial position; the obtaining the current position of the target object includes: Measuring, by a linear encoder, a first displacement value of the target object relative to an initial position at the current moment, wherein the initial position refers to the position of the target object when the linear encoder has a zero displacement value; The current position of the target object is acquired according to the first displacement value.

5. The control method according to claim 3, It is characterized in that Before determining the current wheel diameter of the variable diameter force balancing device according to the current position, the method further includes: Acquire an initial wheel diameter of the variable-diameter force balancing device, where the initial wheel diameter is the wheel diameter of the variable-diameter force balancing device when the target object is at an initial position; Determining the current wheel diameter of the variable diameter force balancing device according to the current position includes: The current wheel diameter of the variable-diameter force balancing device is determined according to a first displacement value corresponding to the current position and an initial wheel diameter of the variable-diameter force balancing device, wherein the first displacement value is an absolute displacement value of the current position relative to the initial position.

6. The control method according to claim 5, It is characterized in that The determining the current wheel diameter of the variable diameter force balancing device according to the first displacement value corresponding to the current position and the initial wheel diameter of the variable diameter force balancing device comprises: Determining a current wheel diameter of the variable-diameter force balancing device according to the first displacement value corresponding to the current position, the initial wheel diameter, and a gain coefficient; The gain coefficient is the slope of the wheel diameter of the variable diameter force balancing device changing with the rotation angle.

7. The control method according to claim 1, It is characterized in that The step of controlling the variable diameter force balancing device according to the compensation torque so as to keep the variable diameter force balancing device balanced comprises: Converting the compensation torque into a command current and inputting it into a current controller; The current controller outputs a first driving signal to control the variable-diameter force balancing device according to the first driving signal, so that the variable-diameter force balancing device maintains balance.

8. The control method according to claim 7, It is characterized in that Also includes: Obtaining the expected current at the current moment and the current driving current of the variable diameter force balancing device; Determining a driving current deviation between the current driving current and the expected current; inputting the driving current deviation and the command current into the current controller; The current controller outputs a second driving signal to control the variable diameter force balancing device according to the second driving signal.

9. The control method according to claim 8, It is characterized in that The obtaining of the expected current at the current moment includes: Get the current position of the target object; Based on the position controller, correct the position deviation between the current position and the command position, and output the desired angular velocity of the variable diameter force balancing device; The speed deviation between the desired angular velocity and the current angular velocity of the variable-diameter force balancing device is input into a speed controller for correction, and the desired current at the current moment is output.

10. The control method according to claim 9, It is characterized in that The method of correcting the position deviation between the current position and the command position based on the position controller and outputting the desired angular velocity of the variable diameter force balancing device includes: The position deviation is corrected based on the position controller and the speed reduction ratio corresponding to the current wheel diameter, and a desired angular velocity of the variable diameter force balancing device is output.

11. The control method according to claim 10, It is characterized in that The method of correcting the position deviation based on the position controller and the speed reduction ratio corresponding to the current wheel diameter and outputting the expected angular velocity of the variable diameter force balancing device includes: Determine the reduction ratio corresponding to the current wheel diameter according to the linear motion speed of the target object corresponding to the current wheel diameter and the rotational angular velocity of the variable diameter force balancing device when the variable diameter force balancing device outputs a constant force; Correcting the position deviation based on the position controller and outputting the linear running speed of the target object; According to the linear running speed and the speed reduction ratio corresponding to the current wheel diameter, the expected angular velocity of the variable diameter force balancing device is determined and output.

12. A control device based on a variable diameter force balancing device, It is characterized in that The control device comprises: An acquisition module, used for acquiring the current wheel diameter of the variable diameter force balancing device; A force deviation determination module, used to determine a force deviation between a load force and a preload output force of the variable diameter force balancing device; A torque output module, used for outputting a compensation torque for compensating the force deviation according to the current wheel diameter; A driving module is used to control the variable diameter force balancing device according to the compensation torque so that the variable diameter force balancing device maintains balance.

13. A variable diameter force balancing device, It is characterized in that The variable diameter force balancing device includes a variable diameter step pulley, a variable diameter step pulley assembly and a driving device; The variable diameter step pulley is used to change the wheel diameter by rotating to output the preload output force; The driving device is used to output a compensating torque to balance the force deviation between the preload output force and the load force.

14. A control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 11 is implemented.

15. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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