Attitude control method and device for attitude adjusting platform comprising servo actuator
By calculating the extension and retraction of the servo actuators to achieve the target posture of the attitude adjustment platform, the problems of low control accuracy, efficiency and reliability caused by manual control are solved, and high-precision attitude adjustment and efficient operation are realized.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-03-20
AI Technical Summary
Existing attitude adjustment platform control methods suffer from low control accuracy, efficiency, and reliability due to manual control.
The target attitude of the attitude adjustment platform is achieved by calculating the extension and retraction of the servo actuators. This includes precise calculations of the target attitude in the Z-axis, X-axis, Y-axis, pitch angle, roll angle, and yaw angle. The extension and retraction of the servo actuators are used to control the servo actuators so that the attitude adjustment platform can reach the target attitude.
It achieves high-precision attitude adjustment, improves the control accuracy, efficiency and reliability of the attitude adjustment platform, and reduces reliance on human experience.
Smart Images
Figure CN121704557A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of hydraulic assisted support technology, and more specifically, relates to a posture control method and device for an attitude adjustment platform including a servo actuator. Background Technology
[0002] With the rapid development of industrial automation, robotics, and aerospace, the requirements for attitude control precision of equipment or systems are increasing. Attitude adjustment, as a key link in achieving precision control, directly affects the performance and stability of the entire system due to its accuracy and real-time performance. Among various attitude adjustment mechanisms, controlling the angle of the attitude adjustment platform through the extension and retraction of servo actuators is widely used due to its simple structure and flexible control. Existing attitude adjustment platform control mainly relies on manual control of the actuator's movements. However, manual control depends primarily on the controller's experience, resulting in lower control precision, efficiency, and reliability. Summary of the Invention
[0003] In view of the shortcomings of the prior art, the purpose of this application is to provide a posture control method and device for a posture adjustment platform including a servo actuator, which aims to solve the problems of low control accuracy, efficiency and reliability caused by manual control in the existing posture adjustment platform control methods.
[0004] To achieve the above objectives, in a first aspect, this application provides a posture control method for a posture adjustment platform including a servo actuator, comprising: Based on the target attitude of the attitude adjustment platform, calculate the extension and retraction of the servo actuators in the attitude adjustment platform. The servo actuator is extended or retracted based on its extension or retraction amount, so that the attitude adjustment platform reaches the target attitude.
[0005] This application accurately calculates the required extension and retraction of the servo actuator based on the target attitude angle of the attitude adjustment platform, thereby achieving high-precision motion control of the attitude adjustment platform. This enables the attitude adjustment platform to perform efficient and complex motion operations without relying on human experience, thus improving the control accuracy, efficiency, and reliability of the attitude adjustment platform.
[0006] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target movement distance of the attitude adjustment platform in the Z-axis direction, calculate the extension and retraction of the first servo actuator; The extension of the second servo actuator is calculated based on the length of the first servo actuator, the length of the second servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the second servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the second servo actuator. The extension of the third servo actuator is calculated based on the length of the first servo actuator, the length of the third servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the third servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the third servo actuator. Among them, the first servo actuator, the second servo actuator, and the third servo actuator extend and retract in the same direction in the Z-axis direction, which will cause the attitude adjustment platform to move in the Z-axis direction. The position of the first servo actuator is always perpendicular to the horizontal plane.
[0007] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target movement distance of the attitude adjustment platform in the X-axis direction, the extension and retraction of the fourth and fifth servo actuators are calculated. The extension and retraction of the fourth and fifth servo actuators will cause the attitude adjustment platform to translate in the X-axis direction.
[0008] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target movement distance of the attitude adjustment platform in the Y-axis direction, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators will cause the attitude adjustment platform to translate in the Y-axis direction.
[0009] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target pitch angle change of the attitude adjustment platform and the distance between the first servo actuator and the plane composed of the second and third servo actuators, the extension and retraction of the first servo actuator is calculated. Based on the target pitch angle change, the length of the first servo actuator, the length of the second servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the second servo actuator, the distance between the vertical plane of the first servo actuator and the second servo actuator, calculate the extension and retraction of the second servo actuator. Based on the target pitch angle change, the length of the first servo actuator, the length of the third servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the third servo actuator, and the distance between the vertical plane of the first servo actuator and the third servo actuator, calculate the extension and retraction of the third servo actuator. The extension and retraction of the first, second, and third servo actuators will change the pitch angle of the attitude adjustment platform, and the position of the first servo actuator is always perpendicular to the horizontal plane.
[0010] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target roll angle of the attitude adjustment platform, the initial length of the second servo actuator, the coordinates of the upper hinge point of the second servo actuator in the static coordinate system, the coordinates of the upper hinge point of the second servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the second servo actuator in the static coordinate system, the extension and retraction of the second servo actuator is calculated. Based on the target roll angle of the attitude adjustment platform, the initial length of the third servo actuator, the coordinates of the upper hinge point of the third servo actuator in the static coordinate system, the coordinates of the upper hinge point of the third servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the third servo actuator in the static coordinate system, the extension and retraction of the third servo actuator is calculated. The static plane is the lower end plane of the bracket supporting the second and third servo actuators. The moving plane is a plane parallel to the static plane, drawn with the line connecting the upper hinge points of the second and third servo actuators. The origin of the static coordinate system is at the geometric center of the moving plane, and the origin of the motion coordinate system is at the center of the line connecting the upper hinge points of the second and third servo actuators.
[0011] According to the attitude control method for an attitude adjustment platform including a servo actuator provided in this application, the step of calculating the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the platform includes: Based on the target change yaw angle of the attitude adjustment platform and the distance between the sixth and seventh servo actuators, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators in different directions along the Y-axis will cause the attitude adjustment platform to rotate around the Z-axis.
[0012] Secondly, this application provides an attitude control device for an attitude adjustment platform including a servo actuator, comprising: The calculation module is used to calculate the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform. The control module is used to extend and retract the servo actuator based on the extension and retraction amount of the servo actuator, so that the attitude adjustment platform can reach the target attitude.
[0013] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is configured to execute the attitude control method for a posture adjustment platform including a servo actuator as described in the first aspect or any possible implementation thereof.
[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed on a processor, causes the processor to perform the attitude control method for an attitude adjustment platform including a servo actuator, as described in the first aspect or any possible implementation of the first aspect.
[0015] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to execute the attitude control method for a posture adjustment platform including a servo actuator, as described in the first aspect or any possible implementation of the first aspect.
[0016] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.
[0017] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art: This application accurately calculates the required extension and retraction of the servo actuator based on the target attitude angle of the attitude adjustment platform, thereby achieving high-precision motion control of the attitude adjustment platform. This enables the attitude adjustment platform to perform efficient and complex motion operations without relying on human experience, thus improving the control accuracy, efficiency, and reliability of the attitude adjustment platform. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a flowchart illustrating the attitude control method for an attitude adjustment platform including a servo actuator provided in an embodiment of this application. Figure 2 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the Z-axis direction; Figure 3 This is a geometric schematic diagram of the translational motion of the attitude adjustment platform in the Z-axis direction provided in the embodiments of this application; Figure 4 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the X-axis direction; Figure 5 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the Y-axis direction; Figure 6 This is a schematic diagram of the pitch angle change of the attitude adjustment platform provided in the embodiments of this application; Figure 7 This is a schematic diagram of the abstract geometric shape of the attitude adjustment platform provided in the embodiments of this application; Figure 8 This is a schematic diagram of the roll angle change of the attitude adjustment platform provided in the embodiments of this application; Figure 9 This is a schematic diagram of the yaw angle change of the attitude adjustment platform provided in the embodiments of this application; Figure 10 This is a schematic diagram of the attitude control device for an attitude adjustment platform including a servo actuator provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0021] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.
[0022] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0023] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.
[0024] Next, combined Figures 1-9 The attitude control method of the attitude adjustment platform including servo actuators provided in the embodiments of this application is described.
[0025] Figure 1 This is a flowchart illustrating the attitude control method for an attitude adjustment platform including a servo actuator provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps: Step S1: Based on the target attitude of the attitude adjustment platform, calculate the extension and retraction of the servo actuators in the attitude adjustment platform. Optionally, the target attitude of the attitude adjustment platform can be to move in a certain direction, or to change the pitch angle, roll angle, or yaw angle of the attitude adjustment platform.
[0026] Step S2: Based on the extension and retraction of the servo actuator, extend and retract the servo actuator to make the attitude adjustment platform reach the target attitude.
[0027] The attitude control method for an attitude adjustment platform including a servo actuator provided in this application accurately calculates the required extension and retraction of the servo actuator based on the target attitude angle of the attitude adjustment platform, thereby achieving high-precision motion control of the attitude adjustment platform. This enables the attitude adjustment platform to perform efficient and complex motion operations without relying on human experience, improving the control accuracy, efficiency, and reliability of the attitude adjustment platform.
[0028] In some embodiments, step S1 specifically includes: Based on the target movement distance of the attitude adjustment platform in the Z-axis direction, calculate the extension and retraction of the first servo actuator; The extension of the second servo actuator is calculated based on the length of the first servo actuator, the length of the second servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the second servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the second servo actuator. The extension of the third servo actuator is calculated based on the length of the first servo actuator, the length of the third servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the third servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the third servo actuator. Among them, the first servo actuator, the second servo actuator, and the third servo actuator extend and retract in the same direction in the Z-axis direction, which will cause the attitude adjustment platform to move in the Z-axis direction. The position of the first servo actuator is always perpendicular to the horizontal plane.
[0029] Define a generalized coordinate vector in the moving plane Its elements are six variables used to describe the position and attitude of the attitude adjustment platform, and a generalized coordinate vector. The coordinates in the static plane are represented as follows:
[0030] in, , and Representing vectors Location information, , and Representing vectors attitude information, This is a transpose.
[0031] Figure 2 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the Z-axis direction, as shown in the embodiment. Figure 2 As shown, in one embodiment of this application, the extension and retraction of the three servo actuators a1, a2, and a3 in the same direction along the Z-axis will cause the attitude adjustment platform to move a certain distance in the Z-axis direction, which is a change in the lifting posture. When the target movement distance of the attitude adjustment platform in the Z-axis direction is... At that time, generalized vector The pose is: Due to mechanical structure, the position of the first servo actuator a1 is always perpendicular to the horizontal plane. Therefore, the extension / retraction amount of the first servo actuator a1 is: Since servo actuators a2 and a3 are at a certain angle on a plane perpendicular to the horizontal plane, the elongation of the second servo actuator a2 and the third servo actuator a3 needs to be calculated separately.
[0032] Figure 3 This is a geometric schematic diagram of the translational motion of the attitude adjustment platform in the Z-axis direction provided in the embodiments of this application, as shown below. Figure 3 As shown, Figure 2 Abstracted into geometric shapes to obtain Figure 3 Each servo actuator identifier and Figure 3 Similarly, taking servo actuator a1 as the axis, draw a plane perpendicular to the horizontal plane. Taking servo actuator a3 as an example, the distance between the vertical plane of servo actuator a1 and the hinge point of servo actuator a3 can be determined from the platform's mechanical structure and the motion of the servo actuators. And the shortest distance between the vertical plane of servo actuator a1 and the lower hinge point of servo actuator a3. , and Parallel and equal, Move a certain distance in the Z-axis direction The distance from the upper hinge point of the rear servo actuator a3 to the vertical plane of the servo actuator a1 can be obtained from the platform's mechanical structure and the motion of the servo actuators:
[0033] and According to the law of cosines of a triangle, the extension / retraction of the servo actuator a3 can be determined as follows:
[0034] in, The length of servo actuator a1 The length of servo actuator a3.
[0035] Similarly, the calculation method for servo actuator a2 is the same as that for a3.
[0036] In some embodiments, step S1 specifically includes: Based on the target movement distance of the attitude adjustment platform in the X-axis direction, the extension and retraction of the fourth and fifth servo actuators are calculated. The extension and retraction of the fourth and fifth servo actuators will cause the attitude adjustment platform to translate in the X-axis direction.
[0037] Figure 4 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the X-axis direction, as shown in the embodiment. Figure 4 As shown, in one embodiment of this application, the movement of the two servo actuators a4 and a5 only causes the attitude adjustment platform to translate in the X-axis direction, that is, to change its longitudinal posture, without changing its posture in other directions. Furthermore, the forward or backward movement of the attitude adjustment platform in the X-axis direction is achieved by controlling the synchronous extension or shortening of the two actuators a4 and a5. When moving in the X-axis direction... At that time, the pose of the generalized vector i: At this time, the extension and retraction of servo actuators a4 and a5 are: .
[0038] In some embodiments, step S1 specifically includes: Based on the target movement distance of the attitude adjustment platform in the Y-axis direction, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators will cause the attitude adjustment platform to translate in the Y-axis direction.
[0039] Figure 5 This is a schematic diagram of the orientation adjustment platform provided in this application translating in the X-axis direction, as shown in the embodiment. Figure 5 As shown, in one embodiment of this application, the movement of servo actuators a6 and a7 in the same direction along the Y-axis will cause the attitude adjustment platform to move a certain distance along the Y-axis, which is a change in longitudinal attitude. When moving along the Y-axis... At that time, the pose of the generalized vector i is: At this time, the extension and retraction of servo actuators a6 and a7 are: .
[0040] In some embodiments, step S1 specifically includes: Based on the target pitch angle change of the attitude adjustment platform and the distance between the first servo actuator and the plane composed of the second and third servo actuators, the extension and retraction of the first servo actuator is calculated. Based on the target pitch angle change, the length of the first servo actuator, the length of the second servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the second servo actuator, the distance between the vertical plane of the first servo actuator and the second servo actuator, calculate the extension and retraction of the second servo actuator. Based on the target pitch angle change, the length of the first servo actuator, the length of the third servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the third servo actuator, and the distance between the vertical plane of the first servo actuator and the third servo actuator, calculate the extension and retraction of the third servo actuator. The extension and retraction of the first, second, and third servo actuators will change the pitch angle of the attitude adjustment platform, and the position of the first servo actuator is always perpendicular to the horizontal plane.
[0041] Figure 6 This is a schematic diagram of the pitch angle change of the attitude adjustment platform provided in the embodiments of this application, as shown below. Figure 6 As shown, when servo actuator a1 extends upwards while servo actuators a2 and a3 remain stationary, the pitch angle of the attitude adjustment platform changes. At this time, all three servo actuators are placed perpendicular to the horizontal plane. When a pitch angle rotation is required... At degree, the pose of the generalized vector i is: Based on trigonometric relationships, the extension / retraction of servo actuator a1 at this time is as follows: , Let a1 be the distance from the plane formed by a2 and a3. When a negative pitch angle rotation is required... At the same time, similar to the lifting motion model, servo actuators a2 and a3 have a certain angle.
[0042] Figure 7 This is a schematic diagram of the abstract geometric shape of the attitude adjustment platform provided in the embodiments of this application, such as... Figure 7 As shown, taking servo actuator a3 as an example, the attitude adjustment platform is abstracted into geometric figures, and each symbol and... Figure 3 The symbols are the same. Let i be a straight line parallel to the horizontal plane. Then, the pose of the generalized vector i is: Based on the trigonometric function relationships, the angles are calculated as follows:
[0043] According to the law of cosines, the extension / retraction of the servo actuator a3 can be determined as follows:
[0044] in, The length of servo actuator a1 The length of servo actuator a3 The distance between the upper hinge point of servo actuator a1 and the upper hinge point of servo actuator a3. The distance between the vertical plane of servo actuator a1 and servo actuator a3.
[0045] In some embodiments, step S1 specifically includes: Based on the target roll angle of the attitude adjustment platform, the initial length of the second servo actuator, the coordinates of the upper hinge point of the second servo actuator in the static coordinate system, the coordinates of the upper hinge point of the second servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the second servo actuator in the static coordinate system, the extension and retraction of the second servo actuator is calculated. Based on the target roll angle of the attitude adjustment platform, the initial length of the third servo actuator, the coordinates of the upper hinge point of the third servo actuator in the static coordinate system, the coordinates of the upper hinge point of the third servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the third servo actuator in the static coordinate system, the extension and retraction of the third servo actuator is calculated. The static plane is the lower end plane of the bracket supporting the second and third servo actuators. The moving plane is a plane parallel to the static plane, drawn with the line connecting the upper hinge points of the second and third servo actuators. The origin of the static coordinate system is at the geometric center of the moving plane, and the origin of the motion coordinate system is at the center of the line connecting the upper hinge points of the second and third servo actuators.
[0046] Figure 8 This is a schematic diagram of the roll angle change of the attitude adjustment platform provided in the embodiments of this application, as shown below. Figure 8 As shown, in one embodiment of this application, servo actuator a1 remains stationary, while the extension and retraction of servo actuators a2 and a3 in the Z-axis direction alters the roll angle of the attitude adjustment platform. The static plane is the lower plane of the support bracket that supports servo actuators a2 and a3. A plane parallel to the static plane is drawn using the line connecting the hinge points of servo actuators a2 and a3 as the moving plane. The origin of the static coordinate system OA-XAYAZA is the geometric center of the moving plane, and the origin of the motion coordinate system OB-XBYBZB is the center of the line connecting the hinge points of a2 and a3. Taking servo actuator a3 as an example... This indicates the position vector of the upper hinge point of servo actuator a3 located in the motion coordinate system {OB}. This represents the position vector of the upper hinge point of the servo actuator a3 relative to the static coordinate system {OA}. This represents the position vector of the lower hinge point of servo actuator a3 in the static coordinate system {OA}. Given the initial position coordinates of the moving plane relative to the stationary plane, the coordinate mapping relationship between the moving and stationary platforms can be represented by a vector containing three Euler angles. , and rotation matrix Implementation using Euler angles As shown below:
[0047] in, Cosine represents cosine. It represents the sine wave (sin).
[0048] Since the coordinates of the hinge point on the servo actuator in the motion coordinate system are Given, combining the rotation matrix between the two coordinate systems The coordinates of the hinge point on servo actuator a3 in the static coordinate system can be obtained. for: When roll angle rotation is required At this time, the pose displacement of the attitude adjustment platform relative to the static coordinate system is... for: Since the mechanical structure is known, the coordinate vectors of the lower hinge points of the three servo actuators (a1, a2, a3) relative to the static coordinate system and the upper hinge points relative to the motion coordinate system remain unchanged. Therefore, the initial poses of the upper hinge points in the motion coordinate system and the lower hinge points in the static coordinate system can be obtained. When roll angle rotation is required... At this point, the vector coordinates of the upper hinge point of the servo actuator a3 in the static coordinate system can be obtained as follows: Once the vector coordinates of the hinge point on the servo actuator relative to the static coordinate system are determined, the vector coordinates of servo actuator a3 are... It can be easily obtained that: Therefore, the final length of the servo actuator can be obtained. : At this point, the actual extension / retraction amount of the servo actuator is obtained by subtracting its initial length from its final length.
[0049] Similarly, the calculation method for servo actuator a2 is the same as that for a3.
[0050] In some embodiments, step S1 specifically includes: Based on the target change yaw angle of the attitude adjustment platform and the distance between the sixth and seventh servo actuators, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators in different directions along the Y-axis will cause the attitude adjustment platform to rotate around the Z-axis.
[0051] Figure 9 This is a schematic diagram of the yaw angle change of the attitude adjustment platform provided in the embodiments of this application, as shown below. Figure 9 As shown, in one embodiment of this application, the extension and retraction of servo actuators a6 and a7 in different directions along the Y-axis will cause the attitude adjustment platform to rotate around the Z-axis, thus resulting in a change in the yaw angle. The distance between servo actuators a6 and a7 can be determined from the mechanical mechanism. This indicates the distance. When yaw rotation is required... Degree, generalized vector The pose is: Based on trigonometric relationships, the extension and retraction of servo actuators a6 and a7 are as follows:
[0052] The attitude control device for an attitude adjustment platform including a servo actuator provided in this application is described below. The attitude control device for an attitude adjustment platform including a servo actuator described below and the attitude control method for an attitude adjustment platform including a servo actuator described above can be referred to in correspondence with each other.
[0053] Figure 10 This is a schematic diagram of the structure of an attitude control device for an attitude adjustment platform including a servo actuator, provided in an embodiment of this application. Figure 10 As shown, the device 1000 includes: Calculation module 1010 is used to calculate the extension and retraction of the servo actuator in the attitude adjustment platform based on the target attitude of the attitude adjustment platform. The control module 1020 is used to extend and retract the servo actuator based on the extension and retraction amount of the servo actuator, so that the attitude adjustment platform can reach the target attitude.
[0054] It should be understood that the above-described device is used to execute the methods in the above embodiments. The implementation principle and technical effect of the corresponding program modules in the device are similar to those described in the above methods. The working process of the device can be referred to the corresponding process in the above methods, and will not be repeated here.
[0055] Based on the methods in the above embodiments, Figure 11 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 11As shown in the figure, this application provides an electronic device that may include a processor 1110, a communications interface 1120, a memory 1130, and a communication bus 1140. The processor 1110, communications interface 1120, and memory 1130 communicate with each other via the communication bus 1140. The processor 1110 can call logical instructions from the memory 1130 to execute the attitude control method for the attitude adjustment platform including servo actuators described in the above embodiment.
[0056] Furthermore, the logical instructions in the aforementioned memory 1130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the attitude control method for the attitude adjustment platform including servo actuators described in the various embodiments of this application.
[0057] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program. When the computer program runs on a processor, it causes the processor to execute the attitude control method for an attitude adjustment platform including a servo actuator as described in the above embodiments.
[0058] Based on the methods in the above embodiments, this application provides a computer program product that, when running on a processor, causes the processor to execute the attitude control method for an attitude adjustment platform including a servo actuator as described in the above embodiments.
[0059] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.
[0060] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.
[0061] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0062] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.
[0063] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A method for attitude control of an attitude adjustment platform including a servo actuator, characterized in that, include: Based on the target attitude of the attitude adjustment platform, calculate the extension and retraction of the servo actuators in the attitude adjustment platform. The servo actuator is extended or retracted based on its extension or retraction amount, so that the attitude adjustment platform reaches the target attitude.
2. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target movement distance of the attitude adjustment platform in the Z-axis direction, calculate the extension and retraction of the first servo actuator; The extension of the second servo actuator is calculated based on the length of the first servo actuator, the length of the second servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the second servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the second servo actuator. The extension of the third servo actuator is calculated based on the length of the first servo actuator, the length of the third servo actuator, the extension amount of the first servo actuator, the distance between the vertical plane of the first servo actuator and the upper hinge point of the third servo actuator, and the shortest distance between the vertical plane of the first servo actuator and the lower hinge point of the third servo actuator. Among them, the first servo actuator, the second servo actuator, and the third servo actuator extend and retract in the same direction in the Z-axis direction, which will cause the attitude adjustment platform to move in the Z-axis direction. The position of the first servo actuator is always perpendicular to the horizontal plane.
3. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target movement distance of the attitude adjustment platform in the X-axis direction, the extension and retraction of the fourth and fifth servo actuators are calculated. The extension and retraction of the fourth and fifth servo actuators will cause the attitude adjustment platform to translate in the X-axis direction.
4. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target movement distance of the attitude adjustment platform in the Y-axis direction, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators will cause the attitude adjustment platform to translate in the Y-axis direction.
5. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target pitch angle change of the attitude adjustment platform and the distance between the first servo actuator and the plane composed of the second and third servo actuators, the extension and retraction of the first servo actuator is calculated. Based on the target pitch angle change, the length of the first servo actuator, the length of the second servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the second servo actuator, the distance between the vertical plane of the first servo actuator and the second servo actuator, calculate the extension and retraction of the second servo actuator. Based on the target pitch angle change, the length of the first servo actuator, the length of the third servo actuator, the distance between the upper hinge point of the first servo actuator and the upper hinge point of the third servo actuator, and the distance between the vertical plane of the first servo actuator and the third servo actuator, calculate the extension and retraction of the third servo actuator. The extension and retraction of the first, second, and third servo actuators will change the pitch angle of the attitude adjustment platform, and the position of the first servo actuator is always perpendicular to the horizontal plane.
6. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target roll angle of the attitude adjustment platform, the initial length of the second servo actuator, the coordinates of the upper hinge point of the second servo actuator in the static coordinate system, the coordinates of the upper hinge point of the second servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the second servo actuator in the static coordinate system, the extension and retraction of the second servo actuator is calculated. Based on the target roll angle of the attitude adjustment platform, the initial length of the third servo actuator, the coordinates of the upper hinge point of the third servo actuator in the static coordinate system, the coordinates of the upper hinge point of the third servo actuator in the motion coordinate system, the initial position coordinates of the moving plane relative to the static plane, and the position vector of the lower hinge point of the third servo actuator in the static coordinate system, the extension and retraction of the third servo actuator is calculated. The static plane is the lower end plane of the bracket supporting the second and third servo actuators. The moving plane is a plane parallel to the static plane, drawn with the line connecting the upper hinge points of the second and third servo actuators. The origin of the static coordinate system is at the geometric center of the moving plane, and the origin of the motion coordinate system is at the center of the line connecting the upper hinge points of the second and third servo actuators.
7. The attitude control method for an attitude adjustment platform including a servo actuator according to claim 1, characterized in that, The calculation of the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform includes: Based on the target change yaw angle of the attitude adjustment platform and the distance between the sixth and seventh servo actuators, the extension and retraction of the sixth and seventh servo actuators are calculated. The extension and retraction of the sixth and seventh servo actuators in different directions along the Y-axis will cause the attitude adjustment platform to rotate around the Z-axis.
8. A posture control device for a posture adjustment platform including a servo actuator, characterized in that, include: The calculation module is used to calculate the extension and retraction of the servo actuators in the attitude adjustment platform based on the target attitude of the attitude adjustment platform. The control module is used to extend and retract the servo actuator based on the extension and retraction amount of the servo actuator, so that the attitude adjustment platform can reach the target attitude.
9. An electronic device, characterized in that, include: At least one memory for storing computer programs; At least one processor is configured to execute a program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the attitude control method for an attitude adjustment platform including a servo actuator as described in any one of claims 1-7.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is run on the processor, the processor performs the attitude control method for an attitude adjustment platform including a servo actuator as described in any one of claims 1-7.