Attitude adjusting control method for platform with six electric supporting legs

Abstract

The invention discloses a six-electric-supporting-leg platform attitude adjusting control method which comprises the steps that a rectangular coordinate system is established with the center of a platform as an original point, according to a pitch angle, a roll angle target angle and a tilt angle sensor feedback angle, master-slave cooperation and real-time PID compensation iterative control are adopted, torque grounding detection is introduced, six electric supporting legs are controlled to cooperatively adjust the attitude, and the attitude of the platform is adjusted. It is ensured that all the supporting legs compact the ground, multi-supporting-leg collaborative PID and iterative fine adjustment are achieved, a dynamic following coefficient calculation and real-time compensation mechanism is provided, and the target attitude adjustment precision is smaller than or equal to 0.01 degree. According to the method, dynamic following coefficient calculation and an iterative adjustment strategy are adopted, so that the six-electric-supporting-leg platform can adapt to complex working conditions such as uneven ground and uneven load distribution, and particularly, the accuracy repeatability and reliability of the pitch angle and the roll angle of the six-electric-supporting-leg supporting platform on the uneven ground of a factory building are ensured.

Description

Technical Field

[0001] This invention belongs to the field of platform attitude control technology, and relates to a control method for achieving coordinated attitude adjustment of six electric outriggers by using an iterative adjustment method based on the target angles of pitch angle, roll angle and tilt angle feedback angle. In particular, it relates to an attitude control method for a six-electric outrigger platform. Background Technology

[0002] In fields such as automated logistics, equipment docking, and aerospace, six-motor outrigger support platforms are widely used for attitude adjustment and horizontal positioning tasks. Existing attitude adjustment methods mostly employ direct control strategies based on position or displacement, typically relying on independent servo control of each outrigger and using encoder feedback for height synchronization. However, in actual working conditions with uneven ground and varying load distribution, these methods suffer from the following prominent problems: Frequent "virtual leg" phenomena: Due to varying ground hardness, outriggers are prone to incomplete compaction or suspension upon contact with the ground, resulting in insufficient actual support points and poor attitude stability. Limited attitude adjustment accuracy: Traditional methods often employ open-loop or simple closed-loop control, making it difficult to achieve high-precision angle synchronization, especially in multi-leg coordinated movement, where cumulative errors are easily generated, making it difficult to achieve attitude adjustment accuracy at the ≤0.01° level. Poor adaptability: For complex and variable ground conditions and load distribution, traditional control strategies lack dynamic adjustment capabilities, easily leading to oscillations, overshoot, or adjustment failures. Low efficiency: Frequent manual intervention and long debugging cycles make it difficult to meet the needs of automated systems for rapid and reliable attitude adjustment. While existing technologies employ tilt sensors for feedback control, they still lack a systematic control strategy for multi-leg coordinated movement and real-time compensation, making it difficult to guarantee attitude repeatability, reliability, and accuracy in practical applications. Summary of the Invention

[0003] The technical problem to be solved by this invention is to address the issues of low attitude adjustment accuracy and poor adaptability of existing six-electric outrigger support platforms under uneven ground and load conditions. This invention provides an attitude adjustment method based on torque contact detection and iterative collaborative control, which achieves high-precision adjustment of pitch and roll angles ≤0.01° and has good repeatability and reliability.

[0004] To solve the above-mentioned technical problems, this invention proposes a posture adjustment control method for a six-electric outrigger platform, which includes the following steps: Step 1: Establish a rectangular coordinate system with the center of the six-electric outrigger platform as the origin. Tie; Step 2: Press the six electric outriggers firmly into the ground; After the six-electric outrigger platform is in place, each outrigger is controlled to descend in torque mode until the preset ground-penetrating torque is detected; then it is uniformly switched to torque mode to rise until the height of the six outriggers reaches the set ground-touching height, thus completing the platform compaction. Step 3: Adjust the attitude of the six-motor outrigger platform based on the difference between the target pitch angle, roll angle and the sensor feedback; Based on the difference between the target pitch angle, roll angle and the sensor feedback, calculate the theoretical height adjustment amount for each outrigger; The outrigger with the largest height adjustment range is selected as the reference outrigger, and its motion is controlled by proportional-integral-derivative (PID). The following coefficient is calculated based on the positional relationship of each outrigger to achieve coordinated speed following of the remaining outriggers; The system detects the positional deviation of each outrigger in real time and performs PID compensation, iteratively adjusting until the actual posture reaches the target tolerance range.

[0005] Compared with the prior art, the beneficial effects of the present invention are reflected in the following aspects: 1. Achieve high-precision attitude adjustment By employing a combined control strategy of master-slave collaborative PID control and real-time deviation compensation, high-precision adjustment of pitch and roll angles ≤0.01° was achieved, significantly improving the platform's positioning accuracy in scenarios such as precision docking and material storage and retrieval.

[0006] 2. Effectively prevents leg weakness. By introducing a torque contact detection mechanism, torque feedback is used during the ground compaction stage to ensure that each outrigger makes full contact with the ground, fundamentally eliminating the problem of unstable support caused by uneven ground hardness.

[0007] 3. Improve system adaptability and reliability By employing dynamic following coefficient calculation and iterative adjustment strategies, the system can adapt to complex working conditions such as uneven ground and uneven load distribution, and the attitude adjustment process has good repeatability and high reliability.

[0008] 4. Enhance the consistency of coordinated movements Using the outrigger with the largest adjustment as a benchmark, the other outriggers follow proportionally, and combined with real-time PID compensation, high synchronization of movement of multiple outriggers is achieved, reducing structural stress and vibration caused by asynchronous movement.

[0009] 5. Improve posture adjustment efficiency and automation level The entire process is automated, supporting multiple rounds of iterative adjustments and anomaly alarms, which greatly reduces the number of manual interventions and shortens the posture adjustment time, making it suitable for high-frequency and high-requirement automated operation scenarios.

[0010] 6. Expand applicable scenarios This method is not only applicable to conventional environments such as factories and warehouses, but also to more complex ground conditions such as the field, ships, and temporary sites, and has strong engineering practicality and promotion value.

[0011] 7. Reduce debugging and maintenance costs The system has self-diagnosis and fault tolerance capabilities. During the adjustment process, it automatically detects and compensates for deviations, reducing the difficulty of later debugging and maintenance costs, and improving the overall economy of the equipment. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of a six-electric outrigger platform posture adjustment control method according to the present invention; Figure 2 This is a schematic diagram of the coordinates of the six electric outriggers of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] like Figure 1 , 2 As shown, a method for adjusting the posture of a six-electric outrigger platform includes the following steps: Step 1: Establish a rectangular coordinate system with the center of the six-electric outrigger platform 7 as the origin. Tie; Establish a rectangular coordinate system with the center of the six-electric outrigger platform 7 as the origin. The positions of each leg 1, 2, 3, 4, 5, and 6 in the coordinate system are as follows: 、 ‥ ‥ ‥、 Where: rotation around the X-axis is the pitch angle, and rotation around the Y-axis is the roll angle; This represents the absolute X-axis coordinate of the outrigger in the coordinate system. This represents the absolute Y-coordinate of the outrigger in the coordinate system.

[0015] Step 2: Press the six electric outriggers firmly into the ground; The six-electric outrigger platform 7 moves to the target workstation, and the controller (PLC) receives the ground contact command; Switch the six-leg motor driver to torque mode and set the preset ground contact torque parameters. Ground contact velocity parameters Control the descent of the six legs; When the torque of all six legs reaches The descent has stopped, and the exploration process is complete. According to the preset ground contact torque parameters Ground contact height parameters Control the upward movement of the six legs; periodically monitor the height of the six legs in real time; if the positions of all six legs are ≥ It stops running and touches the ground to complete the process.

[0016] Step 3: Based on the difference between the target pitch angle, roll angle and tilt angle feedback from the sensor 8, adjust the attitude of the six-motor outrigger platform 7; S1: Six-electric outrigger platform 7 pitch adjustment, which includes the following steps: 1) The PLC receives the target angle for pitch adjustment and the pitch adjustment command; 2) Pitch angle feedback based on tilt sensor 8 Adjusting the target angle with pitch Difference, calculate the current adjustment angle. ; ; 3) Calculate the height adjustment amount for each outrigger 1, 2, 3, 4, 5, and 6. Outrigger 1 target height: ; Outrigger 2 target height: ; Outrigger 3 target height: ; Outrigger 4 target height: ; Outrigger 5 target height: ; Outrigger 6 target height: ; In the formula: Adjust the height and position of each outrigger; These are the absolute Y-coordinate values ​​of each leg in the coordinate system. =1,2,3,4,5,6; 4) Record the current feedback position of the six legs as follows: , , , , , ; 5) Since the six legs 1 are unevenly distributed in the coordinate system, the highest leg at the target position needs to be extracted as the adjustment reference leg R_L, and its position is recorded as the target position P of the main axis. 主 The other outriggers are follower axes; 6) Adopt Calculate the ratio, and place the highest outrigger P at the known target position. 主 As Variables, calculate the following coefficients for each leg 1, 2, 3, 4, 5, and 6; Outrigger 1 following coefficient: ; Outrigger 2 following coefficient: ; Support leg 3 following coefficient: ; Support leg 4 following coefficient: ; Support leg 5 following coefficient: ; Support leg 6 following coefficient: ; In the formula: For each outrigger, the following coefficient is... =1,2,3,4,5,6;P 主 The target position of the main axis; 7) Calculate the target position of the reference outrigger to record the current position of the reference outrigger. Target height of the reference outrigger The sum of these values ​​serves as the target position for adjusting the reference outriggers. ; ; 8) The incremental factor for the reference outrigger position is calculated using the real-time periodic feedback position of the reference outrigger. The difference between the current position of the reference support leg and the cache record is used to adjust the current position. As an incremental factor ; ; 9) Switch the six-leg motor driver to speed mode and use PID to adjust the position of the reference leg; ; ; ; ; In the formula: The target speed for the baseline outrigger operation is expressed in mm / s. The reference outrigger running target speed is output by the PID controller, in mm / s. 10) Six-legged operation, according to Follow-up coefficient calculation: Speed ​​input for other outrigger motor drivers: Outrigger 1 target speed: ; Outrigger 2 target speed: ; Outrigger 3 target speed: ; Outrigger 4 target speed: ; Outrigger 5 target speed: ; Outrigger 6 target speed: ; In the formula: The target velocity for each outrigger is expressed in mm / s. =1,2,3,4,5,6; 11) Calculate the deviation between the current position of other outriggers and the current position of the reference outrigger. The deviation between the current position of other outriggers and the current position of the reference outrigger is calculated by subtracting the current position of each outrigger before the buffer records the current position of each outrigger, and then subtracting the product of the running increment factor of the reference outrigger position and the following coefficient of each outrigger. Outrigger 1 deviation: ; Outrigger 2 deviation: ; Outrigger 3 deviation: ; Outrigger 4 deviation: ; Outrigger deviation 5: ; Outrigger deviation 6: ; In the formula: For the deviation of each outrigger, =1,2,3,4,5,6; 12) Based on the deviations of each outrigger 1, 2, 3, 4, 5, and 6, call the PID to compensate for the target speed of each outrigger and perform master-slave following until each outrigger completes its operation; 13) The tilt sensor 8 compares the feedback angle with the target angle. If the adjustment is completed within the error range, return to step 2) to continue adjusting. At the same time, set a limit on the number of adjustment times. If the adjustment is still not completed within the number of adjustment times, an alarm will be output.

[0017] S2: Six-electric outrigger platform with 7 roll adjustment The roll adjustment of the six-electric outrigger platform is the same as the pitch adjustment in step S1, except that the calculation formulas for the angle and height adjustment are changed to: 1) Roll angle feedback based on tilt sensor 8 Adjusting the target angle with roll Difference, calculate the current adjustment angle. ; ; 2) Calculation of the target height for the six legs Outrigger 1 target height: ; Outrigger 2 target height: ; Outrigger 3 target height: ; Outrigger 4 target height: ; Outrigger 5 target height: ; Outrigger 6 target height: ; In the formula: This represents the absolute X-axis coordinate of the outrigger in the coordinate system. =1,2,3,4,5,6.

Claims

1. A method for posture adjustment control of a six-electric outrigger platform, characterized in that: It includes the following steps: Step 1: Establish a rectangular coordinate system Tie; Establish a rectangular coordinate system with the center of the six-electric outrigger platform as the origin. The positions of the six legs in the coordinate system are as follows: 、 ‥ ‥ ‥、 Where: rotation around the X-axis is the pitch angle, and rotation around the Y-axis is the roll angle; This represents the absolute coordinate value of the outrigger in the X direction within the coordinate system. This represents the absolute Y-axis coordinate of the outrigger in the coordinate system; Step 2: Press the six electric outriggers firmly into the ground; After the six-electric outrigger platform is in place, each outrigger is controlled to descend in torque mode until the preset ground-penetrating torque is detected; then it is uniformly switched to torque mode to rise until the height of the six outriggers reaches the set ground-touching height, thus completing the platform compaction. Step 3: Calculate the theoretical height adjustment amount for each outrigger based on the difference between the target pitch angle, roll angle and the sensor feedback; The outrigger with the largest height adjustment is selected as the reference outrigger, and its motion is controlled by proportional-integral-derivative (PID). The following coefficient is calculated based on the positional relationship of each outrigger to achieve coordinated speed following of the remaining outriggers; The system detects the positional deviation of each outrigger in real time and performs PID compensation, iteratively adjusting until the actual posture reaches the target tolerance range.

2. The posture adjustment control method for a six-electric outrigger platform according to claim 1, characterized in that: Step 2 specifically includes: The six-electric outrigger platform moves to the target workstation, and the controller, i.e., the PLC, receives the ground contact command; Switch the six-leg motor driver to torque mode and set the preset ground contact torque parameters. Ground contact velocity parameters Control the descent of the six legs; When the torque of all six legs reaches The descent has stopped, and the exploration process is complete. According to the preset ground contact torque parameters Ground contact height parameters Control the upward movement of the six legs; periodically monitor the height of the six legs in real time; if the positions of all six legs are ≥ It stops running and touches the ground to complete the process.

3. The posture adjustment control method for a six-electric outrigger platform according to claim 1 or 2, characterized in that: Step 3 specifically includes: pitch adjustment of the six-electric outrigger platform and / or roll adjustment of the six-electric outrigger platform.

4. The posture adjustment control method for a six-electric outrigger platform according to claim 3, characterized in that: The pitch adjustment of the six-electric outrigger platform includes the following steps: 1) The PLC receives the target angle for pitch adjustment and the pitch adjustment command; 2) Pitch angle feedback based on tilt sensor Adjusting the target angle with pitch Difference, calculate the current adjustment angle. ; ； 3) Calculate the height adjustment amount for each outrigger. Outrigger 1 target height: ; Outrigger 2 target height: ; Outrigger 3 target height: ; Outrigger 4 target height: ; Outrigger 5 target height: ; Outrigger 6 target height: ; In the formula: Adjust the height and position of each outrigger; These are the absolute Y-coordinate values ​​of each leg in the coordinate system. =1,2,3,4,5,6; 4) Record the current feedback position of the six legs as follows: , , , , , ; 5) Since the six legs are unevenly distributed in the coordinate system, the leg with the highest target position needs to be extracted as the adjustment reference leg R_L, and its position is recorded as the target position P of the main axis. 主 The other outriggers are follower axes; 6) Adopt Calculate the ratio, and place the highest outrigger P at the known target position. 主 As Variables, calculate the following coefficient of the outriggers; Outrigger 1 following coefficient: ; Outrigger 2 following coefficient: ; Support leg 3 following coefficient: ; Support leg 4 following coefficient: ; Support leg 5 following coefficient: ; Support leg 6 following coefficient: ; In the formula: For each outrigger, the following coefficient is... =1,2,3,4,5,6;P 主 The target position of the main axis; 7) Calculate the target position of the reference outrigger to record the current position of the reference outrigger. Target height of the reference outrigger The sum of these values ​​serves as the target position for adjusting the reference outriggers. ; ； 8) The incremental factor for the reference outrigger position is calculated using the real-time periodic feedback position of the reference outrigger. The difference between the current position of the reference support leg and the cache record As an incremental factor ; ； 9) Switch the six-leg motor driver to speed mode and use PID to adjust the position of the reference leg; ； ； ； ； In the formula: The target speed for the baseline outrigger operation is expressed in mm / s. The reference outrigger running target speed is output by the PID controller, in mm / s. 10) Six-legged operation, according to Follow-up coefficient calculation: Speed ​​input for other outrigger motor drivers: Outrigger 1 target speed: ; Outrigger 2 target speed: ; Outrigger 3 target speed: ; Outrigger 4 target speed: ; Outrigger 5 target speed: ; Outrigger 6 target speed: ; In the formula: The target velocity for each outrigger is expressed in mm / s. =1,2,3,4,5,6; 11) Calculate the deviation between the current position of other outriggers and the current position of the reference outrigger. The deviation between the current position of other outriggers and the current position of the reference outrigger is calculated by subtracting the current position of each outrigger before the buffer records the current position of each outrigger, and then subtracting the product of the running increment factor of the reference outrigger position and the following coefficient of each outrigger. Outrigger 1 deviation: ; Outrigger 2 deviation: ; Outrigger 3 deviation: ; Outrigger 4 deviation: ; Outrigger deviation 5: ; Outrigger deviation 6: ; In the formula: For the deviation of each outrigger, =1,2,3,4,5,6; 12) Based on the deviation of each outrigger, call the PID to compensate for the target speed of each outrigger, perform master-slave following, and wait for each outrigger to complete its operation; 13) Compare the tilt sensor feedback angle with the target angle. If the adjustment is completed within the error range, return to step 2) to continue adjusting. At the same time, set a limit on the number of adjustment attempts. If the adjustment is still not completed within the number of attempts, an alarm will be output.

5. The posture adjustment control method for a six-electric outrigger platform according to claim 3, characterized in that: The six-electric outrigger platform roll adjustment includes the following steps: 1) The PLC receives the target angle for pitch adjustment and the pitch adjustment command; 2) Roll angle feedback based on tilt sensor Adjusting the target angle with roll Difference, calculate the current adjustment angle. ; ； 3) Calculate the height adjustment amount for each outrigger. Outrigger 1 target height: ; Outrigger 2 target height: ; Outrigger 3 target height: ; Outrigger 4 target height: ; Outrigger 5 target height: ; Outrigger 6 target height: ; In the formula: Adjust the height and position of each outrigger; This represents the absolute X-axis coordinate of the outrigger in the coordinate system. =1,2,3,4,5,6; 4) Record the current feedback position of the six legs as follows: , , , , , ; 5) Since the six legs are unevenly distributed in the coordinate system, the leg with the highest target position needs to be extracted as the adjustment reference leg R_L, and its position is recorded as the target position P of the main axis. 主 The other outriggers are follower axes; 6) Adopt Calculate the ratio, and place the highest outrigger P at the known target position. 主 As Variables, calculate the following coefficient of the outriggers; Outrigger 1 following coefficient: ; Outrigger 2 following coefficient: ; Support leg 3 following coefficient: ; Support leg 4 following coefficient: ; Support leg 5 following coefficient: ; Support leg 6 following coefficient: ; In the formula: For each outrigger, the following coefficient is... =1,2,3,4,5,6;P 主 The target position of the main axis; 7) Calculate the target position of the reference outrigger to record the current position of the reference outrigger. Target height of the reference outrigger The sum of these values ​​serves as the target position for adjusting the reference outriggers. ; ； 8) The incremental factor for the reference outrigger position is calculated using the real-time periodic feedback position of the reference outrigger. The difference between the current position of the reference support leg and the cache record As an incremental factor ; ； 9) Switch the six-leg motor driver to speed mode and use PID to adjust the position of the reference leg; ； ； ； ； In the formula: The target speed for the baseline outrigger operation is expressed in mm / s. The reference outrigger running target speed is output by the PID controller, in mm / s. 10) Six-legged operation, according to Follow-up coefficient calculation: Speed ​​input for other outrigger motor drivers: Outrigger 1 target speed: ; Outrigger 2 target speed: ; Outrigger 3 target speed: ; Outrigger 4 target speed: ; Outrigger 5 target speed: ; Outrigger 6 target speed: ; In the formula: The target velocity for each outrigger is expressed in mm / s. =1,2,3,4,5,6; 11) Calculate the deviation between the current position of other outriggers and the current position of the reference outrigger. The deviation between the current position of other outriggers and the current position of the reference outrigger is calculated by subtracting the current position of each outrigger before the buffer records the current position of each outrigger, and then subtracting the product of the running increment factor of the reference outrigger position and the following coefficient of each outrigger. Outrigger 1 deviation: ; Outrigger 2 deviation: ; Outrigger 3 deviation: ; Outrigger 4 deviation: ; Outrigger deviation 5: ; Outrigger deviation 6: ; In the formula: For the deviation of each outrigger, =1,2,3,4,5,6; 12) Based on the deviation of each outrigger, call the PID to compensate for the target speed of each outrigger, perform master-slave following, and wait for each outrigger to complete its operation; 13) Compare the tilt sensor feedback angle with the target angle. If the adjustment is completed within the error range, return to step 2) to continue adjusting. At the same time, set a limit on the number of adjustment attempts. If the adjustment is still not completed within the number of attempts, an alarm will be output.

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