A telescopic mechanism driving-locking cooperative control method

Abstract

A collaborative control method for drive-locking of a telescopic mechanism, belonging to the field of electromechanical system control technology, solves the problems of existing technologies requiring the establishment of accurate mechanism models and reliance on multiple sensors. The method includes the following steps: Step 1: Calibrate the pin-hole alignment state current; Step 2: Construct a pin-hole misalignment state reference matrix; Step 3: Based on the pin-hole misalignment state reference matrix, construct a mapping function between the pin-hole misalignment position and the effective value of the current during the pin insertion process, as well as a mapping function between the pin-hole misalignment position and the duration of the pin insertion process; Step 4: During the pin locking process, the motor current of the locking actuator is collected in real time. If the pin-hole is mechanically aligned, no intervention is required. If there is mechanical misalignment, proceed to Step 5; Step 5: Set the drive actuator command and update the locking actuator command. Send the updated locking actuator command to the drive actuator, and then return to Step 4 until the pin-hole is mechanically aligned.

Description

Technical Field

[0001] This invention relates to a drive-locking coordinated control method for a telescopic mechanism, belonging to the field of electromechanical system control technology. Background Technology

[0002] The telescoping mechanism is a key component for morphing aircraft to achieve configuration changes. By altering the lengths of components such as wings and tail fins, the aircraft can flexibly switch its aerodynamic shape at different flight phases, thereby optimizing flight performance. Because morphing aircraft experience highly complex airflow disturbances during actual flight, this poses a greater challenge to the driving and locking capabilities of the telescoping mechanism. Therefore, it is necessary to develop a highly reliable drive-locking device suitable for the telescoping mechanism of morphing aircraft.

[0003] However, in the actual locking process, due to the influence of machining accuracy and random disturbances of external airflow, there is a risk that the locking pin may not be able to lock effectively. Therefore, it is urgent to study the drive-locking coordinated control method of the deformation mechanism. There are two common methods: The first is to construct an actuator coupling model and design a corresponding decoupling controller. For example, Chinese patent CN104265708A, "An Adaptive Decoupling Control Method Based on Motion State Synchronization," constructs a coupling model of a non-similar redundant actuator system, compensates for the differences between hydraulic and electro-hydraulic actuators, and designs a synchronous adaptive decoupling control method to eliminate the influence of coupling terms on the system output, thus improving the collaborative control accuracy between different actuators. However, this method relies on an accurate mechanistic model. For deformable mechanisms, the external airflow is complex and random, and the ambient temperature is extremely harsh, making it difficult to obtain an accurate mechanistic model. Therefore, this method is not applicable. The second method is to design an equalizer to control the consistency of multiple channels. For example, Chinese patent CN1458425A, "A Multi-channel Synchronous Hydraulic Servo Transmission Device," measures the pressure in the actuator cylinder cavity using a pressure sensor and outputs it to a signal selector. The equalizer then provides feedback to form a position closed loop, making the pressure of each channel tend to be consistent. However, this method requires a pressure sensor. The actual working space of deformable mechanisms is small and the environment is harsh, making it difficult to install force sensors. Therefore, this method is also not applicable. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and solve the problems of needing to establish an accurate mechanism model and relying on multiple sensors in the prior art.

[0005] The objective of this invention is achieved through the following technical solutions: A method for coordinated control of drive and lock of telescopic mechanism, utilizing a drive-lock device, which includes a lock actuator, a drive actuator, a lock pin, a deformation mechanism, and a fixed guide rail; The locking actuator is connected to the deformation mechanism, and a certain gap is maintained between the fixed guide rail and the deformation mechanism so that they do not directly contact each other; the driving actuator is connected to the deformation mechanism, and the locking pin is connected to the locking actuator; the driving actuator is used to drive the deformation mechanism to reciprocate along the direction of the fixed guide rail; the locking actuator is used to drive the locking pin into the pin hole of the fixed guide rail, thereby locking the deformation mechanism. Collaborative control methods include: Step 1: Mechanically align the locking pin shaft with the pin hole, send the pin position command to the locking actuator, and calibrate the pin-hole alignment state current; Step 2: Mechanically misalign the locking pin and the pin hole to different degrees, send the same pin position command as in Step 1 to the locking actuator, and construct a pin-hole misalignment state reference matrix; Step 3: Based on the pin-hole misalignment state reference matrix, construct the mapping function between the pin-hole misalignment position and the effective value of the current during the pin insertion process, as well as the mapping function between the pin-hole misalignment position and the duration of the pin insertion process. Step 4: During the pin locking process, the motor current of the locking actuator is collected in real time. Based on the two mapping functions in Step 3, it is determined whether the pin and hole are mechanically aligned. If the pin and hole are mechanically aligned, no intervention is required. If there is mechanical misalignment between the pin and hole, proceed to Step 5. Step 5: Set the drive actuator command and update the locking actuator command. Send the updated locking actuator command to the drive actuator, and then proceed to step 4 until the pin-hole mechanical alignment is achieved.

[0006] Compared with the prior art, the present invention has the following advantages: (1) This invention solves the problem of difficult accurate mechanism modeling of large-scale nonlinear deformation mechanisms by calibrating parameters of six typical mechanical misalignment states and constructing a three-dimensional reference matrix of position-current-adjustment time.

[0007] (2) This invention obtains the solution set of the relative mechanical position of the pin hole by real-time monitoring and threshold determination of the motor current during the actual locking process, combined with the misalignment state mapping function, thus solving the problem of difficulty in force and position sensing caused by the limited installation of sensors in narrow spaces and extreme environments.

[0008] (3) The present invention generates drive actuator instructions based on the relative mechanical position of pin-hole and iteratively updates locking actuator instructions, which solves the problems of efficient centering recovery and effective locking of mechanism after pin-hole mechanical state misalignment.

[0009] (4) The method of the present invention does not require changing the mechanical structure of the original system and does not depend on the system mechanism model. It can maintain the mechanical characteristics of the original system and has high versatility.

[0010] (5) The method of the present invention is simple and easy to implement, reduces the demand for computing power, improves the real-time performance of computing, and can be applied to occasions with high requirements for system dynamic performance. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of an active loading system for a deformation mechanism.

[0012] Figure 2 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical centering position P. a .

[0013] Figure 3 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. b .

[0014] Figure 4 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. c .

[0015] Figure 5 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. d .

[0016] Figure 6 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. e .

[0017] Figure 7 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. f .

[0018] Figure 8 This is a schematic diagram showing the relative mechanical positions of the pin and hole, with the mechanical misalignment point P. g .

[0019] Figure 9 This is a geometric diagram showing the mechanical misalignment relationship between the pin and the hole.

[0020] Figure 10 This is a geometric diagram showing the mechanical misalignment relationship between the pin and the hole.

[0021] Figure 11 This is a flowchart of the drive-locking coordinated control method for the telescopic mechanism. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0023] A method for coordinated control of drive and locking of a telescopic mechanism, relating to drive and locking devices such as Figure 1As shown, it mainly includes a locking actuator 1, a driving actuator 2, a locking pin 3, a deformation mechanism 4, and a fixed guide rail 5. The specific connection relationships and working principles are as follows: The fixed guide rail 5 is placed on a plane. The locking actuator 1 is connected to the deformation mechanism 4 via a plug-in connection, maintaining a certain gap between the fixed guide rail 5 and the deformation mechanism 4, i.e., not in direct contact. The driving actuator 2 is connected to the deformation mechanism 4 via screws, and the locking pin 3 is connected to the locking actuator 1 via screws. Its basic working principle is as follows: the driving actuator 2 drives the deformation mechanism 4 to reciprocate along the direction of the fixed guide rail 5; the locking actuator 1 drives the locking pin 3 into the pin hole 6 of the fixed guide rail 5, thereby locking the deformation mechanism 4.

[0024] Collaborative control methods, such as Figure 11 As shown, it includes: Step 1: Pin-hole alignment current calibration like Figure 2 As shown, the locking pin 3 is mechanically aligned with the pin hole 6, and a pin position command is sent to the locking actuator 1. The command amplitude is [value missing]. P The actual position of the locking pin 3 and the q-axis current of the motor in the locking actuator 1 are collected in real time, and the experiment is repeated. N Second-rate, N =10. Let the actual position signal be... p 1( t ), p 2( t ),…, p N ( t The current signals are respectively i 1( t ), i 2( t ),…, i N ( t ), calculate the system settling time according to formula (1) T 1( t ), T 2( t ),…, T N ( t ), calculate the effective value of the current in the pin-hole alignment state according to formula (2), and denot it as I a The mechanical misalignment current threshold is calculated according to formula (3). I s In the formula I r This is the rated current of the motor in the locking actuator 1.

[0025] (1) (2) (3) Step 2: Constructing the reference matrix for pin-hole misalignment state according to Figures 3-8 The locking pin 3 and the pin hole 6 are mechanically misaligned to different degrees in sequence, and under each mechanical misalignment, the following steps are performed: N Repeat the experiment. N =10. During the experiment, the same pin position command as in step 1 was sent to the locking actuator 1, and the motor current in the locking actuator 1 was collected in real time. When the condition in formula (4) is detected to be met, the position command is returned to zero and the current time is recorded as 10. t x,n ,in x = b ,c ,…,g , n =1,2,…, N This means that when the distance between the centerline of the locking pin 3 and the centerline of the pin hole 6 is... p x At that time, the first n The duration of the pin insertion process during each test is used to obtain the three-dimensional reference matrix covering six pin-hole radial misalignment states as shown in formula (5). This three-dimensional reference matrix is ​​constructed by replacing the mechanism model with experimental data processing, thus reducing the dependence on the accurate mechanism model.

[0026] (4) (5) In the formula, k Represents the sampling time sequence number; t k That is, the first k Each sampling time; i ( t k ) is the first k Current at each sampling time; m The number of sampling periods for which the current exceeds the rated limit must meet the following requirements. m < k ; p b ~ p g The distance between the centerline of the locking pin 3 and the centerline of the pin hole 6 corresponds to the attached... Figure 3 ~Appendix Figure 8 ; I b ~ I g The distance between the centerline of the locking pin 3 and the centerline of the pin hole 6 is... pb ~ p g The effective value of the current at that time; T b ~ T g The distance between the centerline of the locking pin 3 and the centerline of the pin hole 6 is... p b ~ p g The duration of the pin insertion process.

[0027] Step 3: Constructing the pin-hole misalignment state mapping function Combining formulas (4) and (5), the mapping function between the pin-hole misalignment position and the effective value of the insertion process current can be obtained. f ( I i ), and the mapping function between the pin-hole misalignment position and the duration of the pin insertion process. g ( T i As shown in formulas (6) and (7). Theoretically, the position... p b , p d and p f The corresponding effective current value and the duration of the pin insertion process are respectively related to the position. p c , p e and p g The corresponding effective current value and the duration of the pin insertion process are the same, that is... I b = I c , I d = I e , I f = I g , T b = T c , T d = T e , T f = T g .

[0028] (6) (7) In the formula, k a1 , k b1 , k a2 and k b2 Let be the fitting parameters to be determined. R 2 As the coefficient of determination, p mean for p b ~ p g The average value, i.e. .

[0029] Step 4: Identification of pin-hole mechanical misalignment During the pin locking process, the motor current of locking actuator 1 is collected in real time. When the condition in formula (4) is detected to be met, the current command is returned to zero, and the current time is recorded as 0. T R Calculate the effective value of the current over the entire stroke, denoted as . I R The solution for the current position is derived based on formula (8). P R .like P R If the value is 0, it indicates that the pin-hole is mechanically aligned and no intervention is needed. Otherwise, it indicates that there is mechanical misalignment between the pin and hole, and adaptive mechanical alignment control can be performed according to step 5. This shows that this method can identify the location of mechanical misalignment by combining conventional current monitoring with simple threshold judgment, making it more suitable for tasks requiring confined installation spaces.

[0030] (8) Step 5: Coordinated control of the lock actuator Step 5.1: Setting the actuator command Apply an initial value of 0 to actuator 2, with a slope of P R / T R The position command switches to an initial value of 0 if the current continues to rise, with a slope of - P R / T R Position command, wait for command to continue T R Then, proceed to step 5.2; Step 5.2: Locking Actuator Command Update according to Figure 9The shown pin-hole misalignment geometric relationship indicates that when the pin-hole misalignment position is... P R When this happens, the position command amplitude of the locking actuator 1 needs to be updated according to the following formula; (9) In the formula, For the updated instruction amplitude, The value of the instruction before the update. It is half the maximum width of pin hole 6. This is the current mechanical misalignment position. It is half the width of the locking pin shaft 3. The internal tilt angle of pin hole 6, such as Figure 10 As shown.

[0031] Step 5.3: Restore and lock the pin hole alignment. After the position command is updated, it is sent to the drive actuator 2, and then step 4 is repeated until... P R = P a This means that the pin-hole mechanical state alignment and effective locking are completed. It can be seen that this algorithm only requires computationally low-power calculations such as 3D matrix calculation, 2D function fitting, and trigonometric function calculation to achieve pin-hole alignment recovery. The iterative update mechanism reduces the computational load, meets dynamic performance requirements, and is suitable for low-cost embedded systems.

[0032] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0033] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for coordinated control of a telescopic mechanism drive-locking, characterized in that, The drive-locking device includes a locking actuator (1), a drive actuator (2), a locking pin (3), a deformation mechanism (4), and a fixed guide rail (5). The locking actuator (1) is connected to the deformation mechanism (4), and a certain gap is maintained between the fixed guide rail (5) and the deformation mechanism (4) so ​​that they do not directly contact each other; the driving actuator (2) is connected to the deformation mechanism (4), and the locking pin (3) is connected to the locking actuator (1); the driving actuator (2) is used to drive the deformation mechanism (4) to reciprocate along the direction of the fixed guide rail (5); the locking actuator (1) is used to drive the locking pin (3) into the pin hole (6) of the fixed guide rail (5), thereby locking the deformation mechanism (4); Collaborative control methods include: Step 1: Mechanically align the locking pin (3) with the pin hole (6), send the pin position command to the locking actuator (1), and calibrate the pin-hole alignment state current; Step 2: Mechanically misalign the locking pin (3) and the pin hole (6) to different degrees, and send the same pin position command as in Step 1 to the locking actuator (1) to construct the pin-hole misalignment state reference matrix; Step 3: Based on the pin-hole misalignment state reference matrix, construct the mapping function between the pin-hole misalignment position and the effective value of the current during the pin insertion process, as well as the mapping function between the pin-hole misalignment position and the duration of the pin insertion process. Step 4: During the pin locking process, the motor current of the locking actuator (1) is collected in real time. Based on the two mapping functions in step 3, it is determined whether the pin-hole is mechanically aligned. If the pin-hole is mechanically aligned, no intervention is required. If the pin-hole is mechanically misaligned, proceed to step 5. Step 5: Set the drive actuator command and update the locking actuator command. Send the updated locking actuator command to the drive actuator (2), and then proceed to step 4 until the pin-hole mechanical alignment is achieved.

2. The telescopic mechanism drive-locking coordinated control method according to claim 1, characterized in that, In step 1, the method for calibrating the pin-hole alignment current is as follows: Send a pin position command to the locking actuator (1), with a command amplitude of P The actual position of the locking pin (3) and the q-axis current of the motor in the locking actuator (1) are collected in real time, and the experiment is repeated. N Next; record the actual position signal as p 1( t ), p 2( t ),…, p N ( t The current signals are respectively i 1( t ), i 2( t ),…, i N ( t ), calculate system settling time T 1( t ), T 2( t ),…, T N ( t ), calculate the effective value of the current in the pin-hole alignment state, denoted as I a Calculate the mechanical misalignment current threshold I s In the formula I r The rated current of the motor in locking actuator 1 。 3. The telescopic mechanism drive-locking coordinated control method according to claim 1, characterized in that, In step 2, the method for constructing the pin-hole misalignment state reference matrix is ​​as follows: Performed under each mechanical misalignment N The experiment was repeated; during the experiment, the same pin position command as in step 1 was sent to the locking actuator (1), and the motor current in the locking actuator (1) was collected in real time; when the condition in formula (4) was detected to be met, the position command was reset to zero and the current time was recorded as zero. t x,n ,in x = b ,c ,…,g , n =1,2,…, N This means that when the distance between the centerline of the locking pin (3) and the centerline of the pin hole (6) is... p x At that time, the first n The duration of the pin insertion process during the test is used to obtain the three-dimensional reference matrix covering six types of pin-hole radial misalignment states, as shown in formula (5). This three-dimensional reference matrix is ​​constructed by replacing the mechanism model with experimental data processing. （4） （5） In the formula, k Represents the sampling time sequence number; t k That is, the first k Each sampling time; i ( t k ) is the first k Current at each sampling time; m The number of sampling periods for which the current exceeds the rated limit must meet the following requirements. m < k ; p b ~ p g This represents the distance between the centerline of the locking pin (3) and the centerline of the pin hole (6); I b ~ I g The distance between the centerline of the locking pin (3) and the centerline of the pin hole (6) is p b ~ p g The effective value of the current at that time; T b ~ T g The distance between the centerline of the locking pin (3) and the centerline of the pin hole (6) is p b ~ p g The duration of the pin insertion process.

4. The telescopic mechanism drive-locking coordinated control method according to claim 3, characterized in that, In step 3, the mapping function between the pin-hole misalignment position and the effective value of the insertion process current. f ( I i ), and the mapping function between the pin-hole misalignment position and the duration of the pin insertion process. g ( T i ), as shown in formulas (6) and (7); theoretically, the position p b , p d and p f The corresponding effective current value and the duration of the pin insertion process are respectively related to the position. p c , p e and p g The corresponding effective current value and the duration of the pin insertion process are the same, that is... I b = I c , I d = I e , I f = I g , T b = T c , T d = T e , T f = T g （6） （7） In the formula, k a1 , k b1 , k a2 and k b2 Let be the fitting parameters to be determined. R 2 As the coefficient of determination, p mean for p b ~ p g The average value, i.e. .

5. The telescopic mechanism drive-locking coordinated control method according to claim 4, characterized in that, In step 4, the method for determining whether the pin and hole are mechanically aligned is as follows: During the pin locking process, the motor current of the locking actuator (1) is collected in real time. When the condition in formula (4) is detected to be met, the current command is returned to zero, and the current time is recorded as 0. T R Calculate the effective value of the current over the entire stroke, denoted as . I R Derive the solution at the current position P R ;like P R =0 indicates that the pin-hole is mechanically aligned; otherwise, it indicates that there is mechanical misalignment between the pin and the hole. 。 6. The telescopic mechanism drive-locking coordinated control method according to claim 1, characterized in that, In step 5, setting the actuator driving instructions includes: Apply an initial value of 0 to the drive actuator (2), with a slope of P R / T R The position command switches to an initial value of 0 if the current continues to rise, with a slope of - P R / T R Position commands.

7. The telescopic mechanism drive-locking coordinated control method according to claim 1, characterized in that, In step 5, updating the locking actuator instruction includes: The misalignment position of the pin-hole is P R When this happens, the position command amplitude of the locking actuator (1) needs to be updated according to the following formula; （9） In the formula, For the updated instruction amplitude, The value of the instruction before the update. It is half the maximum width of the pin hole (6). This is the current mechanical misalignment position. The width of the locking pin (3) is half of its width. The internal tilt angle of the pin hole (6).

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