CN101650881A - Teaching and experiment method of automatic control theory - Google Patents
Teaching and experiment method of automatic control theory Download PDFInfo
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- CN101650881A CN101650881A CN200910075471A CN200910075471A CN101650881A CN 101650881 A CN101650881 A CN 101650881A CN 200910075471 A CN200910075471 A CN 200910075471A CN 200910075471 A CN200910075471 A CN 200910075471A CN 101650881 A CN101650881 A CN 101650881A
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Abstract
The invention relates to a teaching and experiment method of an automatic control theory, belonging to the technical field of teaching and experiment instruments. The teaching and experiment method adopts a wireless way to realize that one machine controls a plurality of points or a plurality of machines control one point to control hardware of every teaching and experiment point to finish variousteaching experiments of the automatic control theory through an external computer. After simulation experiment control software is written into the hardware of the teaching and experiment point, thesimulation experiment control software can be independent of the hardware to finish various simulation teaching experiments of the automatic control theory, and the support of the simulation experiment control software is not needed. The hardware of the teaching and experiment point can finish various teaching experiments of the automatic control theory, and the software and the hardware of the teaching and experiment point are combined to finish various teaching experiments of the automatic control theory. The invention provides the teaching and experiment method of the automatic control theory with innovative ideas, and the method overcomes various deficiencies or shortcomings existing in the prior teaching method and brings forth, designs and develops a new regeneration product of theteaching and experiment method of the automatic control theory, thereby having significance for the level of modernization of the teaching and experiment instruments of China.
Description
One. technical field
The teaching and experiment method of Theory of Automatic Control disclosed by the invention belongs to the teaching and experiment equipment technical field, and what be specifically related to is a kind of multifunction teaching test method that adopts the Theory of Automatic Control of computer radio control, the support of emulation experiment Control Software.The multifunction teaching test instrument of the Theory of Automatic Control that manufactures and designs by the teaching and experiment method of this Theory of Automatic Control is a main experimental apparatus of finishing Theory of Automatic Control, can be widely used in the robotization specialty of all kinds of universities and colleges (mainly being institution of higher learning), " Theory of Automatic Control " or the education experiment of courses such as " sensor technologies " of measuring technology specialty.
Two. background technology
The teaching and experiment method of Theory of Automatic Control originally is mainly reflected on the Teaching Experiment Box of Theory of Automatic Control, the major defect of the experimental box of existing Theory of Automatic Control is: 1. experimental box lays particular emphasis on the understanding to Theory of Automatic Control key concept, to parameter adjustment, the not embodiment of control effect of actual automatic control system.2. experimental box can only just can be finished experiment by the simulating signal that wired mode receiving computer software produces, and experimental box itself does not have signal source, can not finish experiment separately by divorced from computer, this stability requirement to the transmission interface between computing machine and the experimental box is very high, the line inconvenience, in case transmission interface breaks down, experiment just can't be finished.3. the subject matter that present experimental box is applied to experimental teaching just is: because of the damage of transmission interface causes whole experimental apparatus not work, maintainable very poor.4. the transmission of RS232 serial ports is adopted in the transmission between experimental box and the computing machine, and message transmission rate is low, connects inconvenience, can not satisfy the data acquisition in the present Theory of Automatic Control experiment, the requirement of transmission.5. experimental box is unfavorable for teachers and students' interaction in experiment.6. the experiment of existing experimental box is directly perceived inadequately to the understanding of Theory of Automatic Control.Therefore, how to guarantee that experimental box can be finished the education experiment of Theory of Automatic Control better and from experiment the Theory of Automatic Control knowledge learned of checking become a problem that needs to be resolved hurrily.The invention provides a kind of teaching and experiment method of Theory of Automatic Control of new concept, this method has overcome the above-mentioned all deficiencies or the shortcoming of teaching and experiment method (as the experimental box) existence of existing Theory of Automatic Control, the education experiment new method of innovation Theory of Automatic Control and developing design and develop the teaching and experiment equipment regeneration product of new Theory of Automatic Control, and be significant to the modernization level that improves China's teaching and experiment equipment.
Three. summary of the invention
The objective of the invention is: the teaching and experiment method that this Theory of Automatic Control is provided to society, it has improved the various shortcoming that existing teaching and experiment method exists, opened up the teaching and experiment method of new Theory of Automatic Control, and design and be developed into the teaching and experiment equipment regeneration product of new Theory of Automatic Control, significant to the modernization level that improves China's teaching and experiment equipment.
The technical scheme of the teaching and experiment method of Theory of Automatic Control of the present invention is as follows:
A kind of teaching and experiment method of Theory of Automatic Control, technical characterstic is: the teaching and experiment method of described this Theory of Automatic Control is to adopt wireless mode to realize that by outer computer a machine carries out and finish all education experiments of Theory of Automatic Control to the hardware of each education experiment point of point control to multiple spot or multimachine.This is the teaching and experiment method pattern that computing machine passes through controlled in wireless.One of characteristics of the present invention are: the hardware of each education experiment point of this experimental technique is by being provided with Simulation Control software and receiver address, the machine of can finishing is to the controlled in wireless experiential function to a hardware of many hardware and multimachine, this function can make things convenient for the teaching demonstration effect, has increased teachers and students' interaction capability.
A kind of teaching and experiment method of Theory of Automatic Control, technical characterstic is: the teaching and experiment method of described this Theory of Automatic Control is that the hardware that adopts the emulation experiment Control Software can be independent of education experiment point carries out and all simulated teachings of finishing Theory of Automatic Control are tested.This is to adopt the emulation experiment Control Software to be independent of the method mode that hardware is realized the simulated teaching experiment.Described emulation experiment Control Software mainly contains the content and the program of two parts function: one, the host computer that it is equivalent to test hardware finish that pumping signal produces, wireless parameter is set, the reception of experimental data, data presentation etc.Its two, as the simulation software of the education experiment of Theory of Automatic Control, this software breaks away from experiment hardware and independently experimentizes and finish and obtain theoretical experimental result, software is simulated the result of actual experiment by the random noise that superposes on experimental data simultaneously.This software (or solidification software or software package) is the copying that software can independently be finished the Teaching of Automatic Control Theory experiment with the maximum difference of other Theory of Automatic Control experiment hardware, increased the dirigibility of experiment, can allow the experimenter contrast the different of theoretical experimental data and actual experiment data, grasp actual with theoretical difference of engineering or the like.
A kind of teaching and experiment method of Theory of Automatic Control, technical characterstic is: the teaching and experiment method of described this Theory of Automatic Control is need not adopt the emulation experiment Control Software, and the hardware of education experiment point can carry out and finish all education experiments of Theory of Automatic Control alone.Teaching and experiment method theory by this new Theory of Automatic Control, design and be developed into the education experiment hardware regeneration product of new Theory of Automatic Control, hardware setting includes: the electronic circuit of electronic section, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and parts etc., the part of mechanical part, assembly, parts, utensil or the like.This is the method mode that hardware is finished education experiment alone.
A kind of teaching and experiment method of Theory of Automatic Control, technical characterstic is: the teaching and experiment method of described this Theory of Automatic Control is that the combination of hardware software of this education experiment point can carry out and finish all education experiments of Theory of Automatic Control after utilizing wireless mode by outer computer the hardware of education experiment point to be provided or write the emulation experiment Control Software.This is the teaching and experiment method pattern of software and hardware combining.Described education experiment hardware, emulation experiment Control Software are same as above-mentioned entirely, no longer repeat.
Teaching and experiment method according to above-described Theory of Automatic Control, technical characterstic also has: the teaching and experiment method of described this Theory of Automatic Control is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, this teaching and experiment equipment comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, makes this teaching and experiment equipment can carry out and finish all education experiments of Theory of Automatic Control.The teaching and experiment equipment setting of this Theory of Automatic Control includes: the electronic circuit of electronic section, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and parts etc., the part of mechanical part, assembly, parts, utensil or the like.
According to the teaching and experiment method of above-described automatic control, technical characterstic also has: described emulation experiment Control Software is generated by outer computer and utilizes communication to write in the teaching and experiment equipment of this Theory of Automatic Control by wireless communication module.Described emulation experiment Control Software writes by wireless communication module and adopts communication by finishing as USB interface, wireless receiving and dispatching telecommunication circuit (as the nRF24L01 module) between outer computer and the instrument or realizing in the teaching and experiment equipment of this Theory of Automatic Control.For example this experimental apparatus is provided with the receiver address of experiment porch as the emulation experiment Control Software, and first byte of wireless communication transmissions packet is the position as a token of, in order to distinguish order and address etc.
Teaching and experiment method according to above-described automatic control, technical characterstic also has: the wireless communication module of the teaching and experiment equipment of described this Theory of Automatic Control is finished all education experiments by communication and outer computer interactive information particularly including this teaching and experiment equipment of control.Described wireless communication section mainly comprises mechanism's compositions such as (as microcomputers) that this experimental apparatus and the USB interface of communicating by letter, wireless receiving and dispatching telecommunication circuit, the interaction data of outer computer are handled.Wireless communication distance can arrive 30-50 rice, and has strict data check mechanism on the wireless communication protocol, guarantees the reliable communication of data.
Teaching and experiment method according to above-described automatic control, technical characterstic also has: the temperature control cognition module that the teaching and experiment equipment of described this Theory of Automatic Control is provided with adopts pilot lamp and small fan indication state of a control: pilot lamp is indicated heating intensity with flicker frequency, and fan is with rotating speed size pilot block system cold strength.
Teaching and experiment method according to above-described automatic control, technical characterstic also has: described temperature control cognition module is made up of temperature setting, temperature test, temperature demonstration, control and operating part, this module is set the temperature value that needs by the temperature setting knob, the temperature sensor measurement current environmental temperature, design temperature and observed temperature are relatively, its deviation is controlled different actuators through control section as the signal of control, and actuator comprises well heater and adds heat indicator, refrigerator and refrigeration indicator thereof.Described well heater is a heating wire, and described refrigerator is a small fan.
Teaching and experiment method according to above-described automatic control, technical characterstic also has: be provided with or install acceleration transducer and strain transducer on the teaching and experiment equipment of described this Theory of Automatic Control as signal source, and integrated collecting sensor signal, treatment circuit, make experimental apparatus can finish the education experiment of Theory of Automatic Control separately.Wherein: the impulsive force hammer is that acceleration transducer is in order to measure acceleration signal; Strain transducer is in order to measured pressure signal; Rule is installed in order to measure the displacement of strain place at the free end of strain transducer semi-girder.Described acceleration transducer is a piezoresistive transducer, and its output signal is a charge signal, and the process charge amplifying circuit is amplified electric charge and converted voltage signal to, exports the voltage signal that can be used in experiment through the voltage-controlled low-pass filter circuit of second order again.Piezoelectric acceleration sensor is installed on the little tup, knock object with hand hammer during student experimenting, the output of acceleration transducer obtains different control signals by different experiment mechanism (as ratio, differential, integration, proportion differential, proportional integral, proportion integration differentiation etc.), allows student's control effect of recognizing sensor and control gear intuitively.The foil gauge of described strain transducer is pasted on the at one end fixing semi-girder, in semi-girder free end side graduation apparatus is housed.With defeating semi-girder, the strain signal of generation obtains different control effect output by after the Wheatstone bridge conversion through different experiment mechanisms (as ratio, differential, integration, proportion differential, proportional integral, proportion integration differentiation etc.).The characteristics here are to adopt graduated scale as the degree of crook of measuring semi-girder in the unsettled end of semi-girder, can obtain the strain size of foil gauge location for paste by simple near-sighted calculating, theoretical value and experiment value can be contrasted reinforcement student's perceptual knowledge.
The teaching and experiment method advantage of Theory of Automatic Control of the present invention has: 1. the teaching and experiment method of this Theory of Automatic Control adopts wireless communication interface USB, realize that by outer computer control a machine is to many instrument and the multimachine function to an instrument, each experiment need not be moved computing machine again and be connected data line, conveniently save trouble, message transmission rate and reliability have been improved, the teacher not only can allow the student obtain the lecture experiment data synchronously, can also obtain and show any student's experimental result; 2. the experimental apparatus of this teaching and experiment method and design, write the emulation experiment Control Software by wireless communication module from outer computer, function is strong again entirely for this software function, this software interface simple, intuitive, increased the control of a lot of images, allowed the student regulate parameter more easily and experimentize, the waveform display window can be adjusted displaing coordinate, the unfolded waveform makes student's observation analysis data better, makes software can finish the various teaching emulation experiments of Theory of Automatic Control separately; 3. the experimental apparatus of the teaching and experiment method of this Theory of Automatic Control and design has increased hardware setting, the hardware using circuit modular, simplify unnecessary circuit unit, increased the sensor signal source, wireless communication interface (as USB interface) and wireless communication module, temperature control cognition module, make planning experiment more reasonable, hardware can independently be finished the various experiments of Theory of Automatic Control, changed the simple in the past defective that relies on software generation simulating signal to experimentize, reduced the degree of dependence of experimental system, even under the situation that communication interface is damaged, still can finish experiment to communication interface; 4. the experimental apparatus of the teaching and experiment method of this Theory of Automatic Control and design adopts the software and hardware combination, hardware and software both can interdepend, can cooperatively interact again, the various experiments of Theory of Automatic Control are finished in common cooperation, improve the dirigibility of experimental technique, reliability, cooperate the teaching of " Theory of Automatic Control " course better, changed traditional experiment instrument laying particular stress on to the basic link of automatic control, new experimental apparatus is paid attention to the parameter adjustment to actual automatic control system more, these two aspects of embodiment of experiment control effect, not only can make the student recognize the ABC of Theory of Automatic Control more visually, and improved students'ability for practice, strengthened the intuitive of experiment, remedied the deficiency of existing experimental apparatus, guaranteed that to greatest extent the student can finish the various education experiments of Theory of Automatic Control smoothly.The teaching and experiment method of Theory of Automatic Control of the present invention is the teaching and experiment method of new developing, and the experimental apparatus that designs by this method is the regeneration product of Teaching of Automatic Control Theory experimental apparatus, all is worth adopting and promoting.
Four. description of drawings
The teaching and experiment method Figure of description of Theory of Automatic Control of the present invention has 8 width of cloth:
Fig. 1 is the hardware of teaching and experiment method design of Theory of Automatic Control or the frame assumption diagram of instrument;
Fig. 2 is the acceleration transducer schematic diagram of instrument of the teaching and experiment method design of Theory of Automatic Control;
Fig. 3 is the strain transducer machine drawing of instrument of the teaching and experiment method design of Theory of Automatic Control;
Fig. 4 is the wireless communication module functional-block diagram of instrument of the teaching and experiment method design of Theory of Automatic Control
Fig. 5 be next machine of instrument radio communication of teaching and experiment method design of Theory of Automatic Control to many instrument and multimachine to instrument topology synoptic diagram;
Fig. 6 is the temperature cognition module structured flowchart of instrument of the teaching and experiment method design of Theory of Automatic Control;
Fig. 7 is the emulation experiment Control Software master routine logic diagram of the teaching and experiment method design of Theory of Automatic Control;
Fig. 8 is the scm software main program flow chart of the teaching and experiment equipment of Theory of Automatic Control.
Adopted unified label in each figure, promptly same object is used same label in each figure.In each figure: 1. teaching and experiment equipment; 2. outer computer; 3. oscillograph; 4. power supply; 5. acceleration transducer; 6. charge amplifying circuit; 7. low-pass filter circuit; 8. output; 9. frame; 10. semi-girder; 11. foil gauge R
112. foil gauge R
213. rule; 14. wireless receiving and dispatching antenna; 15. wireless receiving and dispatching telecommunication circuit; 16.MSP430; 17. teacher; 18. student
119. student
220. student
n21. temperature is set; 22. subtracter; 23. null value relatively; 24. control gear; 25. analog switch; 26. voltage-frequency conversion; 27.LED lamp; 28. current conversion; 29. electric fan; 30. temperature sensor (as LM35D); 31. temperature shows; 32. beginning; 33. initialization; 34. emulation? 35. parameter setting; 36. determine; 37. generate instruction; 38. send; 39. distribute? 40. establish wireless chip for accepting attitude; 41. receive number? 42. storage; 43. show; 44. withdraw from? 45. finish; 46. emulation interface; 47. beginning; 48. initialization; 49. receive number? 50. reading of data; 51. instruction? 52. executable operations; 53. beginning? 54. establish wireless chip for sending attitude; 55.D/A conversion; 56.A/D conversion; 57. finish? 58. establish wireless chip for accepting attitude; 59. storage; F. acting force; L. semi-girder length; X. stressed arm lengths.
Five. specific embodiments
Non-limiting examples of the present invention is as follows:
Embodiment one. the teaching and experiment method of Theory of Automatic Control
According to of the requirement of present " Theory of Automatic Control " course to education experiment, experimental project has been carried out rational planning, some irrational experiments that existing experimental apparatus is arranged have been deleted, as having increased miniature temperature control experiment, the notice that makes the student is from being transformed into the parameter adjustment to actual automatic control system, the embodiment aspect of control effect to the understanding that lays particular emphasis on the basic link of automatic control.Make the Theory of Automatic Control experiment cooperate the teaching of " Theory of Automatic Control " course better.Main improvement also comprises the typical link of sensor assembly, signal processing module, USB wireless communication module and automatic control system: proportional component, inertial element, differentiation element and integral element etc., wherein sensor acquisition signal and output, make the signal of output satisfy the demand of experiment through signal processing circuits such as amplification, filtering, the USB wireless communication module can couple together experimental apparatus and software, makes both cooperatively interact and finishes experiment.The teaching and experiment method of the Theory of Automatic Control that this is routine is to adopt wireless mode to realize that by outer computer hardware that a machine is controlled each education experiment point to many experimental points or multimachine to an experimental point carries out and finish all education experiments of Theory of Automatic Control.This is the teaching and experiment method pattern that computing machine passes through controlled in wireless.One of characteristics of the present invention are: the hardware of each education experiment point of this experimental technique is by being provided with Simulation Control software and receiver address, the machine of can finishing is to the controlled in wireless experiential function to a hardware of many hardware and multimachine, this function can make things convenient for the teaching demonstration effect, has increased teachers and students' interaction capability.The teaching and experiment method of the Theory of Automatic Control that this is routine is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, the teaching and experiment equipment of the Theory of Automatic Control that this is routine comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, setting includes: hardware components, as electronic circuit, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and the parts etc. of electronic section, as the part of mechanical part, assembly, parts, utensil or the like.The present invention has done four innovations on the basis of original experimental apparatus: increased sensor signal source, wireless communication interface (as USB interface) and wireless communication module, temperature control cognition module, emulation experiment Control Software.The concrete structure of the teaching and experiment equipment of the Theory of Automatic Control that this is routine is united by Fig. 1～Fig. 8 and is illustrated, the teaching and experiment equipment of the Theory of Automatic Control that this is routine adopts wireless mode to realize that by outer computer a machine is to many instrument, or multimachine is controlled all education experiments that carry out and finish Theory of Automatic Control to an instrument, Fig. 1 illustrates the teaching and experiment equipment frame assumption diagram of Theory of Automatic Control, Fig. 4 is the teaching and experiment equipment of Theory of Automatic Control and the radio communication block scheme of outer computer, next machine of teaching and experiment equipment radio communication that Fig. 5 illustrates Theory of Automatic Control to many instrument and multimachine to instrument topology synoptic diagram, topology signal multimachine is to an instrument among the left figure among Fig. 5, and right figure topology signal one machine is to many instrument.This is one of characteristics of the present invention, also is the teaching and experiment equipment pattern that computing machine passes through controlled in wireless.As shown in Figure 1 and Figure 4, this experimental apparatus 1 is provided with emulation experiment Control Software and receiver address by outer computer 2, adopt radio communication can finish a machine to the controlled in wireless experiential function to an instrument of many instrument and multimachine, this function can make things convenient for the teaching demonstration effect, has increased teachers and students' interaction capability.One machine of experimental apparatus is to many instrument and the multimachine function to an instrument, such as Fig. 5 topology signal (teacher 17 and student 18--20 can represent computing machine 2 or experimental apparatus 1 respectively).Wireless communication module physical address on each instrument 1 is fixed, and carrier frequency is fixed, and the wireless receiving address on the computing machine 2 can be fixed maybe and can change by Control Software.Implementation method is: teacher's lecture experiment one machine is during to many instrument, the instrument 1 that student 18-20 etc. use is set the physical address consistent with teacher 17 by computing machine 2, and be in accepting state, the information of teacher's 17 transmissions and reception can be received by many experimental apparatuss 1 like this.So just can show experimental result, finish lecture experiment by many instruments 1 that operate on the computing machine 2.Equally, when student 18-20 tested, teacher 17 can become the computing machine 2 wireless receiving address modification of oneself the same address of a certain student experimenting instrument 1, just can long-rangely obtain student one of (18 20) experimental data, realized many-to-one function.This scheme can make things convenient for teaching demonstration to use, and has increased teachers and students' interaction capability.This routine emulation experiment Control Software is generated (as adopting the VB language compilation) and is utilized communication to write in the teaching and experiment equipment 1 of this Theory of Automatic Control by wireless communication module by outer computer 2.Fig. 7 illustrates the emulation experiment Control Software master routine logic diagram of the teaching and experiment equipment of Theory of Automatic Control, function is strong again entirely for this software function, ideal signal sources such as step signal, sine wave not only can be provided for hardware circuit, software interface is image more, the parameter adjustment window is convenient to be regulated, and the waveform display window can be adjusted coordinate, amplifies, dwindles waveform, saving result is convenient to the observation of students contrast and experiment more.It is to adopt communication to finish by the wireless communication interface (as USB interface) between outer computer 2 and the instrument 1, wireless receiving and dispatching telecommunication circuit (as the nRF24L01 module) and wireless antenna 14 or realize that the emulation experiment Control Software writes by wireless communication module in the teaching and experiment equipment 1 of this Theory of Automatic Control.Adopt USB wireless parallel communication interface between the software and hardware, each experiment need not be moved computing machine again and be connected data line, conveniently saves trouble, and has improved message transmission rate and reliability.The principle of work of wireless communication module as shown in Figure 4, Fig. 4 illustrates the teaching and experiment equipment of Theory of Automatic Control and the radio communication block scheme of outer computer, and the wireless communication section of this instrument 1 mainly comprises the compositions such as mechanism's (as microcomputer MSP430 chip) 16 that this experimental apparatus 1 and the USB interface of communicating by letter, wireless receiving and dispatching telecommunication circuit 15 (as the nRF24L01 module), the interaction data of outer computer 2 are handled.Fig. 8 illustrates single-chip microcomputer (as microcomputer MSP430) the software main program process flow diagram of the teaching and experiment equipment of Theory of Automatic Control, MSP430 self is also integrated A/D, D/A change-over circuit and function, the data-signal that software produces sends data to MSP430 by USB interface, wireless sending module, and enter the D/A switch pattern, convert digital signal to simulating signal supply hardware circuit and experimentize.The experimental result that hardware circuit produces is an analog quantity, send MSP430 chip 16 to, enter mould/number conversion pattern, become after the digital signal wireless communication interface on the instrument 1 by experiment to pass to computing machine 2 analog signal conversion, utilize the waveform display window on the software to observe waveform and experimental result, the student only need adjust experiment parameter just can observe the pairing experimental result of different parameters.As this experimental apparatus 1 receiver address of experiment porch as the emulation experiment Control Software is set, first byte of wireless communication transmissions packet is the position as a token of, in order to distinguish order and address etc.Radio receiving transmitting module will be realized the transmitted in both directions of data, and the strategy of Cai Yonging is that the wireless chip of upper and lower computer all is initialized as accepting state here, only just is configured to sending mode in the time will sending data, sends to be configured to receiving mode at once after finishing.This module host computer (computing machine 2) needs to give slave computer (experimental apparatus 1) to transmit control command, excited data.Experimental apparatus 1 need transmit the state and the experimental data of experimental apparatus 1 to computing machine 2.In order to distinguish different information such as data, order, state, the capacity that sends data each time is fixed as 32 bytes, and first byte of each packet adopts coding to distinguish the information content, and the content of back is corresponding information.Wireless communication interface AT90USB162 chip carries out high-speed communication by the USB2.0 agreement with microcomputer MSP430 or PC, has guaranteed the high-speed communication quality.The wireless communication module of the teaching and experiment equipment 1 of the Theory of Automatic Control that this is routine is finished all education experiments by communication and outer computer 2 interactive information particularly including this teaching and experiment equipment 1 of control.Adopt the communication of USB wireless communication interface between experimental apparatus and the software kit, the sample frequency of data can reach 10kHz, message transmission rate can reach 50KB, wireless communication distance can reach 30-50 rice, and has strict data check mechanism on the wireless communication protocol, guarantee the reliable communication of data, experimental result waveform display precision height, real-time is good.The teaching and experiment equipment of the Theory of Automatic Control that this is routine is provided with temperature control cognition module, this temperature control cognition module is made up of temperature setting, temperature test, temperature demonstration, control and operating part, Fig. 6 illustrates the temperature cognition module structured flowchart of the teaching and experiment equipment of Theory of Automatic Control, temperature control cognition module is a closed-loop control mechanism, can finish steady temperature control automatically.This module shows the experimental work situation by LCD MODULE 31, temperature setting knob 21 is set the temperature value that needs, temperature sensor 30 (as LM35D) is measured current environmental temperature, observed temperature and design temperature are relatively, its deviation is controlled different actuators through control section as the signal of control, and actuator comprises well heater and adds heat indicator, refrigerator and refrigeration indicator thereof.Well heater is a heating wire, and refrigerator is a small fan, adopts pilot lamp 27 (LED lamp) and small fan 29 indication state of a controls: pilot lamp 27 is with flicker frequency indication heating intensity, and fan 29 is with rotating speed size pilot block system cold strength.This module is the work that shows actuator of image, adopts red indication to wait the expression heated condition, and represents heating intensity by the flicker frequency of pilot lamp 27, and the pilot lamp flicker is fast more, and heating power is big more, and it is slow more to glimmer, and heating power is more little.Adopt fan 29 expression refrigerating states, represent the control intensity of freezing by the rotating speed of fan, the rotating speed of fan is fast more, and refrigeration work consumption is big more, and the rotating speed of fan is slow more, and refrigeration work consumption is more little.Integrated sensor assembly, signal processing module and function generator module on this routine experimental apparatus, both can experimentize with the actual signal of sensor acquisition signal, the ideal signal that also can the choice function generator produces experimentizes, and has guaranteed the reliability of experiment.On the teaching and experiment equipment of Theory of Automatic Control, be provided with or be equipped with acceleration transducer 5, strain transducer (foil gauge R
1, R
2) as signal source, and integrated collecting sensor signal, treatment circuit, sensor is in order to gather outer signals, and sensor output signal provides experimental signal through signal processing circuit for experimental circuit.Fig. 2 is the acceleration transducer schematic diagram of the teaching and experiment equipment of Theory of Automatic Control, acceleration transducer 5 is piezoresistive transducers, its output signal is a charge signal, process charge amplifying circuit 6 is amplified electric charge and is converted voltage signal to, exports the voltage signal 8 that can be used in experiment through the voltage-controlled low-pass filter circuit 7 of second order again.Piezoelectric acceleration sensor 5 is installed on the little tup, knock object with hand hammer during student experimenting, the impulsive force hammer is that acceleration transducer 5 is in order to measure acceleration signal, the output of acceleration transducer 5 obtains different control signals by different experiment mechanism (as ratio, differential, integration, proportion differential, proportional integral, proportion integration differentiation etc.), allows student's control effect of recognizing sensor and control gear intuitively.Fig. 3 is the teaching and experiment equipment strain transducer machine drawing of Theory of Automatic Control, and strain transducer is in order to measured pressure signal, and strain transducer semi-girder 10 1 ends are installed on the frame 9, the foil gauge 11 (R of strain transducer
1), foil gauge 12 (R
2) paste on the at one end fixing semi-girder 10 respectively, graduation apparatus 13 is housed in order to measure the displacement of strain place in semi-girder 10 free end sides.Firmly F presses semi-girder 10, and the strain signal of generation obtains different control effect output by after the Wheatstone bridge conversion through different experiment mechanisms (as ratio, differential, integration, proportion differential, proportional integral, proportion integration differentiation etc.).The characteristics here are to adopt graduated scale 13 as the degree of crook of measuring semi-girder 10 in semi-girder 10 unsettled ends, can obtain the strain size of foil gauge 11,12 locations for paste by simple near-sighted calculating, theoretical value and experiment value can be contrasted, strengthen student's perceptual knowledge.These experimental results can be transferred to computing machine 2 by wireless sending module and show, also can utilize oscillograph 3 to carry out data presentation.Voltage, electric current display module have been installed on experimental apparatus, whether whether the output voltage by observing the each several part circuit, electric current normally can the testing circuit each several parts working properly, avoid in experimental circuit, inserting the circuit unit that has damaged, improve the accuracy of experiment.The workflow of this example experimental apparatus is as follows: by computing machine 2 or the selected pumping signal that needs of testing of software, the experiment Control Software produces the numerical data of pumping signal, data send the nRF24L01 wireless chip to by the AT90USB162USB interface chip, data are sent to experimental apparatus 1 again.Wireless chip nRF24L01 on the experimental apparatus 1 receives the data of sending, and the data storage that single-chip microcomputer MSP430 receives nRF24L01 is in ram in slice.When experiment starts, convert digital signal to simulating signal supply hardware circuit by the D/A in the sheet and experimentize.The experimental result that hardware circuit produces is an analog quantity, and the A/D by MSP430 inside converts digital signal to, passes to the Wireless USB interface chip of outer computer 2 by interface chip nRF24L01, is uploaded to computing machine 2 again, utilizes software output experimental result.
Embodiment two. the teaching and experiment method of Theory of Automatic Control
The teaching and experiment method of the Theory of Automatic Control that this is routine is that the hardware that adopts the emulation experiment Control Software can be independent of education experiment point carries out and all simulated teachings of finishing Theory of Automatic Control are tested.This is to adopt the emulation experiment Control Software to be independent of the method mode that hardware is realized the simulated teaching experiment.The teaching and experiment method of this Theory of Automatic Control is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, this teaching and experiment equipment comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, setting includes: hardware components, as electronic circuit, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and the parts etc. of electronic section, as the part of mechanical part, assembly, parts, utensil or the like.The concrete structure of the teaching and experiment equipment of the Theory of Automatic Control that this is routine is united by Fig. 1～Fig. 8 and illustrated, and the teaching and experiment equipment difference of the Theory of Automatic Control of the teaching and experiment equipment of the Theory of Automatic Control that this is routine and embodiment one has: the teaching and experiment equipment of the Theory of Automatic Control that this is routine adopts the emulation experiment Control Software can be independent of all simulated teaching experiments that the hardware teaching and experiment equipment carries out and finish Theory of Automatic Control.This is to adopt the emulation experiment Control Software to be independent of the pattern that hardware is realized the simulated teaching experiment.Described emulation experiment Control Software mainly contains the content and the program of two parts function: one, the host computer that it is equivalent to experimental apparatus finish that pumping signal produces, wireless parameter is set, the reception of experimental data, data presentation etc.The software interface simple, intuitive, the control that has increased a lot of images allows the student regulate parameter more easily and experimentizes, and the waveform display window can be adjusted displaing coordinate, and the unfolded waveform makes student's observation analysis data better.They are two years old, simulation software as the education experiment of Theory of Automatic Control, this software can break away from the experimental result that experimental apparatus hardware independently experimentizes and finishes and obtain emulation, and software is simulated the result of actual experiment by the random noise that superposes on experimental data simultaneously.This software (or solidification software or software package) is the copying that software can independently be finished the Teaching of Automatic Control Theory experiment with the maximum difference of other Theory of Automatic Control experimental apparatus, increased the dirigibility of experiment, can allow the experimenter contrast the different of theoretical experimental data and actual experiment data, grasp actual with theoretical difference of engineering or the like.This routine emulation experiment Control Software is generated (as adopting the VB language compilation) and is utilized communication to write in the teaching and experiment equipment 1 of this Theory of Automatic Control by wireless communication module by outer computer 2.Fig. 7 illustrates the emulation experiment Control Software master routine logic diagram of the teaching and experiment equipment of Theory of Automatic Control, software can be finished the generation and the waveform Presentation Function of simulating signal, the ideal signal source such as step signal, sine wave of simulation not only can be provided for hardware circuit, the ancillary hardware circuit is finished experiment, can also break away from hardware circuit and finish the analog simulation of whole experiments of Theory of Automatic Control separately, the student only need adjust experiment parameter just can observe the pairing experimental result of different parameters.Software interface is image more, and the parameter adjustment window is convenient to be regulated, and its waveform display window can be adjusted coordinate, amplifies, dwindles waveform, and saving result is convenient to the observation of students contrast and experiment more.This software transfers data to wireless receiving module on the experimental apparatus by the USB wireless sending module, the MSP430 single-chip microcomputer converts the digital signal that receives to simulating signal and offers hardware circuit and experimentize, experimental result is given the conversion of MSP430 single-chip microcomputer, analog-signal transitions is become digital signal and transfers data to computing machine by wireless sending module, utilize the waveform display window of software to observe waveform.All the other do not state the teaching and experiment method of the Theory of Automatic Control that this is routine, are same as entirely described in the embodiment one, no longer repeat.
Embodiment three. the teaching and experiment method of Theory of Automatic Control
The teaching and experiment method of the Theory of Automatic Control that this is routine is need not adopt the emulation experiment Control Software, and the hardware of education experiment point can carry out and finish all education experiments of Theory of Automatic Control alone.Teaching and experiment method theory by this new Theory of Automatic Control, design and be developed into the education experiment hardware regeneration product of new Theory of Automatic Control, the teaching and experiment method of this Theory of Automatic Control is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, this teaching and experiment equipment comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, setting includes: hardware components, electronic circuit as electronic section, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and parts etc. are as the part of mechanical part, assembly, parts, utensil or the like.The concrete structure of the teaching and experiment equipment of the Theory of Automatic Control that this is routine is united by Fig. 1～Fig. 8 and is illustrated, and has done following innovation on the basis of original experimental apparatus: increased sensor signal source, wireless communication interface (as USB interface) and wireless communication module, temperature is controlled cognition module etc.Hardware circuit moduleization is simplified unnecessary circuit unit, has increased miniature temperature control experiment, makes planning experiment more reasonable, cooperates the teaching of " Theory of Automatic Control " course better.Changed the traditional experiment instrument to the laying particular stress on of the basic link of automatic control, new experimental apparatus is paid attention to the parameter adjustment to actual automatic control system, embodiment these two aspects of experiment control effect more.The wireless communication section of this instrument 1 mainly comprises the compositions such as mechanism's (as microcomputer MSP430 chip) 16 that this experimental apparatus 1 and radio communication USB interface, radio antenna, wireless receiving and dispatching telecommunication circuit 15 (as the nRF24L01 module), the interaction data of outer computer 2 are handled.MSP430 self is also integrated A/D, D/A change-over circuit and function, memory ram reservoir etc.Instrument also is provided with temperature control cognition module, and Fig. 6 illustrates the temperature cognition module structured flowchart of the teaching and experiment equipment of this Theory of Automatic Control.This temperature control cognition module is made up of temperature setting, temperature test, temperature demonstration, control and operating part, comprise temperature sensor 30, LCDs 31, well heater be heating wire, add heat indicator LED lamp 27, double indicator small fan 29 etc. freezes.Instrument also is integrated with sensor assembly, signal processing module and function generator module, the wherein strain transducer that constitutes for acceleration transducer, by semi-girder and foil gauge of impulsive force hammer, the graduation apparatus of measurement strain place displacement etc., Fig. 2 illustrates the acceleration transducer schematic diagram of the teaching and experiment equipment of Theory of Automatic Control, and Fig. 3 illustrates the teaching and experiment equipment strain transducer machine drawing of Theory of Automatic Control.Instrument also has all control gears, as ratio, differential, integration, proportion differential, proportional integral, proportion integration differentiation etc.Instrument also is equipped with voltage, electric current display module etc.The teaching and experiment equipment difference of the Theory of Automatic Control of the teaching and experiment equipment of the Theory of Automatic Control that this is routine and embodiment one, embodiment two has: the teaching and experiment equipment of the Theory of Automatic Control that this is routine need not the emulation experiment Control Software, and this teaching and experiment equipment can carry out and finish all education experiments of Theory of Automatic Control alone.This is the instrument pattern that hardware is finished education experiment alone.Integrated sensor assembly, signal processing module and function generator module, microcomputer (and software) etc. on experimental apparatus, both can use the actual signal of sensor acquisition, experimentize for experimental circuit provides experimental signal through signal processing circuit, the ideal signal that also can the choice function generator produces experimentizes, make experimental apparatus under the situation of divorced from computer or the cooperation of Simulation Control software, experiment normally be carried out, guaranteed the reliability of experiment.All the other do not state the teaching and experiment method of the Theory of Automatic Control that this is routine, are same as entirely described in embodiment one, the embodiment two, no longer repeat.
Embodiment four. the teaching and experiment method of Theory of Automatic Control
The teaching and experiment method of the Theory of Automatic Control that this is routine is that the combination of hardware software of this education experiment point can carry out and finish all education experiments of Theory of Automatic Control after utilizing wireless mode by outer computer the hardware of education experiment point to be provided or write the emulation experiment Control Software.This is the teaching and experiment method pattern of software and hardware combining.The teaching and experiment method of this Theory of Automatic Control is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, this teaching and experiment equipment comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, setting includes: hardware components, as electronic circuit, integrated circuit modules, microcomputer, sensor, electronic devices and components, electronic package and the parts etc. of electronic section, as the part of mechanical part, assembly, parts, utensil or the like.The concrete structure of the teaching and experiment equipment of the Theory of Automatic Control that this is routine is united by Fig. 1～Fig. 8 and is illustrated, on the basis of original experimental apparatus, four innovations have been done: promptly increased sensor signal source, wireless communication interface (as USB interface) and wireless communication module, temperature control cognition module, emulation experiment Control Software, the teaching and experiment equipment of the Theory of Automatic Control that this is routine, comprise hardware components, emulation experiment Control Software part, first three embodiment is described, and no longer repeats.The teaching and experiment equipment difference of the Theory of Automatic Control of the teaching and experiment equipment of the Theory of Automatic Control that this is routine and embodiment one～embodiment three has: all education experiments of Theory of Automatic Control can be carried out and finish to the teaching and experiment equipment of the Theory of Automatic Control that this is routine and emulation experiment Control Software thereof.This is the teaching and experiment equipment pattern of software and hardware combining.Software and hardware not only can interdepend, but also can cooperatively interact, and finished the Theory of Automatic Control experiment jointly; Can independently finish emulation, experiment separately again, reliability, convenience, the dirigibility of experiment have been increased, changed the simple in the past defective that relies on software generation simulating signal to experimentize, reduced the degree of dependence of experimental apparatus to communication interface, even under the situation that communication interface is damaged, still can finish experiment, guarantee that to greatest extent the student can finish experiment smoothly.All the other do not state the teaching and experiment method of the Theory of Automatic Control that this is routine, are same as entirely described in embodiment one～embodiment three, no longer repeat.
Claims (10)
1. the teaching and experiment method of a Theory of Automatic Control is characterised in that: the teaching and experiment method of described this Theory of Automatic Control is to adopt wireless mode to realize that by outer computer a machine carries out and finish all education experiments of Theory of Automatic Control to the hardware of each education experiment point of point control to multiple spot or multimachine.
2. the teaching and experiment method of a Theory of Automatic Control is characterised in that: the teaching and experiment method of described this Theory of Automatic Control is that the hardware that adopts the emulation experiment Control Software can be independent of education experiment point carries out and all simulated teachings of finishing Theory of Automatic Control are tested.
3. the teaching and experiment method of a Theory of Automatic Control, be characterised in that: the teaching and experiment method of described this Theory of Automatic Control is that the software and hardware of this education experiment point can carry out and finish all education experiments of Theory of Automatic Control after utilizing wireless mode by outer computer the hardware of education experiment point to be provided or write the emulation experiment Control Software.
4. the teaching and experiment method of a Theory of Automatic Control, be characterised in that: the teaching and experiment method of described this Theory of Automatic Control is to need not to adopt the emulation experiment Control Software, and the hardware of education experiment point can carry out and finish all education experiments of Theory of Automatic Control alone.
5. according to the teaching and experiment method of claim 1 or 2 or 3 or 4 described Theories of Automatic Control, be characterised in that: the teaching and experiment method of described this Theory of Automatic Control is: the hardware of each education experiment point is the Theory of Automatic Control multifunction teaching test instrument by this method design, this teaching and experiment equipment comprises the education experiment setting of experimental apparatus casing and interior Theory of Automatic Control thereof, makes this teaching and experiment equipment can carry out and finish all education experiments of Theory of Automatic Control.
6. according to the teaching and experiment method of claim 1 or 2 or 3 or 4 described automatic controls, be characterised in that: described emulation experiment Control Software is generated by outer computer and utilizes communication to write in the teaching and experiment equipment of this Theory of Automatic Control by wireless communication module.
7. the teaching and experiment method of automatic control according to claim 6, be characterised in that: the wireless communication module of the teaching and experiment equipment of described this Theory of Automatic Control is finished all education experiments by communication and outer computer interactive information particularly including this teaching and experiment equipment of control.
8. according to the teaching and experiment method of claim 1 or 2 or 3 or 4 described automatic controls, be characterised in that: the temperature control cognition module that the teaching and experiment equipment of described this Theory of Automatic Control is provided with adopts pilot lamp and small fan indication state of a control: pilot lamp is indicated heating intensity with flicker frequency, and fan is with rotating speed size pilot block system cold strength.
9. the teaching and experiment method of automatic control according to claim 8, be characterised in that: described temperature control cognition module is made up of temperature setting, temperature test, temperature demonstration, control and operating part, this module is by the deviation of sensor determination environment temperature acquisition with design temperature, deviation is controlled different actuators through control section, and actuator comprises well heater and adds heat indicator, refrigerator and refrigeration indicator thereof.
10. according to the teaching and experiment method of claim 1 or 2 or 3 or 4 described automatic controls, it is characterized in that: be provided with or be equipped with acceleration transducer and strain transducer on the teaching and experiment equipment of described this Theory of Automatic Control as signal source, wherein: the impulsive force hammer is that acceleration transducer is in order to measure acceleration signal; Strain transducer is in order to measured pressure signal; Rule is installed in order to measure the displacement of strain place at the free end of strain transducer semi-girder.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104835392A (en) * | 2015-04-23 | 2015-08-12 | 中国电子科技集团公司第四十一研究所 | Virtual circuit adjusting method of teaching experiment module circuit adjustable parameters |
| CN106647333A (en) * | 2017-01-16 | 2017-05-10 | 河北大学 | Semi-physical simulation system for portable integrated multiple controlled objects |
| CN107123350A (en) * | 2017-07-13 | 2017-09-01 | 郑州工业应用技术学院 | A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm |
| CN111933001A (en) * | 2020-08-31 | 2020-11-13 | 重庆水利电力职业技术学院 | Teaching presentation device for engineering mechanics |
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2009
- 2009-09-17 CN CN200910075471A patent/CN101650881A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104835392A (en) * | 2015-04-23 | 2015-08-12 | 中国电子科技集团公司第四十一研究所 | Virtual circuit adjusting method of teaching experiment module circuit adjustable parameters |
| CN106647333A (en) * | 2017-01-16 | 2017-05-10 | 河北大学 | Semi-physical simulation system for portable integrated multiple controlled objects |
| CN107123350A (en) * | 2017-07-13 | 2017-09-01 | 郑州工业应用技术学院 | A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm |
| CN111933001A (en) * | 2020-08-31 | 2020-11-13 | 重庆水利电力职业技术学院 | Teaching presentation device for engineering mechanics |
| CN111933001B (en) * | 2020-08-31 | 2021-04-02 | 重庆水利电力职业技术学院 | Teaching presentation device for engineering mechanics |
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Application publication date: 20100217 |