CN101968109B - Automatic energy compensation type single pendulum device - Google Patents

Automatic energy compensation type single pendulum device Download PDF

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CN101968109B
CN101968109B CN2010105197893A CN201010519789A CN101968109B CN 101968109 B CN101968109 B CN 101968109B CN 2010105197893 A CN2010105197893 A CN 2010105197893A CN 201010519789 A CN201010519789 A CN 201010519789A CN 101968109 B CN101968109 B CN 101968109B
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pendulum
screw
drive control
swing
control module
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CN101968109A (en
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江兴方
徐瑞平
毕天雨
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Changzhou University
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Changzhou University
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Abstract

一种能量自动补偿型单摆装置,空心滑块通过螺钉嵌入到螺杆某一位置,螺杆上端为自由端,下端与步进电机共轴,驱动控制模块通过摆动传感器与步进电机相连;当摆体摆至最大位移处,摆动传感器触发驱动控制模块驱动步进电机旋转,从而带动滑块缓慢下降,随后快速上升,摆体摆至另一侧最大位移时摆动传感器又触发一次相同的动作,从而驱使单摆长时间摆动。驱动控制模块包括电源、控制器和驱动器,通过脉冲数频率和个数来控制步进电机的转速和转角,既确保滑块每次上限位和下限位不变,又实现慢降快升的过程,有效地补偿单摆摆动过程中的能量损耗。该装置结构简单,性能稳定、使用方便。

Figure 201010519789

An energy automatic compensation type single pendulum device, the hollow slider is embedded into a certain position of the screw through a screw, the upper end of the screw is a free end, the lower end is coaxial with the stepping motor, and the drive control module is connected with the stepping motor through a swing sensor; when the pendulum When the body swings to the maximum displacement, the swing sensor triggers the drive control module to drive the stepper motor to rotate, thereby driving the slider to descend slowly and then rise rapidly. When the pendulum swings to the maximum displacement on the other side, the swing sensor triggers the same action again, thus Drive the pendulum to swing for a long time. The drive control module includes a power supply, a controller, and a driver. It controls the speed and rotation angle of the stepper motor through the frequency and number of pulses, which not only ensures that the upper and lower limits of the slider remain unchanged each time, but also realizes the process of slow falling and fast rising. , to effectively compensate for the energy loss during the swing of the pendulum. The device has the advantages of simple structure, stable performance and convenient use.

Figure 201010519789

Description

一种能量自动补偿型单摆装置A simple pendulum device with automatic energy compensation

技术领域 technical field

本发明属于一种能量补偿装置,尤其是一种用于单摆的自动能量补偿装置。 The invention belongs to an energy compensation device, in particular to an automatic energy compensation device for a simple pendulum.

背景技术 Background technique

单摆自动运动过程中由于能量损耗不能长时间摆动,而目前的单摆自动控制装置,主要是受迫振动法驱动单摆的长时间摆动。中国专利号为ZL96235339.6的实用新型专利公布了一种用于单摆运动的自动控制装置,其采用电磁特性驱动摆体长时间摆动。但根据物理原理,内力做功可以增加系统的机械能,如荡秋千越时,当秋千荡至最高点时人的重心要求升高,而秋千荡至最低点时人的重心要求降低,是通过人的内力做功可以补偿摆动中的损耗能量。 The simple pendulum cannot swing for a long time due to energy loss in the process of automatic movement, but the current automatic control device of the simple pendulum mainly drives the long-term swing of the simple pendulum by the forced vibration method. Chinese patent No. ZL96235339.6 utility model patent discloses an automatic control device for simple pendulum movement, which uses electromagnetic properties to drive the pendulum to swing for a long time. However, according to the physical principle, internal force can increase the mechanical energy of the system. For example, when swinging on a swing, the requirement for the center of gravity of the person increases when the swing reaches the highest point, and the requirement for the center of gravity of the person decreases when the swing reaches the lowest point. The work done by the internal force can compensate the lost energy in the swing.

但据此原理制作的单摆存在摆动周期与重心升降周期相匹配的问题,周期稍有不符合,摆幅就会出现衰减,不能长时间摆动;能量补偿过程容易出现滑块与摆线碰撞,从而消耗能量,影响能量补充,不能长时间摆动。 However, the simple pendulum produced according to this principle has the problem of matching the swing cycle with the center of gravity lifting cycle. If the cycle is slightly inconsistent, the swing amplitude will attenuate and cannot swing for a long time; the energy compensation process is prone to collision between the slider and the cycloid. As a result, energy is consumed, energy replenishment is affected, and it cannot swing for a long time.

发明内容 Contents of the invention

本发明的目的是克服上述能量补偿中存在的不足,提供一种结构简单,实现有效能量自动补偿的单摆装置。 The object of the present invention is to overcome the shortcomings in the energy compensation mentioned above, and provide a simple pendulum device with simple structure and automatic effective energy compensation.

本发明的技术方案: 一种能量自动补偿型单摆装置,包括支杆、金属丝和摆体,摆体通过金属丝固定于支杆上;摆体包括平衡梁、螺杆、步进电机和空心滑块,所述螺杆上刻有凹槽,其下端与步进电机共轴,上端为自由端,所述平衡梁和步进电机通过连接件固定;空心滑块通过与凹槽相应的结构装配到螺杆上,该空心滑块与连接件配合限制其旋转;摆动传感器固定于支杆上能与金属线接触的位置,驱动控制模块通过所述摆动传感器连接到步进电机,驱动控制模块与金属丝连接。 The technical solution of the present invention: A single pendulum device with automatic energy compensation, including a support rod, a metal wire and a pendulum body, the pendulum body is fixed on the support rod through a metal wire; the pendulum body includes a balance beam, a screw rod, a stepping motor and a hollow Slider, the screw is engraved with a groove, its lower end is coaxial with the stepping motor, and the upper end is a free end, the balance beam and the stepping motor are fixed by connecting pieces; the hollow slider is assembled through a structure corresponding to the groove to the screw, the hollow slider cooperates with the connector to limit its rotation; the swing sensor is fixed on the pole where it can contact the metal wire, the drive control module is connected to the stepper motor through the swing sensor, and the drive control module is connected to the metal wire wire connection.

驱动控制模块包括电源,驱动器和控制器,通过脉冲信号控制步进电机的转速和旋转方向,从而控制滑块的上升和下降。 The drive control module includes a power supply, a driver and a controller, and controls the speed and direction of rotation of the stepper motor through pulse signals, thereby controlling the rise and fall of the slider.

本发明的有益效果是: The beneficial effects of the present invention are:

1)采用空心滑块与螺杆结合的方式,通过驱动控制模块控制步进电机顺时针和逆时针旋转,从而带动空心滑块上升或者下降,从而通过内力做功维持单摆的持续摆动,其结构简单。 1) The combination of the hollow slider and the screw is adopted, and the stepper motor is controlled to rotate clockwise and counterclockwise through the drive control module, thereby driving the hollow slider to rise or fall, so as to maintain the continuous swing of the pendulum through internal force, and its structure is simple .

2)采用摆动传感器,当摆体处于最大位移时,触发控制器使步进电机带动滑块运动,能够通过控制脉冲个数使步进电机带动滑块上升和下降的距离相等,确保滑块上位点和下位点位置固定,能确保摆体的保持固定的振幅。 2) Using the swing sensor, when the pendulum is at the maximum displacement, trigger the controller to make the stepping motor drive the slider to move, and the stepping motor can drive the slider to rise and fall at the same distance by controlling the number of pulses to ensure the upper position of the slider The positions of the point and the lower point are fixed, which can ensure the constant amplitude of the pendulum.

3)采用驱动控制电路与摆动传感器结合,能够通过控制脉冲频率使步进电机带动滑块上升速度快于下降速度,从而克服能量补偿周期与单摆摆动周期不一致的问题,能确保摆体的保持固定的振幅。 3) Combining the drive control circuit with the swing sensor, the stepper motor can drive the slider to rise faster than the fall speed by controlling the pulse frequency, so as to overcome the problem that the energy compensation cycle is inconsistent with the swing cycle of the single pendulum, and can ensure the maintenance of the pendulum fixed amplitude.

附图说明 Description of drawings

下面结合附图和实施例对本发明进一步说明。 The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

图1是系统装置图。 Figure 1 is a diagram of the system installation.

图2是图1中单摆系统5的结构放大图。 FIG. 2 is an enlarged view of the structure of the pendulum system 5 in FIG. 1 .

图3是是图1中摆体9正面结构放大图。 Fig. 3 is an enlarged view of the front structure of the pendulum 9 in Fig. 1 .

图4是是图1中摆体9侧面结构放大图。 FIG. 4 is an enlarged view of the side structure of the pendulum 9 in FIG. 1 .

图5是是图1中电路连接图。 Fig. 5 is a circuit connection diagram in Fig. 1 .

其中1.电源,2.控制器,3.驱动器,4.数据线,5.单摆系统,6. 支杆,7. 摆动传感器,8. 金属丝,9. 摆体,10.平衡梁,11. 螺杆,12. 螺旋凹槽,13. 空心滑块,14. 螺钉,15. 步进电机,16.连接件。 Among them 1. Power supply, 2. Controller, 3. Driver, 4. Data line, 5. Single pendulum system, 6. Strut, 7. Swing sensor, 8. Metal wire, 9. Pendulum body, 10. Balance beam, 11. Screw, 12. Helical groove, 13. Hollow slider, 14. Screw, 15. Stepper motor, 16. Connector.

具体实施方式 Detailed ways

下面结合附图,详细介绍本发明的具体实施方式。 The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings.

如图1-2所示,本发明包括单摆系统5和驱动控制模块,在单摆系统5上设置摆动传感器7。其中,驱动控制模块包括电源1、控制器2和驱动器3;电源1通过控制器2与驱动器3相联,驱动控制模块通过数据线4与单摆系统5中的摆动传感器7和步进电机15相联;单摆系统5的上端是支杆6,支杆6被支起或者悬挂,支杆6通过两根金属丝8与摆体9相联。 As shown in Figures 1-2, the present invention includes a simple pendulum system 5 and a drive control module, and a swing sensor 7 is arranged on the simple pendulum system 5 . Wherein, the drive control module includes a power supply 1, a controller 2 and a driver 3; the power supply 1 is connected with the driver 3 through the controller 2, and the drive control module is connected with the swing sensor 7 and the stepper motor 15 in the single pendulum system 5 through the data line 4 Connected; the upper end of the single pendulum system 5 is a strut 6, which is supported or suspended, and the strut 6 is connected with the pendulum 9 through two metal wires 8.

如图3和图4所示,螺杆11与步进电机15共轴,螺杆11上刻有螺旋凹槽12,螺杆11穿过空心滑块13,空心滑块13中心装配有螺钉14,其螺钉14的在空心滑块13的内的部分置于螺杆11的螺旋凹槽12内。连接件16的上端与平衡梁10固定,下端和步进电机15外壳固定,其中空心滑块13为椭圆柱形,其与连接件16间留有间隙,且空心滑块13与连接件16的距离小于其长半轴的长度,从而保证在螺杆11旋转时,空心滑块13不能旋转,只能上下移动。 As shown in Figure 3 and Figure 4, the screw rod 11 is coaxial with the stepper motor 15, the screw rod 11 is engraved with a spiral groove 12, the screw rod 11 passes through the hollow slider 13, and the center of the hollow slider 13 is equipped with a screw 14, the screw The part of 14 inside the hollow slide 13 is placed in the helical groove 12 of the screw 11 . The upper end of connector 16 is fixed with balance beam 10, and the lower end is fixed with stepper motor 15 shells, wherein hollow slider 13 is an elliptical cylinder, and there is a gap between it and connector 16, and the gap between hollow slider 13 and connector 16 The distance is less than the length of its semi-major axis, so as to ensure that when the screw rod 11 rotates, the hollow slider 13 cannot rotate but can only move up and down.

如图5所示,电源1是将220V交流电转变成 24V的直流电源,驱动器3型号2024B2,其引脚B15和B16由两根导线接到电源1的输出端;控制器2型号CNC,其与220V交流电源直接连接,其引脚CP0、DIR0和OPTO分别与驱动器3的引脚B07-B09相连;控制器2的引脚OUT1和GND分别与金属丝8和摆动传感器7相连,两平行的金属丝8在平衡梁10处相连,当摆动传感器7与金属丝8相接触,即接通电路;驱动器3的引脚B11-B14通过数据线4与步进电机15相连。 As shown in Figure 5, the power supply 1 is to convert 220V AC power into 24V DC power supply, the driver 3 model is 2024B2, and its pins B15 and B16 are connected to the output end of the power supply 1 by two wires; the controller 2 model CNC, which is connected with The 220V AC power supply is directly connected, and its pins CP0, DIR0 and OPTO are respectively connected to the pins B07-B09 of the driver 3; the pins OUT1 and GND of the controller 2 are connected to the metal wire 8 and the swing sensor 7 respectively, and the two parallel metal The wire 8 is connected at the balance beam 10 , when the swing sensor 7 contacts the metal wire 8 , the circuit is connected; the pins B11-B14 of the driver 3 are connected with the stepper motor 15 through the data line 4 .

单摆系统的工作原理为:接通电源1,将摆体9偏离平衡位置10度左右,放开后,当摆至最大位移处,金属线8与摆动传感器7接触,从而导通驱动控制模块,控制器2使驱动器3驱使步进电机15逆时针旋转(从上向下看),从而带动空心滑块13缓慢下降,移动一定位移后,控制器2控制驱动器3驱使步进电机15顺时针旋转(从上向下看),从而带动空心滑块13快速上升,这时摆体9还没有到另一边最大位移处;当摆体9至另一侧最大位移处金属丝8与摆动传感器7接触,触发控制器2控制驱动器3驱使步进电机15逆时针或顺时针旋转(从上向下看),从而带动滑块缓慢下降,随后快速上升,每次触发摆体9能获得一定能量,从而实现长时间地摆动。 The working principle of the single pendulum system is: connect the power supply 1, deviate the pendulum body 9 from the equilibrium position by about 10 degrees, after releasing it, when the pendulum reaches the maximum displacement, the metal wire 8 contacts the swing sensor 7, thereby conducting the drive control module , the controller 2 drives the driver 3 to drive the stepping motor 15 to rotate counterclockwise (viewed from the top), thereby driving the hollow slider 13 to descend slowly. After moving a certain displacement, the controller 2 controls the driver 3 to drive the stepping motor 15 clockwise Rotate (viewed from top to bottom), thereby driving the hollow slider 13 to rise rapidly. At this time, the pendulum 9 has not reached the maximum displacement on the other side; when the pendulum 9 reaches the maximum displacement on the other side, the metal wire 8 and the swing sensor 7 Contact, the trigger controller 2 controls the driver 3 to drive the stepper motor 15 to rotate counterclockwise or clockwise (viewed from the top), thereby driving the slider to drop slowly and then rise rapidly, and each time the pendulum 9 is triggered, a certain amount of energy can be obtained. Thus, long-term swing is realized.

本实施例中,为实现空心滑块13上下移动是由控制器2控制驱动器3的脉冲个数实现;其优选的方案是控制器2控制驱动器3分别发送250个脉冲,从而驱使步进电机15顺时针和逆时针旋转(从上向下看),由于每个脉冲驱使螺杆11旋转7.5度,即每次旋转1875度。从而带动空心滑块13移动相同的位移,确保空心滑块13的上限位与下限位的位置不变。 In the present embodiment, in order to realize that the hollow slider 13 moves up and down, it is realized by the number of pulses of the controller 2 controlling the driver 3; its preferred scheme is that the controller 2 controls the driver 3 to send 250 pulses respectively, thereby driving the stepping motor 15 Clockwise and counterclockwise (viewed from above), since each pulse drives the screw 11 to rotate 7.5 degrees, that is, each rotation is 1875 degrees. Thereby driving the hollow slider 13 to move the same displacement, ensuring that the positions of the upper limit and the lower limit of the hollow slider 13 remain unchanged.

本实施例中是实现空心滑块13的快速上升,缓慢下降,其实现方式为由控制器2控制驱动器3的脉冲频率来实现;其优选方式是控制器2控制驱动器3每秒钟发送1200个脉冲,从而驱使步进电机15逆时针旋转(从上向下看),带动空心滑块13缓慢下降;控制器2控制驱动器3每秒钟发送2400个脉冲,从而驱使步进电机顺时针旋转(从上向下看),带动空心滑块13快速上升。 In the present embodiment, the rapid rise and slow decline of the hollow slider 13 are realized, and its realization is realized by controlling the pulse frequency of the driver 3 by the controller 2; the preferred method is that the controller 2 controls the driver 3 to send 1200 pulses per second. pulse, thereby driving the stepping motor 15 to rotate counterclockwise (viewed from the top), driving the hollow slider 13 to slowly descend; the controller 2 controls the driver 3 to send 2400 pulses per second, thereby driving the stepping motor to rotate clockwise ( Seen from top to bottom), drive the hollow slide block 13 to rise rapidly.

本实施例中的步进电机15的旋转方向的旋转,与螺杆11的螺纹方向有关,只要通过其旋转能实现本发明中的缓慢上升和快速下降,即属于本专利的保护范围。 The rotation of the stepper motor 15 in this embodiment is related to the thread direction of the screw 11, as long as the slow rise and fast fall in the present invention can be realized through its rotation, it belongs to the protection scope of this patent.

本发明中并不限制空心滑块为椭圆柱形,只要其能通过连接件限制其随螺杆旋转即属于本发明保护的范围;如可以采用下述方案实现:由两片不相连的连接件固定平衡梁和步进电机,空心滑块的外部设有凸起,该突起置于连接件的间隙中。 In the present invention, the hollow slider is not limited to an elliptical cylinder, as long as it can be restricted by the connecting piece to rotate with the screw rod, it belongs to the protection scope of the present invention; if the following scheme can be adopted: it is fixed by two unconnected connecting pieces. The balance beam and the stepping motor are provided with protrusions on the outside of the hollow slider, and the protrusions are placed in the gaps of the connecting parts.

本发明的摆动传感器的工作方式并不限于实施例中所指,只要能实现摆体摆动到最大位移时触发驱动控制模块导通即属于本发明保护的访问;如可采用下述方案实现:对摆线的材料不做限制,而摆动传感器通过两根平行细金属丝连接驱动控制模块引出的两根导线,当摆体运动到最大位移时,连通平行金属丝,从而触发驱动控制模块导通。 The working mode of the swing sensor of the present invention is not limited to what is mentioned in the embodiment, as long as it can trigger the drive control module to conduct when the pendulum swings to the maximum displacement, it belongs to the access protected by the present invention; if the following scheme can be used to realize: The material of the cycloid is not limited, and the swing sensor connects the two wires leading out of the drive control module through two parallel thin metal wires. When the pendulum moves to the maximum displacement, the parallel wires are connected to trigger the drive control module to conduct.

Claims (4)

1.一种能量自动补偿型单摆装置,包括支杆(6)、金属丝(8)和摆体(9),摆体(9)通过金属丝(8)固定于支杆(6)上;其特征在于:摆体(9)包括平衡梁(10)、螺杆(11)、步进电机(15)和空心滑块(13),所述螺杆(11)上刻有凹槽(12),其下端与步进电机(15)共轴,上端为自由端,所述平衡梁(10)和步进电机(15)通过连接件(16)固定;空心滑块(13)通过与凹槽(12)相应的结构装配到螺杆(11)上,该空心滑块(13)与连接件(16)配合限制其旋转;摆动传感器(7)固定于支杆(6)上能与金属丝(8)接触的位置,驱动控制模块通过所述摆动传感器(7)连接到步进电机(15),驱动控制模块与金属丝(8)连接;所述驱动控制模块包括电源(1),控制器(2)和驱动器(3),通过脉冲信号控制步进电机(15)的转速和旋转方向,进而控制空心滑块(13)快速上升和缓慢下降。 1. A single pendulum device with automatic energy compensation, including a support rod (6), a metal wire (8) and a pendulum body (9), the pendulum body (9) is fixed on the support rod (6) through a metal wire (8) It is characterized in that: the pendulum (9) includes a balance beam (10), a screw (11), a stepping motor (15) and a hollow slider (13), and the screw (11) is engraved with a groove (12) , the lower end of which is coaxial with the stepper motor (15), and the upper end is a free end, the balance beam (10) and the stepper motor (15) are fixed by the connecting piece (16); the hollow slider (13) is connected with the groove (12) The corresponding structure is assembled on the screw rod (11), and the hollow slider (13) cooperates with the connector (16) to limit its rotation; the swing sensor (7) is fixed on the support rod (6) and can be connected with the metal wire ( 8) At the contact position, the drive control module is connected to the stepper motor (15) through the swing sensor (7), and the drive control module is connected to the metal wire (8); the drive control module includes a power supply (1), a controller (2) and the driver (3) control the speed and direction of rotation of the stepping motor (15) through pulse signals, and then control the rapid rise and slow fall of the hollow slider (13). 2.如权利要求1所述的能量自动补偿型单摆装置,其特征在于:摆体(9)摆动到一定角度时接触所述摆动传感器(7),接通所述驱动控制电路和步进电机(15)。 2. The energy automatic compensation type simple pendulum device according to claim 1, characterized in that: when the pendulum body (9) swings to a certain angle, it contacts the swing sensor (7), and the drive control circuit and stepper motor (15). 3.如权利要求1所述的能量自动补偿型单摆装置,其特征在于:所述空心滑块(13)通过固定其上的螺钉(14)与所述螺杆(11)的凹槽(12)装配。 3. The energy self-compensating simple pendulum device according to claim 1, characterized in that: the hollow slider (13) is fixed with the screw (14) on it and the groove (12) of the screw (11) )assembly. 4.如权利要求1或3所述的能量自动补偿型单摆装置,其特征在于:所述空心滑块(13)为椭圆柱形,其中心与连接片(16)的距离小于其长半轴长度。 4. The energy self-compensating single pendulum device according to claim 1 or 3, characterized in that: the hollow slider (13) is in the shape of an ellipse, and the distance between its center and the connecting piece (16) is less than half of its length shaft length.
CN2010105197893A 2010-10-26 2010-10-26 Automatic energy compensation type single pendulum device Expired - Fee Related CN101968109B (en)

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CN2054542U (en) * 1989-05-04 1990-03-14 机械电子部大连组合机床研究所 Numerical control step air cylinder
CN2249937Y (en) * 1995-10-13 1997-03-19 符浩 Energy compensator for Foucault pendulum
CN2713567Y (en) * 2004-08-06 2005-07-27 陈大钟 Long running Foucault pendulum by changing potential energy

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