CN103640668B - A kind of control method of linkage type horizontal planar motion mechanism - Google Patents
A kind of control method of linkage type horizontal planar motion mechanism Download PDFInfo
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Abstract
A kind of control method of linkage type horizontal planar motion mechanism, relate to equipment and the control method thereof of Ship model test, particularly relate to a kind of control method of the planar motion mechanism for measuring boats and ships model sport performance, comprise the following steps: shake the path of motion with swaying motion according to ship model head, set up controling parameters table; Perform reset operation; Select movement of ship model pattern; Read controling parameters table, obtain controling parameters; According to controling parameters, production burst time-scale; Pulse train is sent according to pulse sequence table; Drive crossbeam by the motion of predetermined path of motion; By the built-in position transduser sampling of electric cylinder, calculate the actual position of crossbeam, control ship model realizes head and shakes or swaying motion.This method utilizes the accurate positioning control function of PLC main frame, uses same set of control setup to control same movable parts, and the swaying and the head that realize planar motion mechanism shake accurate control, can arrange and adjust ship model head flexibly and shake or the frequency of swaying motion and amplitude.
Description
Technical field
The present invention relates to equipment and the control method thereof of Ship model test, particularly relating to a kind of control method of the planar motion mechanism for measuring boats and ships model sport performance.
Background technology
Planar motion mechanism is widely used in the exercise performance test of boats and ships, aircraft, robot, is the Infrastructure that shipbuilding industry and shipbuilding scientific research carry out that pond ship model sways test.Chinese invention patent application " linkage type horizontal planar motion mechanism " (Chinese invention patent application numbers 200910053195.5, publication number CN101920763A) disclose a kind of linkage type horizontal planar motion mechanism, linkage type horizontal planar motion mechanism of the present invention, comprise the bearer frame be connected with pond ship model trailer, the erecting frame of servo electric jar before and after fixing, crossbeam and push rod, connecting rod are flexibly connected by swivel joint.Pipe link mounting hole on crossbeam and front and back pipe link are fixed, and force balance is connected with adjust bar with ship model, composition linkage type horizontal planar motion mechanism.The position transduser sampling feedback and control setup can realize ship model swaying or head shakes motion in flexible and servo electric jar by the push rod of two servo electric jars.Although it is little that this kinematic mechanism solves existing boats and ships pond planar motion mechanism swaying amplitude, hydraulic-driven volume is large, baroque problem, and the accurate control problem of kinematic mechanism still needs to solve.
Summary of the invention
The object of the invention is the control method that a kind of linkage type horizontal planar motion mechanism will be provided, the accurate control of the accurate positioning control functional realiey kinematic mechanism mode of operation of PLC main frame can be utilized.
The present invention solves the problems of the technologies described above adopted technical scheme:
A kind of control method of linkage type horizontal planar motion mechanism, described linkage type horizontal planar motion mechanism comprises the crossbeam that the first electric cylinder and the second electric cylinder drive jointly, and the control setup to be made up of PLC main frame, the first electric cylinder driver element, the second electric cylinder driver element, analog-to-digital conversion module and touch-screen, it is characterized in that described control method comprises the following steps:
S010: shake the path of motion with swaying motion according to ship model head, determine to sway amplitude and frequency, calculate the drive pulse time series parameters of the first electric cylinder and the second electric cylinder, set up controling parameters table;
S020: detect crossbeam zero-bit state, if crossbeam is away from zero-bit state, then performs the operation of manual forward or reverse, makes crossbeam near zero-bit;
S030: perform reset operation, make crossbeam reply zero-bit, ship model recovers initial position;
S040: select movement of ship model pattern, if head shakes mode of motion, then sets the first electric cylinder and the second electric cylinder is inverted running mode; Otherwise, go to step S060;
S050: read controling parameters table, obtains the controling parameters of swaying motion pattern, goes to step S080;
S060: set the first electric cylinder and the second electric cylinder as operation scheme in the same way;
S070: read controling parameters table, obtains the first controling parameters shaking mode of motion;
S080: according to controling parameters, generates the pulse sequence table of the first electric cylinder and the second electric cylinder;
The impulse deviser of the S100: the first electric cylinder driver element and the second electric cylinder driver element, the speed predetermined according to pulse sequence table and quantity send pulse train;
S110: fed back by rotary encoder, the servomotor of the first electric cylinder driver element and the second electric cylinder driver element, the common crossbeam that drives moves along the horizontal plane by predetermined path of motion;
S120: by the built-in position transduser sampling of electric cylinder, calculate the actual position of crossbeam, control ship model realizes head and shakes or swaying motion.
The one preferably technical scheme of the control method of linkage type horizontal planar motion mechanism of the present invention, characterized by further comprising following steps:
S200: the mode of motion selecting planar motion mechanism, if select continuous mode of motion, then goes to step S100 Automatic continuous and runs; Otherwise, go to step S210 and perform the operation of manual single;
S210: by touch-screen input angle of yaw or swaying position;
S220: the first electric cylinder driver element and the second electric cylinder driver element, according to angle of yaw or swaying amplitude determination pulse transmission rate and quantity, send pulse train;
S230: fed back by rotary encoder, the servomotor of the first electric cylinder driver element and the second electric cylinder driver element, the common crossbeam that drives arrives desired location;
S240: by the built-in position transduser sampling of electric cylinder, calculate the actual position of crossbeam, control ship model and accurately navigate to predetermined angle of yaw or swaying position.
The technical scheme of a kind of improvement of the control method of linkage type horizontal planar motion mechanism of the present invention, characterized by further comprising following steps:
S300: if the angle of yaw of setting or swaying position over-limit condition, or according to the running velocity over-limit condition of swaying amplitude and frequency computation part and producing, then show corresponding alarm message by touch-screen, alert correction; If planar motion mechanism detects overload or overtemperature fault in continuous mode of motion operational process, then enter protectiveness stopped status, by touch-screen output alarm signal.
The invention has the beneficial effects as follows:
1, the control method of linkage type horizontal planar motion mechanism of the present invention, utilize the accurate positioning control function of PLC main frame and positioning control type pulse output module, same set of control setup is used to control same movable parts, the swaying and the head that realize planar motion mechanism shake accurate control, can arrange and adjust ship model head flexibly to shake or the frequency of swaying motion and amplitude, setting range is large, and control accuracy is high.
2, the control method of linkage type horizontal planar motion mechanism of the present invention, is sampled by the built-in position transduser of electric cylinder and is calculated, and can export and show the existing condition of crossbeam in real time, can improve the accuracy rate of ship model maneuvering performance test.
3, the control method of linkage type horizontal planar motion mechanism of the present invention, adopt general Industry Control PLC and servomotor, the feature that PLC control setup is flexible, reliability is high can be fully demonstrated, can at low cost for shipbuilding industry and shipbuilding scientific research provide pond ship model accurately and reliably to sway test facilities.
Accompanying drawing explanation
Fig. 1 is the control flow chart of the control method of linkage type horizontal planar motion mechanism of the present invention;
Fig. 2 is the circuit block diagram of the control setup of linkage type horizontal planar motion mechanism;
Fig. 3 is the electrical schematic diagram of the control setup of linkage type horizontal planar motion mechanism;
Fig. 4 is the structural representation of linkage type horizontal planar motion mechanism.
The label of each parts in above figure: 3-crossbeam, 6-ship model, 8-first electric cylinder, the push rod of 10-first electric cylinder, 11-first swivel joint, 16-connecting rod, 17-second swivel joint, 18-second electric cylinder, the push rod of 20-second electric cylinder, 81-first servomotor, 181-second servomotor, 82-first rotary encoder, 182-second rotary encoder, 50-PLC main frame, 51-first electric cylinder driver element, 52-second electric cylinder driver element, 61-first impulse deviser, 161-second impulse deviser, 62-first servoamplifier, 162-second servoamplifier, 53-analog-to-digital conversion module, 54-touch-screen.
Detailed description of the invention
In order to technique scheme of the present invention can be understood better, describe in detail further below in conjunction with drawings and Examples.
The control flow of an embodiment of the control method of linkage type horizontal planar motion mechanism of the present invention as shown in Figure 1, linkage type horizontal planar motion mechanism as shown in Figure 4, comprise the first electric cylinder 8 and the common crossbeam 3 driven of the second electric cylinder 18, test ship model 6 is connected on crossbeam 3.As shown in Figures 2 and 3, by PLC main frame 50, first electric cylinder driver element 51, second electric cylinder driver element, analog-to-digital conversion module 53 and touch-screen 54 form the circuit structure of the control setup of linkage type horizontal planar motion mechanism.In the embodiment shown in Fig. 2 and Fig. 3, the first electric cylinder driver element 51 is connected to form by the first impulse deviser 61, first servoamplifier 62, first servomotor 81 and the first rotary encoder 82; Second electric cylinder driver element 52 is connected to form by the second impulse deviser 161, second servoamplifier 162, second servomotor 181 and the second rotary encoder 182.In this embodiment, PLC main frame 50 adopts FX3U series of PLC main frame, first impulse deviser 61 and the second impulse deviser 161 adopt positioning control type pulse output module FX2N-1PG, this module bus is articulated on PLC main frame 50, can export according to user instruction the train of impulses meeting location condition, and realize the operations such as initial point involution; Analog-to-digital conversion module 53 adopts 4 tunnels analogy amount load module FX3U-4AD, for the analog signals input PLC main frame exported by built-in position transduser; RS232 serial communication is adopted between touch-screen 54 and PLC main frame 50.
The control method of the linkage type horizontal planar motion mechanism of the present invention shown in Fig. 1 comprises the following steps:
S010: shake the path of motion with swaying motion according to ship model head, determine to sway amplitude and frequency, calculate the drive pulse time series parameters of the first electric cylinder 8 and the second electric cylinder 18, set up controling parameters table;
S020: detect crossbeam 3 zero-bit state, if crossbeam 3 is away from zero-bit state, then performs the operation of manual forward or reverse, makes crossbeam 3 near zero-bit;
S030: perform reset operation, make crossbeam 3 reply zero-bit, ship model 6 recovers initial position;
S040: select movement of ship model pattern, if head shakes mode of motion, then arranging the first electric cylinder 8 with the second electric cylinder 18 is inverted running mode; Otherwise, go to step S060;
S050: read controling parameters table, obtains the controling parameters of swaying motion pattern, goes to step S080;
S060: the first electric cylinder 8 and the second electric cylinder 18 are set for operation scheme in the same way;
S070: read controling parameters table, obtains the first controling parameters shaking mode of motion;
S080: according to controling parameters, generates the pulse sequence table of the first electric cylinder 8 and the second electric cylinder 18;
First impulse deviser 61 of the S100: the first electric cylinder driver element 51, the speed predetermined according to pulse sequence table and quantity, send pulse train by the first servoamplifier 62 to the first servomotor 81; The impulse deviser 161 of the second electric cylinder driver element 52, the speed predetermined according to pulse sequence table and quantity, send pulse train by the second servoamplifier 162 to the second servomotor 181.
S110: fed back by the first rotary encoder 82 and the second rotary encoder 182, first servomotor 81 of the first electric cylinder driver element 51 and the second servomotor 181 of the second electric cylinder driver element 52, the common path of motion driving crossbeam 3 to determine by pulse time-scale is moved along the horizontal plane;
S120: by the first electric cylinder 8 and the built-in position transduser sampling of the second electric cylinder 18, calculate the actual position of crossbeam 3, control ship model 6 realizes head and shakes or swaying motion.
In the embodiment of the control method of the linkage type horizontal planar motion mechanism of the present invention shown in Fig. 1, further comprising the steps of:
S200: the mode of motion selecting planar motion mechanism, if select continuous mode of motion, then goes to step S100 Automatic continuous and runs; Otherwise, go to step S210 and perform the operation of manual single;
S210: input angle of yaw or swaying position by touch-screen 54;
First impulse deviser 61 of the S220: the first electric cylinder driver element 51, according to angle of yaw or swaying amplitude determination pulse transmission rate and quantity, sends pulse train by the first servoamplifier 62 to the first servomotor 81; Second impulse deviser 161 of the second electric cylinder driver element 52, according to angle of yaw or swaying amplitude determination pulse transmission rate and quantity, sends pulse train by the second servoamplifier 162 to the second servomotor 181;
S230: fed back by the first rotary encoder 82 and the second rotary encoder 182, the first servomotor 81 of the first electric cylinder driver element 51 and the second servomotor 181 of the second electric cylinder driver element 52, the common crossbeam 3 that drives accurately arrives locating point;
S240: by the first electric cylinder 8 and the built-in position transduser sampling of the second electric cylinder 18, calculate the actual position of crossbeam 3, control ship model 6 and accurately navigate to predetermined angle of yaw or swaying position.
In the embodiment of the control method of linkage type horizontal planar motion mechanism of the present invention, further comprising the steps of:
S300: if the angle of yaw of setting or swaying position over-limit condition, or according to the running velocity over-limit condition of swaying amplitude and frequency computation part and producing, then show corresponding alarm message by touch-screen 54, alert correction; If planar motion mechanism detects overload or overtemperature fault in continuous mode of motion operational process, then enter protectiveness stopped status, by touch-screen 54 output alarm signal.
Those of ordinary skill in the art will be appreciated that; above embodiment is only used to technical scheme of the present invention is described; and be not used as limitation of the invention; any the above embodiment is done based on connotation of the present invention change, modification, all will drop in the protection domain of claim of the present invention.
Claims (3)
1. the control method of a linkage type horizontal planar motion mechanism, described linkage type horizontal planar motion mechanism comprises the crossbeam that the first electric cylinder and the second electric cylinder drive jointly, and the control setup to be made up of PLC main frame, the first electric cylinder driver element, the second electric cylinder driver element, analog-to-digital conversion module and touch-screen, it is characterized in that described control method comprises the following steps:
S010: shake the path of motion with swaying motion according to ship model head, determine to sway amplitude and frequency, calculate the drive pulse time series parameters of the first electric cylinder and the second electric cylinder, set up controling parameters table;
S020: detect crossbeam zero-bit state, if crossbeam is away from zero-bit state, then performs the operation of manual forward or reverse, makes crossbeam near zero-bit;
S030: perform reset operation, make crossbeam reply zero-bit, ship model recovers initial position;
S040: select movement of ship model pattern, if head shakes mode of motion, then sets the first electric cylinder and the second electric cylinder is inverted running mode; Otherwise, go to step S060;
S050: read controling parameters table, obtains the controling parameters of swaying motion pattern, goes to step S080;
S060: set the first electric cylinder and the second electric cylinder as operation scheme in the same way;
S070: read controling parameters table, obtains the first controling parameters shaking mode of motion;
S080: according to controling parameters, generates the pulse sequence table of the first electric cylinder and the second electric cylinder;
The impulse deviser of the S100: the first electric cylinder driver element and the second electric cylinder driver element, the speed predetermined according to pulse sequence table and quantity send pulse train;
S110: fed back by rotary encoder, the servomotor of the first electric cylinder driver element and the second electric cylinder driver element, the common crossbeam that drives moves along the horizontal plane by predetermined path of motion;
S120: by the built-in position transduser sampling of electric cylinder, calculate the actual position of crossbeam, control ship model realizes head and shakes or swaying motion.
2. the control method of linkage type horizontal planar motion mechanism according to claim 1, characterized by further comprising following steps:
S200: the mode of motion selecting planar motion mechanism, if select continuous mode of motion, then goes to step S100 Automatic continuous and runs; Otherwise, go to step S210 and perform the operation of manual single;
S210: by touch-screen input angle of yaw or swaying position;
S220: the first electric cylinder driver element and the second electric cylinder driver element, according to angle of yaw or swaying amplitude determination pulse transmission rate and quantity, send pulse train;
S230: fed back by rotary encoder, the servomotor of the first electric cylinder driver element and the second electric cylinder driver element, the common crossbeam that drives arrives desired location;
S240: by the built-in position transduser sampling of electric cylinder, calculate the actual position of crossbeam, control ship model and accurately navigate to predetermined angle of yaw or swaying position.
3. the control method of linkage type horizontal planar motion mechanism according to claim 1, characterized by further comprising following steps:
S300: if the angle of yaw of setting or swaying position over-limit condition, or according to the running velocity over-limit condition of swaying amplitude and frequency computation part and producing, then show corresponding alarm message by touch-screen, alert correction; If planar motion mechanism detects overload or overtemperature fault in continuous mode of motion operational process, then enter protectiveness stopped status, by touch-screen output alarm signal.
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| US3633419A (en) * | 1968-12-11 | 1972-01-11 | Mitsubishi Heavy Ind Ltd | Experimental basin and means for testing behaviors of offshore marine structures |
| JPS6035020B2 (en) * | 1979-09-28 | 1985-08-12 | 理一 小倉 | How to make a model for flow test |
| CN101920763B (en) * | 2009-06-17 | 2014-09-10 | 上海诸光机械有限公司 | Linkage type horizontal planar motion mechanism |
| CN101920764B (en) * | 2009-06-17 | 2014-09-10 | 上海诸光机械有限公司 | Platform type horizontal plane planar motion mechanism |
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