CN104568475A - Mobile numerical control model vehicle - Google Patents
Mobile numerical control model vehicle Download PDFInfo
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- CN104568475A CN104568475A CN201510050263.8A CN201510050263A CN104568475A CN 104568475 A CN104568475 A CN 104568475A CN 201510050263 A CN201510050263 A CN 201510050263A CN 104568475 A CN104568475 A CN 104568475A
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Abstract
The invention discloses a mobile numerical control model vehicle comprising a vehicle body platform. At least one electromagnetic actuator for applying assigned exciting load on the model vehicle is fixedly connected to the vehicle body platform, MIMO (multiple-input multiple-output) closed-loop control equipment for vibration control of the electromagnetic actuators is connected to the input end of each electromagnetic actuator, a force sensor and/or an acceleration sensor for feeding back sensed exciting force signals and acceleration signals to the MIMO closed-loop control equipment is connected to the output end of each electromagnetic actuator, and the MIMO closed-loop control equipment corrects vibration control signals outputted by the MIMO closed-loop control equipment to the electromagnetic actuators according to differences obtained by comparing the fed exciting signals with expected signals. The mobile numerical control model vehicle has the advantages that the model vehicle is provided with the electromagnetic actuators adopting closed-loop control and is capable of setting the actuators according to users' needs and simulating power load generated during actual operation of vehicles to enable simulation to be more approximate to the real situation; the model vehicle body platform has a control function.
Description
Technical field
The present invention relates to hot-short simulation system technical field, be specifically related to a kind of movable numerically-controlled model car.
Background technology
When vehicle high-speed runs, because the reasons such as track irregularity or road irregularity cause vehicle to produce vertical and horizontal vibration, this vibration is to traffic safety, passenger's comfortableness, generation has a strong impact on by structural safety and surrounding environment, such as aggravate Vehicular vibration, vehicle derailing may be caused, topple, reduce passenger's comfortableness, surrounding building is had an impact.Therefore, imperative to the analysis and research of traffic vibration.But due in a lot of situation, site test complicated condition, testing expenses are very large, therefore need a kind ofly to simulate actual motion vehicle well to the model car of substructure power incentive action to carry out Eccentric Loads in Layered Soils and Research, thus substitute site test.And existing model car or itself not there is power traction system and control system, need during test to run by other draw-off equipments are auxiliary; Or need to adopt electrical power generators, produce alternating current and power, then carry out variable frequency control, make model car control so very loaded down with trivial details; Simultaneously because vehicle does not arrange vibrator, just simple car body, cannot encourage load by simulating vehicle effectively.
Therefore study a kind of function more perfect, system stability, reliability are higher, and the model car more meeting truth becomes problem demanding prompt solution.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, provide one to have to walk voluntarily, speed predeterminable, variable-ratio, Braking mode function, and can the model car of simulating vehicle excitation load very well.The present invention can better for the indoor model experiments of highway and the dependency structure such as railway bed, bridge provides convenient, and the engineering structure vibration problem research caused for further investigation vehicle provides more effective means.
The technical scheme of patent of the present invention is: a kind of movable numerically-controlled model car, comprise vehicle body platform, vehicle body platform is connected with at least one for applying to specify the electromagnetic actuator of exciting load to model car, the input end of electromagnetic actuator is connected with the MIMO closed-loop control equipment for carrying out vibration control to electromagnetic actuator, the output terminal of electromagnetic actuator is connected with force snesor and/or acceleration transducer for the exciting force sensed signal and acceleration signal being fed back to MIMO closed-loop control equipment, the accumulation signal of MIMO closed-loop control equipment according to contrast feedback and the difference of expection signal, then the oscillation control signal that MIMO closed-loop control equipment exports to vibrator is corrected.
Alternatively, MIMO closed-loop control equipment comprises waveform generator for sending waveform signal, for receiving waveform signal and by the controller of waveform signal converting to force control signal and/or acceleration control signal and be used for the subtracter that the digital signal that controller exports carried out processing and amplifying and amplifier.
Alternatively, the accumulation signal sensed is fed back to MIMO closed-loop control equipment by feedback device by force snesor and/or acceleration transducer.
Alternatively, the two groups of wheel shafts being parallel to each other and arranging are housed bottom vehicle body platform, wheel shaft is fixed on vehicle body platform by bearing, wheel is equipped with respectively in wheel shaft two ends, the middle part of wheel shaft is equipped with for the scrambler of judgment models car range ability and the steering gear for changing wheel rotational axis direction, steering gear connects driving shaft by shaft coupling, and DC brushless motor is connected by speed reduction unit and drives driving shaft to operate, and driving shaft is also equipped with brake gear.
Alternatively, acceleration transducer is arranged on the bottom of vehicle body platform; Force snesor is arranged on wheel shaft.
Alternatively, be provided with in control box for regulate DC brushless motor with the electric machine speed regulation controller adapting to various electric current and moment of torsion and export, for control brake gear force model car assigned address automatic retarding orientation triggering switch, for controlling brake gear, the emergency stop switch of brake hard and the PLC control for Controlling model vehicle travelling state are carried out to the model car in travelling.
Alternatively, vehicle body platform is equipped with accumulator, by accumulator, DC brushless motor is powered.
Alternatively, at least one end of vehicle body platform is equipped with the snubber assembly for slowing down impulsive contact force, snubber assembly comprises impingement baffles, and impingement baffles is fixed on vehicle body platform by buffer spring, steel column and orifice ring.
Alternatively, vehicle body platform is also provided with weight mass block for regulating model axletree heavy and assembled and regulate the bolt hole of model car length of wagon, bolt and nut for model car structure.
Alternatively, wheel is detachable block; Wheel is that the simulation steel wheel of igneous rock cracks or simulated automotive take turns right aerated rubber tyre.
Packaged type CNC Model car comprises vehicle operating control device, vehicle body platform, accumulator, DC brushless motor, motor driver, speed change gear, brake gear, steering box, speed pickup, force snesor, electromagnetic actuator and vibrator closed-loop control device.Model car vehicle body platform installs electromagnetic actuator, and electromagnetic actuator is arranged on vehicle body platform by reliable coupling arrangement; Electromagnetic actuator adopts MIMO closed-loop control system to carry out vibration control, MIMO closed-loop control system can adopt power to control or Acceleration Control mode, by above control mode, make electromagnetic actuator can apply the excitation load of specifying to model car car body.Model car can install the electromagnetic actuator of more than or as required, and electromagnetic actuator experimentally can need horizontal positioned or vertically place, or other arbitrarily angled placements.Electromagnetic actuator can be made to apply sinusoidal excitation load, pulse excitation load, square wave excitation load, load excited by impact and any arbitrary excitation load etc. to model car car body by MIMO closed-loop control system.The Power Drive Unit of model car is DC brushless motor, and adopt accumulator to power to DC brushless motor, meanwhile, model car is provided with electric machine speed regulation controller, can adapt to the needs of motor big current, high pulling torque output.Model car is provided with car load speed control unit, installs rotary encoder on the driving shaft, the real-time speed of feedback vehicle and range ability.Model car control device adopts PLC to be master element, and employing touch-screen is human-computer interaction device, touch screen control panel can set the speed of a motor vehicle, display vehicle operating distance, setting vehicle launch time, range ability, traffic direction, setting normal danger.The control device of model car has emergency stop switch and orientation triggering switch control rule brake gear.Emergency stop switch can implementation model car when the emergency circumstance, manually assign emergency brake instruction.The rotary encoder judgment models car range ability of orientation triggering switch control rule brake gear by driving shaft is installed, Controlling model car is horse back automatic retarding when assigned address.The top of model car is provided with snubber assembly, and when model car cannot be stopped by self brake gear, snubber assembly can make model car stop reposefully when bumping against barrier.Installing force sensor and acceleration transducer on model car axletree, wherein force snesor can in test model car operational process axletree place the changing value of pressure, acceleration transducer can the vibration acceleration of test model car car body in operational process.What model car vehicle body platform was arranged has bolt hole, is used for fixing and needs to be fixed on equipment on vehicle body platform and breeding mass, by installing weight mass block on model car vehicle body platform, and can the axle weight of adjustment model car.Model car length of wagon can regulate, and can increase or shorten model car antero posterior axis wheelbase by regulating length of wagon.The wheel of model car can carry out dismounting and change, and can be the steel wheel of simulation igneous rock cracks, also can be that simulated automotive takes turns right aerated rubber tyre.Model car can run on the bridge of highway or railway, tunnel, roadbed and track structure model, and simulation actual vehicle runs the percussive action to bridge, tunnel, roadbed and track structure.
Beneficial effect of the present invention is:
1, model car of the present invention can simulate different vehicle and vehicle power excitation load
Model car is provided with the electromagnetic actuator adopting closed-loop control, can need to arrange vibrator according to user, the dynamic load that simulating vehicle produces in actual motion, make test simulation more close to truth.Model car vehicle body platform has adjusting function.
2, model car perfect in shape and function of the present invention,
The wheel of model car can be dismantled, and can change the pneumatic tyre of simulated automotive into, also can change the steel wheel of analog orbit traffic train into; Simultaneously by adjustment weight mass block, model axletree weight can be changed, the vehicle of simulating different deadweight can be realized.Can by elongating or shortening vehicle body platform length adjustment model car antero posterior axis wheelbase, the vehicle of simulation disalignment distance.
3, model car of the present invention is easy to use, tows without the need to the external world
Propulsion system installed by model car self, and propulsion system are powered by accumulator, tow during test without the need to the external world, and mode of motion is arranged in advance by control system, and brushless dc function realizes vehicle constant speed drive, and test will be more convenient like this.
4, model car system stability of the present invention, security are high
Operate steadily in model car driving process, and control system has emergency stop switch and orientation triggering switch, by brake system, can stop by horse back automatic retarding when model car arrives assigned address, and in case of emergency can adopt artificial danger button fast braking.Snubber assembly installed by model car, and when model car cannot be stopped by self brake system, snubber assembly can make model car stop reposefully when bumping against barrier.
Below in conjunction with accompanying drawing, patent of the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the model car one-piece construction schematic diagram of the embodiment of the present invention;
Fig. 2 is the one-piece construction schematic diagram after the model car adjustment length of wagon of the embodiment of the present invention;
Fig. 3 is that the model car of the embodiment of the present invention travels schematic diagram on roadbed;
Fig. 4 is that the model car of the embodiment of the present invention travels schematic diagram on bridge;
Fig. 5 is the model car body structure schematic diagram of the embodiment of the present invention;
Fig. 6 is the model underbody structure planimetric map of the embodiment of the present invention;
Fig. 7-a is that the vibrator of the embodiment of the present invention vertically places schematic diagram;
Fig. 7-b is the vibrator horizontal positioned schematic diagram of the embodiment of the present invention;
Fig. 8 is the snubber assembly schematic diagram of the embodiment of the present invention;
Fig. 9 is the weight mass block schematic diagram of the embodiment of the present invention;
Figure 10 is the accumulator schematic diagram of the embodiment of the present invention;
Figure 11-a is the steel wheel schematic diagram of the embodiment of the present invention;
Figure 11-b is the rubber tyre schematic diagram of the embodiment of the present invention;
Figure 12-a is the control box schematic diagram of the embodiment of the present invention;
Figure 12-b is the control box interior arrangement schematic diagram of the embodiment of the present invention;
Figure 13 is the touch screen operation interface schematic diagram of the embodiment of the present invention;
Figure 14 is the MIMO closed-loop control equipment principle of work schematic diagram of the embodiment of the present invention.
Wherein 1 is electromagnetic actuator, 2 is accumulator, 3 is control box, 4 is touch-screen, 5 is wheel shaft, 6 is steel wheel, 7 is rubber tyre, 8 is acceleration transducer, 9 is force snesor, 10 is snubber assembly, 11 is steel column, 12 is orifice ring, 13 is impingement baffles, 14 is buffer spring, 15 is brake gear, 16 is shaft coupling, 17 is bearing, 18 is barrier, 19 is weight mass block, 20 is roadbed, 21 is bridge, 22 is bridge pier, 23 is track, 24 is electric machine speed regulation controller, 25 is DC brushless motor, 26 is vehicle body platform, 27 is scrambler, 28 is steering gear, 29 is driving shaft, 30 is speed reduction unit, 31 is power switch, 32 is orientation triggering switch, 33 is emergency stop switch, 34 is PLC control, 35 is bolt hole, 36 is bolt, 37 is nut.
Embodiment
Further illustrating below to patented technology content of the present invention, but the restriction not to patent flesh and blood of the present invention.
Fig. 1 is the model car one-piece construction schematic diagram of the embodiment of the present invention; Fig. 2 is the one-piece construction schematic diagram after the model car adjustment length of wagon of the embodiment of the present invention; Fig. 3 is that the model car of the embodiment of the present invention travels schematic diagram on roadbed; Fig. 4 is that the model car of the embodiment of the present invention travels schematic diagram on bridge; Fig. 5 is the model car body structure schematic diagram of the embodiment of the present invention; Fig. 6 is the model underbody structure planimetric map of the embodiment of the present invention; Fig. 7-a is that the vibrator of the embodiment of the present invention vertically places schematic diagram; Fig. 7-b is the vibrator horizontal positioned schematic diagram of the embodiment of the present invention; Fig. 8 is the snubber assembly schematic diagram of the embodiment of the present invention; Fig. 9 is the weight mass block schematic diagram of the embodiment of the present invention; Figure 10 is the accumulator schematic diagram of the embodiment of the present invention; Figure 11-a is the steel wheel schematic diagram of the embodiment of the present invention; Figure 11-b is the rubber tyre schematic diagram of the embodiment of the present invention; Figure 12-a is the control box schematic diagram of the embodiment of the present invention; Figure 12-b is the control box interior arrangement schematic diagram of the embodiment of the present invention; Figure 13 is the touch screen operation interface schematic diagram of the embodiment of the present invention; Figure 14 is the MIMO closed-loop control equipment principle of work schematic diagram of the embodiment of the present invention.
As shown in Figure 1, the movable numerically-controlled model car of one of the present invention, comprise vehicle body platform 26, vehicle body platform 26 is connected with at least one for applying to specify the electromagnetic actuator 1 of exciting load to model car, the input end of electromagnetic actuator 1 is connected with the MIMO closed-loop control equipment for carrying out vibration control to electromagnetic actuator 1, the output terminal of electromagnetic actuator 1 is connected with exciting force signal feedback for sensing to the force snesor 9 of MIMO closed-loop control equipment and/or acceleration transducer 8, the oscillation control signal that MIMO closed-loop control equipment is exported to vibrator by the exciting force correction form signals MIMO closed-loop control equipment of feedback.Electromagnetic actuator 1 adopts MIMO closed-loop control equipment to control.Waveform generator sends waveform signal, can carry out power control and Bit andits control by corresponding software to signal.Digital signal passes to vibrator after being undertaken processing and amplify by subtracter and amplifier, and electromagnetic actuator 1 produces exciting force according to signal to control object.Force snesor 9 and acceleration transducer 8 are by collection accumulation signal and feed back in controller, and the deviation of controller to feedback signal is corrected, and offset interference, thus ensure that the output exciting force of electromagnetic actuator 1 is undistorted.
It is also, MIMO closed-loop control equipment comprises waveform generator for sending waveform signal, for receiving waveform signal and by the controller of waveform signal converting to force control signal and/or acceleration control signal and be used for the subtracter that the digital signal that controller exports carried out processing and amplifying and amplifier.
It is also, the accumulation signal sensed is fed back to MIMO closed-loop control equipment by feedback device by speed reduction unit 30 by force snesor 9 and/or acceleration transducer 8.
It is also, the two groups of wheel shafts 5 being parallel to each other and arranging are housed bottom vehicle body platform 26.Wheel shaft 5 is fixed on vehicle body platform 26 by bearing 17.Wheel is equipped with respectively in wheel shaft 5 two ends.The middle part of wheel shaft 5 is equipped with for the scrambler 27 of judgment models car range ability and the steering gear 28 for changing wheel shaft 5 rotation direction.Steering gear 28 connects driving shaft 29 by shaft coupling 16.DC brushless motor 25 is connected by speed reduction unit 30 and drives driving shaft 29 to operate.Driving shaft 29 is also equipped with brake gear 15.
It is also, acceleration transducer 8 is arranged on the bottom of vehicle body platform 26.Force snesor 9 is arranged on wheel shaft 5.
It is also, be provided with in control box 3 for regulate DC brushless motor 25 with the electric machine speed regulation controller 24 adapting to various electric current and moment of torsion and export, for control brake gear 15 force model car to set out in the location of assigned address automatic retarding switch, for controlling brake gear 15, the emergency stop switch 33 of brake hard and the PLC control 34 for Controlling model vehicle travelling state are carried out to the model car in travelling.
It is also, vehicle body platform 26 is equipped with accumulator 2 and DC brushless motor 25, is powered by accumulator 2 pairs of DC brushless motors 25.
It is also, at least one end of vehicle body platform 26 is equipped with the snubber assembly 10 for slowing down impulsive contact force.Snubber assembly 10 comprises impingement baffles 13.Impingement baffles 13 is fixed on vehicle body platform 26 by buffer spring 14, steel column 11 and orifice ring 12.
It is also, vehicle body platform 26 is also provided with weight mass block 19 for regulating model axletree heavy and assembled and regulate the bolt hole 35 of model car length of wagon, bolt 36 and nut 37 for model car structure.
It is also, wheel is detachable block.Wheel is that the simulation steel wheel 6 of igneous rock cracks or simulated automotive take turns right aerated rubber tyre 7.
A kind of packaged type CNC Model car comprises vehicle operating control device, vehicle body platform 26, accumulator 2, DC brushless motor 25, motor driver, speed change gear, brake gear 15, steering box, speed pickup, force snesor 9, electromagnetic actuator 1 and vibrator closed loop controller.Model car vehicle body platform 26 is installed electromagnetic actuator 1, and electromagnetic actuator 1 is arranged on vehicle body platform 26 by reliable coupling arrangement.Electromagnetic actuator 1 adopts MIMO closed-loop control equipment to carry out vibration control, MIMO closed-loop control equipment can adopt power to control or Acceleration Control mode, by above control mode, make electromagnetic actuator 1 can apply the excitation load of specifying to model car car body.Model car can install the electromagnetic actuator 1 of more than or as required, and electromagnetic actuator 1 experimentally can need horizontal positioned or vertically place, or other arbitrarily angled placements.Electromagnetic actuator 1 pair of model car car body can be made to apply sinusoidal excitation load, pulse excitation load, square wave excitation load, load excited by impact and any arbitrary excitation load etc. by MIMO closed-loop control equipment.The Power Drive Unit of model car is DC brushless motor 25, and adopt accumulator 2 pairs of DC brushless motors 25 to power, meanwhile, model car is provided with electric machine speed regulation controller 24, can adapt to the needs of motor big current, high pulling torque output.Model car is provided with car load speed control unit, and driving shaft 29 is installed the scrambler 27 of rotation, the real-time speed of feedback vehicle and range ability.Model car control device adopts PLC to be master element, adopts touch-screen 4 to be human-computer interaction device, touch-screen 4 control panel can set the speed of a motor vehicle, display vehicle operating distance, setting vehicle launch time, range ability, traffic direction, setting normal danger.The control device of model car has emergency stop switch 33 and orientation triggering switch 32 controls brake gear 15.Emergency stop switch 33 can implementation model car when the emergency circumstance, manually assign emergency brake instruction.Orientation triggering switch 32 controls the scrambler 27 judgment models car range ability of brake gear 15 by the rotation of installation on driving shaft 29, and Controlling model car is horse back automatic retarding when assigned address.The top of model car is provided with snubber assembly 10, and when model car cannot be stopped by self brake system, snubber assembly 10 can make model car stop reposefully when bumping against barrier 18.Installing force sensor 9 and acceleration transducer 8 on model car axletree, wherein force snesor 9 can in test model car operational process axletree place the changing value of pressure, acceleration transducer 8 can the vibration acceleration of test model car car body in operational process.What model car vehicle body platform 26 was arranged has bolt hole 35, is used for fixing and needs to be fixed on equipment on vehicle body platform 26 and breeding mass, by installing weight mass block 19 on model car vehicle body platform 26, and can the axle weight of adjustment model car.Model car length of wagon can regulate, and can increase or shorten model car antero posterior axis wheelbase by regulating length of wagon.The wheel of model car can carry out dismounting and change, and can be the steel wheel 6 of simulation igneous rock cracks, also can be that simulated automotive takes turns right aerated rubber tyre 7.Model car can run on the bridge 21 of highway or railway, tunnel, roadbed 20 and track 23 structural model, and simulation actual vehicle runs the percussive action to bridge 21, tunnel, roadbed 20 and track 23 structure.
As shown in Figure 1, the ingredient of packaged type model car can divide quinquepartite, is car body, electromagnetic actuator 1, accumulator 2, control box 3, weight mass block 19 respectively.Accumulator 2, control box 3 is arranged on vehicle body platform 26 both sides of car body.Electromagnetic actuator 1 is by the middle part of the vehicle body platform 26 that is reliably mounted on car body, and electromagnetic actuator 1 can horizontal positioned, also can be vertical placement, apply horizontal drive and vertical drive respectively to model.Weight mass block 19 is arranged on the both sides of electromagnetic actuator 1, and weight mass block 19 can adjust as required, to simulate different axle weights.
As shown in Figure 2, vehicle body platform 26 can be divided into three pieces, and there is crossing lap middle and junction, both sides, and the length of lap can regulate, and all has bolt hole 35, with bolt 36, vehicle body platform 26 3 part is carried out anchoring.After the length of adjustment vehicle body platform 26, then change the driving shaft 29 of corresponding length, so just can the wheelbase of adjustment model car antero posterior axis.The steel plate of vehicle body platform 26 3 portion connection all has enough Rigidity and strengths.
Fig. 3 and Fig. 4 is the application example of the packaged type model car shown in Fig. 1 on roadbed 20 model and bridge 21 model respectively.Bridge pier 22 supports roadbed 20 model and bridge 21 model, roadbed 20 model and bridge 21 model two ends be all provided with barrier 18, prevent instruction carriage from travelling out beyond model in experimentation.
As shown in Fig. 5, Fig. 6, model car adopts DC brushless motor 25 to drive, and DC brushless motor 25 is arranged on bottom vehicle body platform 26, and motor crankshaft adopts shaft coupling 16 to be connected with the input shaft of speed reduction unit 30.Speed reduction unit 30 output shaft and driving shaft 29 adopt shaft coupling 16 to be connected, and speed reduction unit 30 can reduce the rotating speed that motor exports, and then controls car load travel speed.Installation shaft brake apparatus on driving shaft 29, when model car arrives assigned address, or when being in a state of emergency, can brake in time.Driving shaft 29 is installed the scrambler 27 of rotation, can judgment models car range ability, and feed back real-time speed and the range ability of vehicle.The front and back wheel shaft 5 of model car all installs steering gear 28, makes model car can change the direction of operation at random in operational process, advance or retreat.Model car wheel shaft 5 is arranged on car body by bearing 17, and wheel is arranged on wheel shaft 5, and wheel is dismountable, can more wheel change as required.Model car wheel shaft 5 place installing force sensor 9, force snesor 9 can in test model car operational process axletree place the changing value of pressure.Model car car body is installed acceleration transducer 8, acceleration transducer 8 can the vibration acceleration of test model car car body in operational process.Snubber assembly 10 is installed on the top of model car, and when model car cannot be stopped by self brake system, snubber assembly 10 can make model car stop reposefully when bumping against barrier 18.
Fig. 7-a, Fig. 7-b is two kinds of embodiments of vibrator, is the vibrator of vertical placement and the vibrator of horizontal positioned respectively.
As shown in Figure 8, model car top snubber assembly 10 mainly comprises impingement baffles 13, buffer spring 14, steel column 11 and orifice ring 12.Bottom vehicle body platform 26, orifice ring 12 is all welded at two ends, and insert steel column 11, steel column 11 can stretch in orifice ring 12, steel column 11 opposite side is welded on impingement baffles 13, steel column 11 overlaps buffer spring 14, and impingement baffles 13 is lived on buffer spring 14 1 crown, and orifice ring 12 is lived on a crown.When model car cannot be stopped by self brake system, during clobber 18, snubber assembly 10 utilizes the elasticity of spring, and model car can be made to stop reposefully.
Fig. 9 is weight mass block 19 schematic diagram, and weight mass block 19 is arranged on vehicle body platform 26, can be how many according to the great little adjustment balancing weight that carries out of desired simulation axle.
Figure 10 is accumulator 2 schematic diagram.Accumulator 2 is arranged on vehicle body platform 26 end, for motor provides direct current.
Figure 11-a, Figure 11-b is two kinds of embodiments of wheel, is that steel wheel 6 and the simulated automotive of simulation igneous rock cracks takes turns right aerated rubber tyre 7 respectively.
As Figure 12-a, shown in 12-b, control box 3 is provided with touch-screen 4 above, inner installation power switch 31, emergency stop switch 33, orientation triggering switch 32, electric machine speed regulation controller 24 and PLC control 34.
Figure 13 is touch-screen 4 interface.In this case study on implementation, for realizing man-machine interaction better, model car control device arranges touch-screen 4.The main interfacial energy of touch-screen 4 shows real-time travelling speed and range ability, also can arrange the direction that model car travels on main interface, can advance, also can retreat, also can brake at assigned address.The sub-interface of the first order can be entered by the optimum configurations key at main interface, enter the concrete numerical value of sub-interface, the second level to constant speed and normal danger respectively by the constant speed key on the sub-interface of the first order and normal danger key and set.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure transformation utilizing description of the present invention to do, or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a movable numerically-controlled model car, comprise vehicle body platform, it is characterized in that, vehicle body platform is connected with at least one for applying to specify the electromagnetic actuator of exciting load to model car, the input end of electromagnetic actuator is connected with the MIMO closed-loop control equipment for carrying out vibration control to electromagnetic actuator, the output terminal of electromagnetic actuator is connected with force snesor and/or acceleration transducer for the exciting force sensed signal and acceleration signal being fed back to MIMO closed-loop control equipment, the accumulation signal of MIMO closed-loop control equipment according to contrast feedback and the difference of expection signal, then the oscillation control signal that MIMO closed-loop control equipment exports to vibrator is corrected.
2. movable numerically-controlled model car according to claim 1, it is characterized in that, MIMO closed-loop control equipment comprises waveform generator for sending waveform signal, for receiving waveform signal and by the controller of waveform signal converting to force control signal and/or acceleration control signal and be used for the subtracter that the digital signal that controller exports carried out processing and amplifying and amplifier.
3. movable numerically-controlled model car according to claim 2, is characterized in that, the accumulation signal sensed is fed back to MIMO closed-loop control equipment by feedback device by force snesor and/or acceleration transducer.
4. movable numerically-controlled model car according to claim 2, it is characterized in that, the two groups of wheel shafts being parallel to each other and arranging are housed bottom vehicle body platform, wheel shaft is fixed on vehicle body platform by bearing, wheel is equipped with respectively in wheel shaft two ends, the middle part of wheel shaft is equipped with for the scrambler of judgment models car range ability and the steering gear for changing wheel rotational axis direction, steering gear connects driving shaft by shaft coupling, DC brushless motor is connected by speed reduction unit and drives driving shaft to operate, and driving shaft is also equipped with brake gear.
5. movable numerically-controlled model car according to claim 4, is characterized in that, acceleration transducer is arranged on the bottom of vehicle body platform; Force snesor is arranged on wheel shaft.
6. movable numerically-controlled model car according to claim 5, it is characterized in that, be provided with in control box for regulate DC brushless motor with the electric machine speed regulation controller adapting to various electric current and moment of torsion and export, for control brake gear force model car assigned address automatic retarding orientation triggering switch, for controlling brake gear, the emergency stop switch of brake hard and the PLC control for Controlling model vehicle travelling state are carried out to the model car in travelling.
7. movable numerically-controlled model car according to claim 1, be is characterized in that, vehicle body platform is equipped with accumulator, powered by accumulator to DC brushless motor.
8. movable numerically-controlled model car according to any one of claim 1 to 7, it is characterized in that, the snubber assembly for slowing down impulsive contact force at least one end of vehicle body platform is equipped with, snubber assembly comprises impingement baffles, and impingement baffles is fixed on vehicle body platform by buffer spring, steel column and orifice ring.
9. movable numerically-controlled model car according to any one of claim 1 to 7, it is characterized in that, vehicle body platform being also provided with weight mass block for regulating model axletree heavy and assembled and regulate the bolt hole of model car length of wagon, bolt and nut for model car structure.
10. the movable numerically-controlled model car according to any one of claim 4 to 6, is characterized in that, wheel is detachable block; Wheel is that the simulation steel wheel of igneous rock cracks or simulated automotive take turns right aerated rubber tyre.
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| CN109791093A (en) * | 2016-07-06 | 2019-05-21 | 4灵动系统股份有限公司 | The moveable platform with flexible ontology of the case where for test collisions or close collision |
| CN110320061A (en) * | 2019-08-13 | 2019-10-11 | 华东交通大学 | A kind of train loading simulator for bridge model test |
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| CN111982656A (en) * | 2020-07-21 | 2020-11-24 | 深圳大学 | Engineering structure model test system under environment load coupling effect |
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| CN111982656A (en) * | 2020-07-21 | 2020-11-24 | 深圳大学 | Engineering structure model test system under environment load coupling effect |
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