CN105116782B - A kind of laboratory control platform - Google Patents
A kind of laboratory control platform Download PDFInfo
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- CN105116782B CN105116782B CN201510173666.1A CN201510173666A CN105116782B CN 105116782 B CN105116782 B CN 105116782B CN 201510173666 A CN201510173666 A CN 201510173666A CN 105116782 B CN105116782 B CN 105116782B
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Abstract
The present invention relates to a kind of laboratory control platforms.Solve the accurate experiment porch deficiency that the prior art is used for student, the too high problem of accurate experimental bench price, technical solution is：Including platform, platform driver, platform motor, platform motor driver, platform displacement detection device, platform controller, communicating circuit, control computer, D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector and A/D converter, platform controller is electrically connected by communicating circuit with control computer, platform controller is connect by platform motor driver with platform motor, the output shaft of platform motor is connect by platform driver with Platform Machinery, platform displacement detection device is disposed on the output shaft of platform motor, the output end of platform displacement detection device is electrically connected with platform controller.The present invention provides a kind of simple and convenient, low-cost laboratory control platform, realize that simply, control is accurate, is suitble to the various experiments of university student.
Description
Technical field
The present invention is a kind of experiment console, more particularly to a kind of laboratory control platform.
Background technology
Foreign countries are early in the comparison that the design studies of Ultraprecise platform start to walk.This facilitate developed countries to precision surface plate
And its nanotechnology is classified as 22 keys that government's emphasis is supported by the research American National key technology committee of related science
Nanotechnology is also classified as one of the key technology preferentially supported by one of technology, American National foundation, and the U.S. is many famous big
Be designed with nanotechnology research mechanism, such as the precision engineering center of University of North Carolina, the national nanometer of Cornell University
Machining experiment room, micron manufacturing center of Louisiana university etc..Japan is using nanotechnology as ERATO 6 in the works
One of preferential high-tech quest projects, invest 200,000,000 dollars of Development of Nanotechnology；Build the cross discipline research center handle in wave science city
Nanotechnology is included in one of 2 the main direction of development.United Kingdom National nanotechnology (NION) plan has come into effect, in Britain
Cranfield universities have set up the precision engineering center using nanotechnology as goal in research.Other countries in Europe also do not give the impression of weakness,
Nanotechnology has been included in " Eurika research programme ".
In the middle and later periods eighties in last century, domestic scholars propose macro-micro dual-drive technology, deliver science one after another in succession
Paper expansion research discusses that it is a kind of effective means for realizing big stroke, high accuracy positioning at present.Such as Tsinghua University professor
Wu Yingfei, Zhou Zhaoying's (Tsinghua University's precision instrument and Department of Mechanical)《Superfinishing is realized in the transmission of Piezoelectric Driving flexure hinge mechanism
Close positioning》The concept and feature for just describing piezoelectric element and flexible hinge in one text in detail, enumerate piezoelectric element and flexible hinge
Chain mechanism is implemented in combination with the exemplary of Ultra-precision positioning, including ultra precise measurement, Ultra-precision Turning, optics focus and big automatically
Range Ultraprecise positions.To make the compact-sized of Ultra Precision Stages, it is also proposed that single driving movement mechanism with multiple degrees of freedom,
Multifreedom motion that can be on combination mechanism using the motion principle of creeping motion type, and realize big stroke motion.Devise symmetrical junction
The flexure hinge mechanism of structure realizes guide function.
The Ye Shuliang of Harbin Institute of Technology's ultraprecise photoelectric instrument Graduate School of Engineering, doctor's Tan Jiubin《With nanometer
The development of resolving power two-dimensional ultraprecise positioning system》There are displacement sensitivity, systems for traditional Ultra-precision positioning system for one text
The problem of frequency response and repetitive positioning accuracy are difficult to take into account, designs and to have developed a kind of two-dimensional ultraprecise with nanometer resolution fixed
Position system.System integration parallel―ordinal shift structure double-flexibility two-dimentional work bench gapless driving, bipolarity telescopic piezoelectric ceramic
The advanced technologies such as Micro-displacement Driving and the monitoring of nano-precision capacitive displacement, can realize determining for nanometer scale under micro-processor control
Position.To improve the defects of precision is low, real-time is poor existing for traditional PID control method, it is proposed that in a kind of combination position fixing process
Ratio, integral and differential (PID) parameter adaptive control algorithm of each stage system difference response characteristic.
The Meng Zhaoxin of power and mechanical engineering institute of Harbin University of Science and Technology, Hu Naiwen two exist《Three-dimensional precise positions work
The research of the control system of platform》The control principle and structure composition of three-dimensional precision worktable quick positioning system are carried out in one text
Research, and theoretical and experimental analysis is carried out to system.In order to realize that high-precision quick positioning, system use independent servo
The PID adaptive control algorithms of control technology and structure changes have reached satisfied positioning accuracy.
In conclusion coordinating piezoelectric ceramics to execute again using the pattern of macro micro- combination from the point of view of present Research both domestic and external
Device.Ultraprecise platform using two-stage transmission mechanism is to be easier to realize and a kind of realistic Ultraprecise platform design side
Method.This scheme is student's microtest in school, experiment can provide enough help.
Invention content
It is accurate real the purpose of the present invention is insufficient to solve the accurate experiment porch that current technology scheme is used for student
The too high problem of platform price is tested, a kind of simple and convenient, low-cost laboratory control platform is provided.
The technical solution adopted by the present invention to solve the technical problems is：A kind of laboratory control platform, by power supply power supply,
It is characterized in that：Including platform, platform driver, platform motor, platform motor driver, platform displacement detection device, platform
Controller, communicating circuit, control computer, D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector
And A/D converter, the platform controller are electrically connected by communicating circuit with control computer, the platform controller passes through platform
Motor driver is connect with platform motor, and the output shaft of the platform motor is connect by platform driver with Platform Machinery, institute
It states platform displacement detection device to be disposed on the output shaft of the platform motor, the output end and platform of platform displacement detection device
Controller is electrically connected, and the control computer is connected by the input terminal of D/A converter and driving circuit, the output end of driving circuit
It is connect with piezoelectric ceramic actuator, corresponding piezoelectric ceramic actuator is equipped with actuator displacement detector, actuator displacement inspection
It surveys device to be electrically connected with control computer by A/D converter, the platform displacement detection device includes the light being disposed on platform
Grid ruler and grating scale circuit, the grating scale circuit include light emitting diode D2, photodiode D1, resistance R10, resistance R11,
Resistance R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance R17, amplifier TAA861, capacitance C1, capacitance C2, capacitance C3 and
Capacitance C4, power supply are grounded by capacitance C4, and the anode of light emitting diode D2 is connect by resistance R10 with power supply, light emitting diode
The cathode of the minus earth of D2, photodiode D1 is connect with power supply, and the anode of photodiode D1 is grounded by resistance R11,
The anode of photodiode D1 is connect by capacitance C3 with the positive input terminal of amplifier TAA861, and the positive input terminal of amplifier TAA861 is also
It passes sequentially through resistance R13 and resistance R4 is connect with power supply, the positive input terminal of amplifier TAA861 also passes sequentially through resistance R13 and resistance
The negative input end of R5 and ground connection, amplifier TAA861 passes sequentially through resistance R6 and capacitance C2 ground connection, the negative input end of amplifier TAA861
It passes sequentially through resistance R14 and resistance R17 is connect with power supply, the output end of amplifier TAA861 passes through capacitance C1's and amplifier TAA861
Feedback end connects, and the output end of amplifier TAA861 and the counter end of platform controller connect.Host computer uses PC machine, slave computer
Use AT89C51 microcontrollers for core design, measuring system is driven using grating scale circuit, macro platform using direct current generator
Ball-screw drives principle design.
Hardware system is the basis for realizing precision positioning.The two-stage pattern that this Precision Position Location System is combined using macro-microfacies
Realize the positioning of big stroke, high-precision, high speed, hardware system is by macro platform feed system, displacement measurement system, micro-displacement
Positioning system and control system composition.It describes the overall of Precision Position Location System hardware first to constitute, then respectively to macro flat
The hardware composition of platform servo feed system, pattern displacement measurement count system, micro-displacement Precision Position Location System and control system
Detailed analysis is carried out.Precision Position Location System hardware architecture X-Y precisely locating platforms use macro platform and microfluidic platform
The pattern being combined, micro-displacement platform are fixedly mounted on the upper plate of macro platform, and the centre of motion of two platforms overlaps.Macro platform
Complete high speed, big stroke, micron order position, micro-displacement locating platform is completing the compensation to macro platform position error.Pass through
The combination of two-step mechanism realizes the location action of large stroke and high precision jointly.Counting circuit principle, the core for the circuit that counts first
Heart problem is to determine a counting device, has grating scale, incremental optical-electricity encoder and absolute optical encoder several herein
Kind element is it can be selected that each there is good and bad point during these：1. absolute optical encoder, easy to use, not accumulative to miss
Difference need not be carried out reset operation, be ideal selection, but its cost is prohibitively expensive in fact every time.2. increment type
Photoelectric encoder, the measurement of positive and negative rotation circuit may be implemented in it, and can be by calculating the rotating speed of individual pen come measurement motor
Speed, but the shortcomings that it also has oneself is exactly that its circuit for realizing is relatively complicated, and measurement accuracy is easy by accumulative mistake
The interference of difference.3. its circuit theory of grating scale is relatively easy, the test of positive and negative rotation can be realized, need to calculate motor by software
Speed, fairly simple circuit is realized and accurate data feedback.In summary total total, we selected to use grating scale as
Our counting device.
Grating scale be mainly used in linear movement guide rail mechanism, it can be achieved that the accurate display (0.0002mm) of amount of movement and oneself
Dynamic control is widely used in the control of the number display and CNC machining center position rings of Metal Cutting Machine Tool processing capacity.
Grating scale is by Morie fringe principle, by opto-electronic conversion, indicates the high-precision of linear displacement amount in a digital manner
Displacement sensor.
The digital readout system of displacement of the lines grating sensor be mainly used in linear movement guide rail mechanism, it can be achieved that amount of movement essence
It really shows and automatically controls, be widely used to machine tooling and the accurate measurement of instrument.
Grating sensor is divided into open type and closed two class.Wherein open type is high-precision degree type.Output waveform is sine
Wave is mainly used for the digital improvement of precision instrument.Highest resolution is up to 0.1 μm.Enclosed sensors are by grating scale, grating
Reading head and shell three parts packagedcomponent.Most advanced reliable optical measuring system, using reliability and durability five axis of high-precision
System design is held, ensures the stability of Opto-Mechanical System, excellent resetting and high-grade measurement accuracy.Sensor is adopted
With sealed construction, dependable performance is easy for installation.Using special oil resistant, anti-corrosion, high resiliency and anti-aging plastic cement waterproof, prevent
Dirt is excellent, and service life is long.Specific high-caliber anti-interference ability, it is reliable and stable.Light source uses infrared light-emitting diode, volume
Small long lifespan.Using advanced preparing grating technology, capable of making the high-precision Grating glass ruler of each specification, (longest can accomplish
3000mm)。
Preferably, the control computer is to be equipped with error transform module, self-adaptive control module and sluggish control mould
The control computer of block, the input quantity of the error transform module are the value of feedback of specified rate and actuator displacement detector, institute
The output of error transform module is stated to being connect with the input value of self-adaptive control module, the output of the self-adaptive control module is extremely
The output valve output of sluggish control module, sluggish control module controls piezoelectric ceramic actuator.
Preferably, the sluggishness control module includes hysteresis module, sluggish operator module and neural network module, it is sluggish
Module, sluggish operator module input terminal connect with the output end of self-adaptive control module, the input terminal of neural network module
It is connect with the output end of sluggish operator module, the input terminal of neural network module also connects with the output end of self-adaptive control module
It connects, the negative-feedback value of hysteresis module output feedback value and neural network module output inputs the feedback of neural network module jointly
End.
Preferably, the neural network is to include the double-layer structure of several neural element modules, the double-layer structure is
One hidden layer and an output layer, each neural element module includes excitation function module and weights module；Error transform
Module is to be in systematic error by transformation to be set in advance in desired error range；Self-adaptive control module input signal
For the error after error transform, real-time control and adjustment, neural network output end output control signal are carried out to the error of conversion
Piezoelectric ceramic actuator is controlled.
Preferably, the platform controller is 51 microcontrollers, the communicating circuit includes that MX232 chips and nine kinds of needles connect
Mouthful, the communication serial ports of 51 microcontroller passes sequentially through MX232 chips and nine kinds of needles interface and is electrically connected with control computer.
It is constituted preferably, the platform motor driver includes PWM waveform generation circuit and signal processing circuit, it is described
PWM waveform generation circuit is made of 74LS373 chips and 8253 chips, the platform controller by 74LS373 chips with
The input terminal of 8253 chips connects, and the output end of 8253 chips is electrically connected by signal processing circuit with the platform motor.
For 8253 inside tools there are three the identical mutually independent counter (0,1,2) of function, each counter is operable with 6 kinds
Any one of mode, entire 8253 its content determines the mode of operation of counter there are one control register, 8253
For inside tool there are three the identical mutually independent counter (0,1,2) of function, each counter is operable with 6 kinds of modes
Any one of, entire 8253 there are one control register, its contents to determine the mode of operation of counter.
Preferably, the signal processing circuit includes L298N chips, 74ALS04 chips, resistance R1, optocoupler U2, resistance
R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4, the input terminal of 74ALS04 chips connect with platform controller,
The output end of 74ALS04 chips is connect by resistance R1 with the input terminal of optocoupler U2, and the output end of optocoupler U2 is connect by resistance R2
The output end on ground, optocoupler U2 is connect by resistance R3 with the base stage of triode Q1, the collector of triode Q1 by resistance R8 with
Power supply connects, and the emitter ground connection of triode Q1, the collector of triode Q1 is also connect with the second input terminal with door U3, three poles
The collector of pipe Q1 is also connect with the first input end of door U4, with the first input end of door U3 and with the second input terminal of door U4
It connect with the output end of platform controller, connects respectively with L298N chips with the output end of door U3 and with the output end of door U4 respectively
It connects, the output end of L298N chips is connect with platform motor.Obviously 2 full-bridges turn it is recognised that L298N is an inside
Change the PWM drive circuit of circuit.Pulsewidth modulation (PWM) is controlled analog circuit using the numeral output of microprocessor
A kind of very effective technology, be widely used in from measuring, communicate in many fields of power control and transformation.
Substantial effect of the invention is：The present invention provides a kind of simple and convenient, low-cost laboratory control is flat
Platform realizes that simply, control is accurate, is suitble to the various experiments of university student.
Description of the drawings
Fig. 1 is the integrated stand composition in the present invention；
Fig. 2 is a part of circuit diagram of macro platform in the present invention；
Fig. 3 is a part of circuit diagram of macro platform in the present invention；
Fig. 4 is a part of circuit diagram of macro platform in the present invention；
Fig. 5 is a part of circuit diagram of macro platform in the present invention.
1, computer is controlled, 2, communicating circuit, 3, platform controller, 4, platform motor driver, 5, platform motor, 6, flat
Platform, 7, platform driver, 8, platform displacement detection device, 9, D/A converter, 10, driving circuit, 11, piezoelectric ceramic actuator,
12, actuator displacement detector, 13, A/D converter.
Specific implementation mode
Below by specific embodiment, and in conjunction with attached drawing, technical scheme of the present invention will be further explained in detail.
Embodiment：
A kind of laboratory control platform (referring to attached drawing 1, attached drawing 2, attached drawing 3, attached drawing 4 and attached drawing 5), by power supply power supply, packet
Include platform, platform driver, platform motor, platform motor driver, platform displacement detection device, platform controller, communication electricity
Road, control computer, D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector and A/D converter,
The platform controller be electrically connected by communicating circuit with control computer, the platform controller by platform motor driver and
Platform motor connects, and the output shaft of the platform motor is connect by platform driver with Platform Machinery, the platform displacement inspection
It surveys device to be disposed on the output shaft of the platform motor, output end and the platform controller of platform displacement detection device are electrically connected
It connects, the control computer is connected by the input terminal of D/A converter and driving circuit, the output end and piezoelectric ceramics of driving circuit
Actuator connects, and corresponding piezoelectric ceramic actuator is equipped with actuator displacement detector, and actuator displacement detector passes through
A/D converter is electrically connected with control computer.The control computer be equipped with error transform module, self-adaptive control module and late
The control computer of stagnant control module, the input quantity of the error transform module are the anti-of specified rate and actuator displacement detector
The output of feedback value, the error transform module is extremely connect with the input value of self-adaptive control module, the self-adaptive control module
Output to sluggish control module, the output valve output of sluggish control module controls piezoelectric ceramic actuator.It is described slow
Stagnant control module includes hysteresis module, sluggish operator module and neural network module, the input of hysteresis module, sluggish operator module
End is connect with the output end of self-adaptive control module, and the input terminal of neural network module and the output end of sluggish operator module connect
Connect, the input terminal of neural network module is also connect with the output end of self-adaptive control module, hysteresis module export feedback value with
The negative-feedback value of neural network module output inputs the feedback end of neural network module jointly.The neural network is comprising several
The double-layer structure of a nerve element module, the double-layer structure are a hidden layer and an output layer, each neural element module
Include excitation function module and weights module；Error transform module is to be in systematic error by transformation to be set in advance in the phase
In the error range of prestige；Self-adaptive control module input signal is the error after error transform, is carried out to the error of conversion real-time
Control and adjustment, neural network output end output control signal control piezoelectric ceramic actuator.The platform controller
For 51 microcontrollers, the communicating circuit includes MX232 chips and nine kinds of needles interface, and the communication serial ports of 51 microcontroller passes sequentially through
MX232 chips and nine kinds of needles interface are electrically connected with control computer.The platform motor driver includes PWM waveform generation circuit and letter
Number processing circuit is constituted, and the PWM waveform generation circuit is made of 74LS373 chips and 8253 chips, the platform courses
Device is connect by 74LS373 chips with the input terminal of 8253 chips, and the output end of 8253 chips passes through signal processing circuit and institute
State the electrical connection of platform motor.The signal processing circuit includes L298N chips, 74ALS04 chips, resistance R1, optocoupler U2, resistance
R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4, the input terminal of 74ALS04 chips connect with platform controller,
The output end of 74ALS04 chips is connect by resistance R1 with the input terminal of optocoupler U2, and the output end of optocoupler U2 is connect by resistance R2
The output end on ground, optocoupler U2 is connect by resistance R3 with the base stage of triode Q1, the collector of triode Q1 by resistance R8 with
Power supply connects, and the emitter ground connection of triode Q1, the collector of triode Q1 is also connect with the second input terminal with door U3, three poles
The collector of pipe Q1 is also connect with the first input end of door U4, with the first input end of door U3 and with the second input terminal of door U4
It connect with the output end of platform controller, connects respectively with L298N chips with the output end of door U3 and with the output end of door U4 respectively
It connects, the output end of L298N chips is connect with platform motor.The platform displacement detection device includes the grating being disposed on platform
Ruler and grating scale circuit, the grating scale circuit include light emitting diode D2, photodiode D1, resistance R10, resistance R11, electricity
Hinder R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance R17, amplifier TAA861, capacitance C1, capacitance C2, capacitance C3 and electricity
Hold C4, power supply is grounded by capacitance C4, and the anode of light emitting diode D2 is connect by resistance R10 with power supply, light emitting diode D2
Minus earth, the cathode of photodiode D1 connect with power supply, and the anode of photodiode D1 is grounded by resistance R11, light
The anode of quick diode D1 is connect by capacitance C3 with the positive input terminal of amplifier TAA861, the positive input terminal of amplifier TAA861 also according to
Secondary to be connect with power supply by resistance R13 and resistance R4, the positive input terminal of amplifier TAA861 also passes sequentially through resistance R13 and resistance R5
With ground connection, the negative input end of amplifier TAA861 passes sequentially through resistance R6 and capacitance C2 ground connection, the negative input end of amplifier TAA861 according to
Secondary to be connect with power supply by resistance R14 and resistance R17, the output end of amplifier TAA861 passes through the anti-of capacitance C1 and amplifier TAA861
End connection is presented, the output end of amplifier TAA861 exports the feedback signal for being connect with platform controller.
Sluggish control module in the present embodiment is for simulating piezoelectric ceramic actuator Hysteresis Nonlinear characteristic, neural network
Modeling module is double-layer structure, including a hidden layer and an output layer, including multiple nerve element modules (including excitation function mould
Block and weights module)；The function of error transform module is that systematic error is set in advance in desired mistake by certain transformation
In poor range；Self-adaptive control module input signal is the error after error transform, to the error of conversion carry out real-time control and
Adjustment；Piezoelectric ceramic actuator dynamical system module is the kinetic model of piezoelectric ceramic actuator system.It is as follows：
Build the neural network Hysteresis Model of piezoelectric ceramic actuator.Self adaptive control output signal v and Dynamic Hysteresis operator output letter
Number f (v) is connected to neural net model establishing module, and Dynamic Hysteresis operator expression formula is as follows：
Vp indicates adjacent to be previously entered extreme value with currently inputting；f(vp) indicate input extreme value vpFor setting value when output
Extreme value；α, β are adjustable parameter.
It by the sluggish operator of above-mentioned formula, converts sluggish more map features to and maps one by one, give improved sharp
Encourage function module Φ (v, f (v)) and weight module WT=[w1,w2,…wi], to ensure that neural network Hysteresis Model exports bounded.
Neural network Hysteresis Model exports as formula：
Ψ (v)=Γ (v, f (v))=NN (v, f (v))+ε=WTΦ(v,f(v))+ε
A kind of simple and convenient, low-cost laboratory control platform is present embodiments provided, realizes simple, control essence
Standard is suitble to the various experiments of university student.
Above-mentioned embodiment is only a preferred solution of the present invention, not the present invention is made in any form
Limitation, on the premise of not exceeding the technical scheme recorded in the claims also other variations and modifications.
Claims (4)
1. a kind of laboratory control platform, by power supply power supply, it is characterised in that：Including platform, platform driver, platform motor,
Platform motor driver, platform displacement detection device, platform controller, communicating circuit, control computer, D/A converter, driving electricity
Road, piezoelectric ceramic actuator, actuator displacement detector and A/D converter, the platform controller by communicating circuit with
Computer electrical connection is controlled, the platform controller is connect by platform motor driver with platform motor, the platform motor
Output shaft is connect by platform driver with Platform Machinery, and the platform displacement detection device is disposed in the defeated of the platform motor
On shaft, the output end of platform displacement detection device is electrically connected with platform controller, the control computer by D/A converter with
The input terminal of driving circuit connects, and the output end of driving circuit is connect with piezoelectric ceramic actuator, corresponding piezoelectric ceramic actuator
It is equipped with actuator displacement detector, actuator displacement detector is electrically connected by A/D converter with control computer, described
Platform displacement detection device includes the grating scale being disposed on platform and grating scale circuit, and the grating scale circuit includes luminous two
Pole pipe D2, photodiode D1, resistance R10, resistance R11, resistance R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance
R17, amplifier TAA861, capacitance C1, capacitance C2, capacitance C3 and capacitance C4, power supply are grounded by capacitance C4, light emitting diode D2's
Anode is connect by resistance R10 with power supply, the minus earth of light emitting diode D2, and cathode and the power supply of photodiode D1 connect
It connects, the anode of photodiode D1 is grounded by resistance R11, and the anode of photodiode D1 passes through capacitance C3 and amplifier TAA861
Positive input terminal connection, the positive input terminal of amplifier TAA861 also passes sequentially through resistance R13 and resistance R4 is connect with power supply, amplifier
The positive input terminal of TAA861 also passes sequentially through resistance R13 and resistance R5 and ground connection, and the negative input end of amplifier TAA861 passes sequentially through
Resistance R6 and capacitance C2 ground connection, the negative input end of amplifier TAA861 passes sequentially through resistance R14 and resistance R17 is connect with power supply, fortune
The output end for putting TAA861 is connect by capacitance C1 with the feedback end of amplifier TAA861, output end and the platform control of amplifier TAA861
The counter end of device processed connects, and the control computer is to be equipped with error transform module, self-adaptive control module and sluggish control
The control computer of module, the input quantity of the error transform module are the value of feedback of specified rate and actuator displacement detector,
The output of the error transform module is extremely connect with the input value of self-adaptive control module, the output of the self-adaptive control module
To sluggish control module, the output valve output of sluggish control module controls piezoelectric ceramic actuator, the sluggish control
Module includes hysteresis module, sluggish operator module and neural network module, hysteresis module, sluggish operator module input terminal with
The output end of self-adaptive control module connects, and the input terminal of neural network module is connect with the output end of sluggish operator module, god
Input terminal through network module is also connect with the output end of self-adaptive control module, and hysteresis module exports feedback value and nerve net
The negative-feedback value of network module output inputs the feedback end of neural network module jointly, and the neural network is comprising several nerves
The double-layer structure of element module, the double-layer structure are a hidden layer and an output layer, and each nerve element module includes excitation
Function module and weights module；Error transform module is to be in systematic error by transformation to be set in advance in desired error model
In enclosing；Self-adaptive control module input signal is the error after error transform, and real-time control and adjustment are carried out to the error of conversion,
Neural network output end output control signal controls piezoelectric ceramic actuator；
Self adaptive control output signal v and Dynamic Hysteresis operator output signal f (v) are connected to neural net model establishing module, dynamic
Sluggish operator expression formula is as follows：
vpIt indicates adjacent to be previously entered extreme value with currently inputting；f(vp) indicate input extreme value vpFor setting value when output stage
Value；α, β are adjustable parameter.
2. laboratory control platform according to claim 1, it is characterised in that：The platform controller is 51 microcontrollers,
The communicating circuit includes MX232 chips and nine kinds of needles interface, the communication serial ports of 51 microcontroller pass sequentially through MX232 chips and
Nine kinds of needles interface is electrically connected with control computer.
3. laboratory control platform according to claim 1, it is characterised in that：The platform motor driver includes PWM
Waveform generating circuit and signal processing circuit are constituted, and the PWM waveform generation circuit is made of 74LS373 chips and 8253 chips
, the platform controller is connect by 74LS373 chips with the input terminal of 8253 chips, and the output end of 8253 chips passes through letter
Number processing circuit is electrically connected with the platform motor.
4. laboratory control platform according to claim 3, it is characterised in that：The signal processing circuit includes L298N
Chip, 74ALS04 chips, resistance R1, optocoupler U2, resistance R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4,
The input terminal of 74ALS04 chips is connect with platform controller, and the output end of 74ALS04 chips passes through the defeated of resistance R1 and optocoupler U2
Enter end connection, the output end of optocoupler U2 is grounded by resistance R2, the base that the output end of optocoupler U2 passes through resistance R3 and triode Q1
Pole connects, and the collector of triode Q1 is connect by resistance R8 with power supply, the emitter ground connection of triode Q1, the collection of triode Q1
Electrode is also connect with the second input terminal with door U3, and the collector of triode Q1 is also connect with the first input end of door U4, with
Door U3 first input end and connect respectively with the output end of platform controller with the second input terminal of door U4, the output with door U3
It holds and is connect respectively with L298N chips with the output end of door U4, the output end of L298N chips is connect with platform motor.
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|---|---|---|---|---|
| CN1006350B (en) * | 1987-09-24 | 1990-01-03 | 清华大学 | High-precision auromatic numerical control device |
| CN101369155A (en) * | 2008-07-16 | 2009-02-18 | 上海大学 | Locking control method and system of large-stroke nanometer displacement positioning macro-movement bench |
| CN103853046B (en) * | 2014-02-14 | 2017-10-10 | 广东工业大学 | A kind of Adaptive-learning control method of piezoelectric ceramic actuator |
| CN203965952U (en) * | 2014-08-04 | 2014-11-26 | 刘泊 | Based on the precision stage of piezoelectric ceramics |
| CN205015674U (en) * | 2015-04-14 | 2016-02-03 | 宁波职业技术学院 | Laboratory control platform |
| CN105094046B (en) * | 2015-04-14 | 2019-05-21 | 宁波职业技术学院 | A kind of piezoelectric ceramic actuator console |
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2015
- 2015-04-14 CN CN201510173666.1A patent/CN105116782B/en active Active
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