CN105116834A - Precise control console - Google Patents
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Abstract
The invention relates to a precise control console, irons out a defect that there is enough precise experiment platforms for students in the prior art, and solves a problem that the price of a precise experiment platform is too high. The technical scheme of the invention is that the control console comprises a platform, a platform driver, a platform motor, a platform motor driver, a platform displacement detection device, a platform controller, a communication circuit, a control computer, a D/A converter, a drive circuit, a piezoelectric ceramic actuator, an actuator displacement detection device, and an A/D converter. The platform controller is electrically connected with the control computer through the communication circuit, and the platform controller is connected with the platform controller through the platform motor driver. The output shaft of the platform motor is mechanically connected with the platform through the platform driver, and the platform displacement detection device is disposed on the output shaft of the platform motor. The output shaft of the platform displacement detection device is electrically connected with the platform controller. The control console is simple and convenient, is low in cost, is simple in implementation, is precise in control, and is suitable for college students to carry out various types of experiments.
Description
Technical field
The present invention is a kind of experiment control desk, particularly relates to a kind of precise hard_drawn tuhes platform.
Background technology
Abroad in the relatively morning that the design studies of Ultraprecise platform starts to walk.This facilitate the research American National gordian technique council of developed countries to precision surface plate and related science thereof and nanometer technology is classified as one of 22 gordian techniquies that government's emphasis supports, nanometer technology is also classified as one of preferential gordian technique supported by American National foundation, the many prominent university of the U.S. are all provided with nanotechnology research mechanism, as the precision engineering center of University of North Carolina, the national nanoprocessing laboratory of Cornell University, micron manufacturing center of Louisiana university etc.Japan as ERATO one of 6 preferential hi-tech quest projects in the works, invests nanometer technology for 200,000,000 dollars of Development of Nanotechnologies; The cross discipline research centre of building wave science city lists one of 2 main development directions in nanometer technology.United Kingdom National nanometer technology (NION) plan comes into effect, has set up in the Cranfield university of Britain the precision engineering center taking nanometer technology as goal in research.Other country in Europe does not also give the impression of weakness, and nanometer technology has been listed in " Eurika research programme ".
In the middle and later periods eighties in last century, domestic scholars proposes macro-micro dual-drive technology in succession, and have a learned dissertation published one after another and launch research discussion, it is a kind of effective means realizing Long Distances, hi-Fix at present.Such as, just describe the concept and characteristics of piezoelectric element and flexible hinge in " transmission of Piezoelectric Driving flexure hinge mechanism realizes Ultra-precision positioning " literary composition of Tsing-Hua University professor Wu Yingfei, Zhou Zhaoying (Tsing-Hua University's exact instrument and Department of Mechanical) in detail, enumerate piezoelectric element and be combined the exemplary realizing Ultra-precision positioning with flexure hinge mechanism, comprise ultra precise measurement, Ultra-precision Turning, optics automatic focus and Long Distances Ultra-precision positioning.For making the compact conformation of Ultra Precision Stages, also proposed and singly drive movement mechanism with multiple degrees of freedom, the motion principle of application creeping motion type can multifreedom motion on combination mechanism, and realizes Long Distances motion.The flexure hinge mechanism devising symmetrical structure realizes guide function.
The Ye Shuliang of Harbin Institute of Technology's ultraprecise photoelectric instrument Graduate School of Engineering, there is for traditional Ultra-precision positioning system the problem that displacement sensitivity, system frequency response and repetitive positioning accuracy be difficult to take into account in " having the development of nanometer resolution two-dimensional ultraprecise positioning system " literary composition of doctor Tan Jiubin, designs and have developed a kind of two-dimensional ultraprecise positioning system with nanometer resolution.The advanced technologies such as system integration parallel―ordinal shift structure double-flexibility two-dimentional work bench gapless driving, bipolarity telescopic piezoelectric ceramic Micro-displacement Driving and the monitoring of nano-precision capacitive displacement, can realize the location of nanometer scale under micro-processor control.For defects such as the precision improving the existence of traditional PID control method is low, poor real, propose a kind of ratio, integration and differentiation (PID) parameter adaptive control algorithm in conjunction with the different response characteristic of stage system each in position fixing process.
The Meng Zhaoxin of power and mechanical engineering institute of Harbin University of Science and Technology, Hu Naiwen two is studied the control principle of three-dimensional precision worktable quick positioning system and structure composition in " research of the control system of three-dimensional precise positioning table " literary composition, and carries out theory and experimental analysis to system.In order to realize high-precision quick position, system have employed the PID adaptive control algorithm of independent servo control technique and structure changes, reaches satisfied positioning precision.
In sum, the pattern of grand micro-combination is used to coordinate piezoelectric ceramics actuator again from present Research both domestic and external.The Ultraprecise platform of two-stage gear train is adopted to be than a kind of Ultraprecise platform method for designing being easier to realization and gear to actual circumstances.This scheme in school for student's microtest, experiment enough help can be provided.
Summary of the invention
The object of the invention is for solving current technical scheme not enough for the accurate experiment porch of student, the problem that accurate experiment table price is too high, providing a kind of simple and convenient, precise hard_drawn tuhes platform with low cost.
The technical solution adopted for the present invention to solve the technical problems is: a kind of precise hard_drawn tuhes platform, by Power supply, comprise prime sample circuit, platform, platform driver, platform motor, platform motor driver, platform displacement pick-up unit, platform controller, communicating circuit, control computer, described platform controller is electrically connected with control computer by communicating circuit, described platform controller is connected with platform motor by platform motor driver, the output shaft of described platform motor is connected with Platform Machinery by platform driver, described platform displacement pick-up unit is disposed on the output shaft of described platform motor, the output terminal of platform displacement pick-up unit is connected with the input end of described prime sample circuit, the output terminal of described prime sample circuit is electrically connected with platform controller, described prime sample circuit comprises and door U6, with door U5, first d type flip flop, second d type flip flop and 74LS161 chip, the D end of described first d type flip flop connects power supply, the CLK end of described first d type flip flop is connected with the output terminal of door U5, the Q end of described first d type flip flop is connected with the first input end of door U6, also hold with the INT0 of platform courses chip with the first input end of door U6 and be connected, be connected with the output terminal of platform displacement pick-up unit with second input end of door U6, to hold with the CLK of 74LS161 with the output terminal of door U6 and be connected, also be connected with the output terminal of platform displacement pick-up unit with second input end of door U5, to hold with the Q of the second d type flip flop with the first input end of door U5 and be connected, the D end of the second d type flip flop is connected with power supply, the CLK end of the second d type flip flop is connected with a standard input output terminal of platform courses chip, the R end of the second d type flip flop is all held with the MR of 74LS161 chip with the R end of the first d type flip flop and is connected, the CET end of 74LS161 chip is all connected with the output terminal of described platform displacement pick-up unit with CEP end.Host computer of the present invention adopts PC, and slave computer adopts AT89C51 single-chip microcomputer to be core design, and what measuring system adopted is grating scale circuit, and grand platform adopts DC motor Driver ball-screw to drive principle design.Hardware system is the basis realizing precision positioning.The two-stage pattern that this Precision Position Location System adopts grand-microfacies to combine realizes the location of Long Distances, high precision, high speed, and its hardware system is made up of grand platform feed system, displacement measurement system, micrometric displacement positioning system and control system.First describe the overall formation of Precision Position Location System hardware, then respectively the hardware of grand platform servo feed system, pattern displacement measurement count system, micrometric displacement Precision Position Location System and control system is formed and carried out detailed analysis.Precision Position Location System hardware architecture X-Y precisely locating platform have employed the pattern that grand platform and microfluidic platform combine, and micro-displacement platform is fixedly mounted on the upper plate of grand platform, and the centre of motion of two platforms overlaps.Grand platform completes high speed, Long Distances, micron order location, and micrometric displacement locating platform is in order to complete the compensation to grand platform positioning error.By the combination of two-step mechanism, jointly achieve the location action of large stroke and high precision.Although but the grating signal exported belongs to digital signal will be gathered by single-chip microcomputer or need other understanding single-chip microcomputers to the method for signals collecting and then make suitable frequency dividing circuit to carry out high-frequency data acquisition.In single-chip microcomputer work sheet, Timer/Counter is when counting mode works, and adopts outer input pulse as count pulse, and when input pulse saltus step from high to low, counter adds 1.The highest count frequency is 1/24 of crystal oscillator.Therefore when clock is 12MHZ, the highest count frequency is 500KHZ.Such count frequency can not be satisfied with by let us, because at high speeds, too low count frequency can cause error.This is exactly that in counting circuit one compares stubborn problem.Solution is by expansion integrated counter, as prime counter, and using the counter in sheet as subsequent counter device.Although if use measurement range to expand as just frequency divider integrated counter, the corresponding precision measured can reduce.In order to not reduce measuring accuracy, the integrated counter of expansion be read in by parallel interface is connected as low counter, participating in data operation process.The figure place of expansion can be determined as required.If expansion a slice 7,4LS,161 tetra-digit counter chip, just can expand 16 times the original measurement upper limit.If need upper frequency limit to improve further, will high-positioned counter be expanded, and want integrated counter that selection work speed is higher as 74LS161,74F161 etc.
As preferably, described platform controller is 51 single-chip microcomputers, and described communicating circuit comprises MX232 chip and nine kinds of needles interface, the communication serial ports of described 51 single-chip microcomputers successively by MX232 chip and nine kinds of needles interface with control computer and be electrically connected.
As preferably, described platform motor driver comprises PWM Waveform generating circuit and signal processing circuit is formed, described PWM Waveform generating circuit is made up of 74LS373 chip and 8253 chips, described platform controller is connected with the input end of 8253 chips by 74LS373 chip, and the output terminal of 8253 chips is electrically connected with described platform motor by signal processing circuit.8253 inside have three identical separate counters (0 of function, 1,2), each counter can work in any one in 6 kinds of modes, whole 8253 only have a control register, its content determines the mode of operation of counter, 8253 inside have three identical separate counters (0 of function, 1,2), each counter can work in any one in 6 kinds of modes, and whole 8253 only have a control register, and its content determines the mode of operation of counter.
As preferably, described signal processing circuit comprises L298N chip, 74ALS04 chip, resistance R1, optocoupler U2, resistance R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4, the input end of 74ALS04 chip is connected with platform controller, the output terminal of 74ALS04 chip is connected with the input end of optocoupler U2 by resistance R1, the output terminal of optocoupler U2 is by resistance R2 ground connection, the output terminal of optocoupler U2 is connected with the base stage of triode Q1 by resistance R3, the collector of triode Q1 is connected with power supply by resistance R8, the grounded emitter of triode Q1, the collector of triode Q1 also with second input end of door U3 is connected, the collector of triode Q1 also with the first input end of door U4 is connected, with the first input end of door U3 be connected with the output terminal of platform controller respectively with second input end of door U4, with the output terminal of door U3 be connected with L298N chip respectively with the output terminal of door U4, the output terminal of L298N chip is connected with platform motor.Obviously we can know that L298N is the PWM drive circuit that there are 2 full-bridge change-over circuits an inside.Width modulation (PWM) utilizes the numeral of microprocessor to export the very effective technology of one controlled mimic channel, is widely used in and controls with many fields of conversion from measurement, the power that communicates.
Described platform displacement pick-up unit comprises and is disposed in grating scale on platform and grating scale circuit, and described grating scale circuit comprises light emitting diode D2, photodiode D1, resistance R10, resistance R11, resistance R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance R17, amplifier TAA861, electric capacity C1, electric capacity C2, electric capacity C3 and electric capacity C4, power supply is by electric capacity C4 ground connection, the anode of light emitting diode D2 is connected with power supply by resistance R10, the plus earth of light emitting diode D2, the negative electrode of photodiode D1 is connected with power supply, the anode of photodiode D1 is by resistance R11 ground connection, the anode of photodiode D1 is connected with the positive input terminal of amplifier TAA861 by electric capacity C3, the positive input terminal of amplifier TAA861 is also connected with power supply with resistance R4 by resistance R13 successively, the positive input terminal of amplifier TAA861 is also successively by resistance R13 and resistance R5 and ground connection, the negative input end of amplifier TAA861 is successively by resistance R6 and electric capacity C2 ground connection, the negative input end of amplifier TAA861 is connected with power supply with resistance R17 by resistance R14 successively, the output terminal of amplifier TAA861 is connected with the feedback end of amplifier TAA861 by electric capacity C1, the input end of described prime sample circuit is connected with the output terminal of described amplifier TAA861, the output terminal of described prime sample circuit is electrically connected with platform controller.Counting circuit principle, first the key problem of circuit of counting determines a counting device, several element of grating scale, incremental optical-electricity encoder and absolute optical encoder is had to select here, good and bad point is had separately: 1. absolute optical encoder during these, easy to use, there is no cumulative errors, do not need all to perform reset operation at every turn, be ideal selection, but its cost is real too expensive.2. incremental optical-electricity encoder, it can realize the measurement of positive and negative rotation circuit, and can be measured the speed of motor by the rotating speed calculating individual pen, but it also has the shortcoming of oneself, the circuit being exactly its realization is comparatively complicated, and measuring accuracy is easily subject to the interference of cumulative errors.3. its circuit theory of grating scale is relatively simple, can realize the test of rotating, need to calculate motor speed by software, fairly simple circuit realiration and accurate data feedback.Comprehensive above total, I have selected the counting device using grating scale as me.
Grating scale is mainly used in rectilinear movement guide rail mechanism, can realize the accurate display (0.0002mm) of amount of movement and automatically control, being widely used in the numerical monitor of Metal Cutting Machine Tool processing capacity and the control of CNC machining center position ring.
Grating scale, by Morie fringe principle, by opto-electronic conversion, represents the high accuracy displacement sensor of linear displacement amount in a digital manner.
The digital readout system of displacement of the lines grating sensor is mainly used in rectilinear movement guide rail mechanism, can realize the accurate display of amount of movement and automatically control, being widely used in the precision measurement of machine tooling and instrument.
Grating sensor is divided into open type and closed two classes.Wherein open type is high-precision degree type.Output waveform is sinusoidal wave, is mainly used in the digital improvement of exact instrument.Highest resolution can reach 0.1 μm.Enclosed sensors is by grating scale, grating reading head and housing three part packagedcomponent.Most advanced reliable optical measuring system, adopts reliability and durability high precision five bearing arrangement design, ensures the stability of Opto-Mechanical System, excellent resetting and high-grade measuring accuracy.Sensor adopts sealed construction, and dependable performance is easy for installation.Adopt special oil resistant, anti-corrosion, high resiliency and anti-aging plastic cement waterproof, dust-proof excellence, long service life.Concrete high-caliber antijamming capability, reliable and stable.Light source adopts infrarede emitting diode, and the volume little life-span is long.Adopt advanced preparing grating technology, the high precision Grating glass chi (the longest accomplish 3000mm) of each specification can be made.
Substantial effect of the present invention is: the invention provides a kind of simple and convenient, precise hard_drawn tuhes platform with low cost, realize simple, controls precisely, to be applicable to the various experiment of university student.
Accompanying drawing explanation
Fig. 1 is the integrated stand composition in the present invention;
Fig. 2 is a part of circuit diagram of the present invention;
Fig. 3 is a part of circuit diagram of the present invention;
Fig. 4 is a part of circuit diagram of the present invention;
Fig. 5 is a part of circuit diagram of the present invention;
Fig. 6 is a part of circuit diagram of the present invention.
1, computer is controlled, 2, communicating circuit, 3, platform controller, 4, platform motor driver, 5, platform motor, 6, platform, 7, platform driver, 8, platform displacement pick-up unit, 81, prime sample circuit.
Embodiment
Below by specific embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
A kind of precise hard_drawn tuhes platform is (see accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 5 and accompanying drawing 6), by Power supply, comprise prime sample circuit, platform, platform driver, platform motor, platform motor driver, platform displacement pick-up unit, platform controller, communicating circuit, control computer, described platform controller is electrically connected with control computer by communicating circuit, described platform controller is connected with platform motor by platform motor driver, the output shaft of described platform motor is connected with Platform Machinery by platform driver, described platform displacement pick-up unit is disposed on the output shaft of described platform motor, the output terminal of platform displacement pick-up unit is connected with the input end of described prime sample circuit, the output terminal of described prime sample circuit is electrically connected with platform controller, described prime sample circuit comprises and door U6, with door U5, first d type flip flop, second d type flip flop and 74LS161 chip, the D end of described first d type flip flop connects power supply, the CLK end of described first d type flip flop is connected with the output terminal of door U5, the Q end of described first d type flip flop is connected with the first input end of door U6, also hold with the INT0 of platform courses chip with the first input end of door U6 and be connected, be connected with the output terminal of platform displacement pick-up unit with second input end of door U6, to hold with the CLK of 74LS161 with the output terminal of door U6 and be connected, also be connected with the output terminal of platform displacement pick-up unit with second input end of door U5, to hold with the Q of the second d type flip flop with the first input end of door U5 and be connected, the D end of the second d type flip flop is connected with power supply, the CLK end of the second d type flip flop is connected with a standard input output terminal of platform courses chip, the R end of the second d type flip flop is all held with the MR of 74LS161 chip with the R end of the first d type flip flop and is connected, the CET end of 74LS161 chip is all connected with the output terminal of described platform displacement pick-up unit with CEP end.Described platform controller is 51 single-chip microcomputers, and described communicating circuit comprises MX232 chip and nine kinds of needles interface, and the communication serial ports of described 51 single-chip microcomputers is electrically connected with control computer by MX232 chip and nine kinds of needles interface successively.Described platform motor driver comprises PWM Waveform generating circuit and signal processing circuit is formed, described PWM Waveform generating circuit is made up of 74LS373 chip and 8253 chips, described platform controller is connected with the input end of 8253 chips by 74LS373 chip, and the output terminal of 8253 chips is electrically connected with described platform motor by signal processing circuit.Described signal processing circuit comprises L298N chip, 74ALS04 chip, resistance R1, optocoupler U2, resistance R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4, the input end of 74ALS04 chip is connected with platform controller, the output terminal of 74ALS04 chip is connected with the input end of optocoupler U2 by resistance R1, the output terminal of optocoupler U2 is by resistance R2 ground connection, the output terminal of optocoupler U2 is connected with the base stage of triode Q1 by resistance R3, the collector of triode Q1 is connected with power supply by resistance R8, the grounded emitter of triode Q1, the collector of triode Q1 also with second input end of door U3 is connected, the collector of triode Q1 also with the first input end of door U4 is connected, with the first input end of door U3 be connected with the output terminal of platform controller respectively with second input end of door U4, with the output terminal of door U3 be connected with L298N chip respectively with the output terminal of door U4, the output terminal of L298N chip is connected with platform motor.Described platform displacement pick-up unit comprises and is disposed in grating scale on platform and grating scale circuit, and described grating scale circuit comprises light emitting diode D2, photodiode D1, resistance R10, resistance R11, resistance R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance R17, amplifier TAA861, electric capacity C1, electric capacity C2, electric capacity C3 and electric capacity C4, power supply is by electric capacity C4 ground connection, the anode of light emitting diode D2 is connected with power supply by resistance R10, the plus earth of light emitting diode D2, the negative electrode of photodiode D1 is connected with power supply, the anode of photodiode D1 is by resistance R11 ground connection, the anode of photodiode D1 is connected with the positive input terminal of amplifier TAA861 by electric capacity C3, the positive input terminal of amplifier TAA861 is also connected with power supply with resistance R4 by resistance R13 successively, the positive input terminal of amplifier TAA861 is also successively by resistance R13 and resistance R5 and ground connection, the negative input end of amplifier TAA861 is successively by resistance R6 and electric capacity C2 ground connection, the negative input end of amplifier TAA861 is connected with power supply with resistance R17 by resistance R14 successively, the output terminal of amplifier TAA861 is connected with the feedback end of amplifier TAA861 by electric capacity C1, the output terminal of amplifier TAA861 exports the feedback signal being used for being connected with platform controller.The input end of described prime sample circuit is connected with the output terminal of described amplifier TAA861, and the output terminal of described prime sample circuit is electrically connected with platform controller.
On the basis of the present embodiment, the platform of the precision movement being core component can also be arranged with piezoelectric ceramic actuator, comprise D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector and A/D converter, described control computer is connected with the input end of driving circuit by D/A converter, the output terminal of driving circuit is connected with piezoelectric ceramic actuator, corresponding piezoelectric ceramic actuator is equipped with actuator displacement detector, and actuator displacement detector is electrically connected with control computer by A/D converter.Described control computer is the control computer being equipped with error transform module, self-adaptive control module and sluggish control module, the input quantity of described error transform module is the value of feedback of specified rate and actuator displacement detector, exporting to of described error transform module is connected with the input value of self-adaptive control module, described self-adaptive control module export sluggish control module to, the output valve of sluggish control module exports and controls piezoelectric ceramic actuator.Described sluggish control module comprises hysteresis module, sluggish operator module and neural network module, the input end of hysteresis module, sluggish operator module is all connected with the output terminal of self-adaptive control module, the input end of neural network module is connected with the output terminal of sluggish operator module, the input end of neural network module is also connected with the output terminal of self-adaptive control module, the feedback end of the common input neural network module of negative feedback value that hysteresis module output feedback value and neural network module export.Described neural network is the double-layer structure comprising several neuron modules, and described double-layer structure is a hidden layer and an output layer, and described each neuron module includes excitation function module and weights module; Error transform module systematic error is in by conversion to be set in advance in the error range of expectation; Self-adaptive control module input signal is the error after error transform, carries out real-time controlling and adjustment to the error of conversion, and neural network output terminal exports control signal and controls piezoelectric ceramic actuator.
Sluggish control module in the present embodiment is for simulating piezoelectric ceramic actuator Hysteresis Nonlinear characteristic, neural net model establishing module is double-layer structure, comprise a hidden layer and an output layer, comprise multiple neuron module (comprising excitation function module and weights module); The function of error transform module be by systematic error by certain conversion, be set in advance in the error range of expectation; Self-adaptive control module input signal is the error after error transform, carries out real-time controlling and adjustment to the error of conversion; Piezoelectric ceramic actuator dynamic system module is the kinetic model of piezoelectric ceramic actuator system.Concrete steps are as follows: the neural network Hysteresis Model building piezoelectric ceramic actuator.Adaptive control output signal v and Dynamic Hysteresis operator output signal f (v) are connected to neural net model establishing module, and Dynamic Hysteresis operator expression formula is as follows:
V
prepresent the previous input extreme value adjacent with current input; F (v
p) represent input extreme value v
pfor output extreme value during setting value; α, β are adjustable parameter.
By the sluggish operator of above-mentioned formula, many map features of sluggishness are converted into and map one by one, the excitation function module Φ (v, f (v)) of given improvement and weight module W
t=[w
1, w
2... w
i], to ensure that neural network Hysteresis Model exports bounded.Neural network Hysteresis Model exports as formula is:
Ψ(v)＝Γ(v,f(v))＝NN(v,f(v))+ε＝W
TΦ(v,f(v))+ε
Present embodiments provide a kind of simple and convenient, precise hard_drawn tuhes platform with low cost, realize simple, control precisely, to be applicable to the various experiment of university student.
Above-described embodiment is one of the present invention preferably scheme, not does any pro forma restriction to the present invention, also has other variant and remodeling under the prerequisite not exceeding the technical scheme described in claim.
Claims (5)
1. a precise hard_drawn tuhes platform, by Power supply, it is characterized in that: comprise prime sample circuit, platform, platform driver, platform motor, platform motor driver, platform displacement pick-up unit, platform controller, communicating circuit, control computer, described platform controller is electrically connected with control computer by communicating circuit, described platform controller is connected with platform motor by platform motor driver, the output shaft of described platform motor is connected with Platform Machinery by platform driver, described platform displacement pick-up unit is disposed on the output shaft of described platform motor, the output terminal of platform displacement pick-up unit is connected with the input end of described prime sample circuit, the output terminal of described prime sample circuit is electrically connected with platform controller, described prime sample circuit comprises and door U6, with door U5, first d type flip flop, second d type flip flop and 74LS161 chip, the D end of described first d type flip flop connects power supply, the CLK end of described first d type flip flop is connected with the output terminal of door U5, the Q end of described first d type flip flop is connected with the first input end of door U6, also hold with the INT0 of platform courses chip with the first input end of door U6 and be connected, be connected with the output terminal of platform displacement pick-up unit with second input end of door U6, to hold with the CLK of 74LS161 with the output terminal of door U6 and be connected, also be connected with the output terminal of platform displacement pick-up unit with second input end of door U5, to hold with the Q of the second d type flip flop with the first input end of door U5 and be connected, the D end of the second d type flip flop is connected with power supply, the CLK end of the second d type flip flop is connected with a standard input output terminal of platform courses chip, the R end of the second d type flip flop is all held with the MR of 74LS161 chip with the R end of the first d type flip flop and is connected, the CET end of 74LS161 chip is all connected with the output terminal of described platform displacement pick-up unit with CEP end.
2. precise hard_drawn tuhes platform according to claim 1, it is characterized in that: described platform controller is 51 single-chip microcomputers, described communicating circuit comprises MX232 chip and nine kinds of needles interface, and the communication serial ports of described 51 single-chip microcomputers is electrically connected with control computer by MX232 chip and nine kinds of needles interface successively.
3. precise hard_drawn tuhes platform according to claim 1, it is characterized in that: described platform motor driver comprises PWM Waveform generating circuit and signal processing circuit is formed, described PWM Waveform generating circuit is made up of 74LS373 chip and 8253 chips, described platform controller is connected with the input end of 8253 chips by 74LS373 chip, and the output terminal of 8253 chips is electrically connected with described platform motor by signal processing circuit.
4. precise hard_drawn tuhes platform according to claim 1, it is characterized in that: described signal processing circuit comprises L298N chip, 74ALS04 chip, resistance R1, optocoupler U2, resistance R2, resistance R3, resistance R8, triode Q1, with door U3 and with door U4, the input end of 74ALS04 chip is connected with platform controller, the output terminal of 74ALS04 chip is connected with the input end of optocoupler U2 by resistance R1, the output terminal of optocoupler U2 is by resistance R2 ground connection, the output terminal of optocoupler U2 is connected with the base stage of triode Q1 by resistance R3, the collector of triode Q1 is connected with power supply by resistance R8, the grounded emitter of triode Q1, the collector of triode Q1 also with second input end of door U3 is connected, the collector of triode Q1 also with the first input end of door U4 is connected, with the first input end of door U3 be connected with the output terminal of platform controller respectively with second input end of door U4, with the output terminal of door U3 be connected with L298N chip respectively with the output terminal of door U4, the output terminal of L298N chip is connected with platform motor.
5. precise hard_drawn tuhes platform according to claim 4, it is characterized in that: described platform displacement pick-up unit comprises and is disposed in grating scale on platform and grating scale circuit, described grating scale circuit comprises light emitting diode D2, photodiode D1, resistance R10, resistance R11, resistance R4, resistance R5, resistance R3, resistance R6, resistance R14, resistance R17, amplifier TAA861, electric capacity C1, electric capacity C2, electric capacity C3 and electric capacity C4, power supply is by electric capacity C4 ground connection, the anode of light emitting diode D2 is connected with power supply by resistance R10, the plus earth of light emitting diode D2, the negative electrode of photodiode D1 is connected with power supply, the anode of photodiode D1 is by resistance R11 ground connection, the anode of photodiode D1 is connected with the positive input terminal of amplifier TAA861 by electric capacity C3, the positive input terminal of amplifier TAA861 is also connected with power supply with resistance R4 by resistance R13 successively, the positive input terminal of amplifier TAA861 is also successively by resistance R13 and resistance R5 and ground connection, the negative input end of amplifier TAA861 is successively by resistance R6 and electric capacity C2 ground connection, the negative input end of amplifier TAA861 is connected with power supply with resistance R17 by resistance R14 successively, the output terminal of amplifier TAA861 is connected with the feedback end of amplifier TAA861 by electric capacity C1, the input end of described prime sample circuit is connected with the output terminal of described amplifier TAA861, the output terminal of described prime sample circuit is electrically connected with platform controller.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111770267A (en) * | 2020-06-17 | 2020-10-13 | 西安方元明科技股份有限公司 | High-precision follow-up system |
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