CN105116834B - A kind of precision console - Google Patents

A kind of precision console Download PDF

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CN105116834B
CN105116834B CN201510173655.3A CN201510173655A CN105116834B CN 105116834 B CN105116834 B CN 105116834B CN 201510173655 A CN201510173655 A CN 201510173655A CN 105116834 B CN105116834 B CN 105116834B
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platform
connect
resistance
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module
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CN105116834A (en
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李建春
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Ningbo Polytechnic
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Ningbo Polytechnic
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Abstract

The present invention relates to a kind of accurate consoles.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 accurate console, realization simply, controls accurate, the various experiments of suitable university student.

Description

A kind of precision console
Technical field
The present invention is a kind of experiment console, more particularly to a kind of accurate console.
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 precision console is provided.
The technical solution adopted by the present invention to solve the technical problems is:A kind of precision console, by power supply power supply, including Prime sample circuit, platform, platform driver, platform motor, platform motor driver, platform displacement detection device, platform control Device processed, communicating circuit, control computer, the platform controller are electrically connected by communicating circuit with computer is controlled, the platform control Device processed is connect by platform motor driver with platform motor, and the output shaft of the platform motor passes through platform driver and platform Mechanical connection, the platform displacement detection device are disposed on the output shaft of the platform motor, platform displacement detection device Output end is connect with the input terminal of the prime sample circuit, and the output end of the prime sample circuit is electrically connected with platform controller It connects, the prime sample circuit includes and door U6 and door U5, the first d type flip flop, the second d type flip flop and 74LS161 chips, institute The ends the D connection power supply of the first d type flip flop is stated, the ends CLK of first d type flip flop connect with the output end of door U5, and described the The ends Q of one d type flip flop are connect with the first input end of door U6, with the first input end of door U6 also with platform courses chip The ends INT0 connect, and are connect with the output end of platform displacement detection device with the second input terminal of door U6, with the output end of door U6 and The ends CLK of 74LS161 connect, and are also connect with the output end of platform displacement detection device with the second input terminal of door U5, with door U5 First input end connect with the ends Q of the second d type flip flop, the ends D of the second d type flip flop are connect with power supply, the second d type flip flop The ends CLK are connect with a standard input/output terminal of platform courses chip, the R at the ends R and the first d type flip flop of the second d type flip flop End is connect with the ends MR of 74LS161 chips, the ends CET and the ends CEP of 74LS161 chips with the platform displacement detection device Output end connection.Host computer of the present invention uses PC machine, slave computer to use AT89C51 microcontrollers for core design, measuring system Using grating scale circuit, macro platform drives principle design using direct current generator driving ball-screw.Hardware system is to realize The basis of precision positioning.This Precision Position Location System using macro-microfacies in conjunction with two-stage pattern realize big stroke, high-precision, height The positioning of speed, hardware system is by macro platform feed system, displacement measurement system, micro-displacement positioning system and control system group At.It describes the overall of Precision Position Location System hardware first to constitute, then respectively to macro platform servo feed system, pattern displacement The hardware composition of measurement count system, micro-displacement Precision Position Location System and control system has carried out detailed analysis.Precision is fixed Position system hardware overall structure X-Y precisely locating platforms use the pattern that macro platform and microfluidic platform are combined, micro-displacement platform It is fixedly mounted on the upper plate of macro platform, the centre of motion of two platforms overlaps.Macro platform completes high speed, big stroke, micron order Positioning, micro-displacement locating platform is completing the compensation to macro platform position error.It is common to realize by the combination of two-step mechanism The location action of large stroke and high precision.Although the grating signal of output, which belongs to, to be digital signal but to be acquired by microcontroller Words still need other understanding microcontrollers then to make suitable frequency dividing circuit again to the method for signal acquisition to carry out high-frequency Data acquisition.Timer/Counter is when counting mode works in microcontroller work piece, using outer input pulse as counting arteries and veins Punching, when input pulse saltus step from high to low, counter adds 1.Highest count frequency is the 1/24 of crystal oscillator.Therefore when clock is When 12MHZ, highest count frequency is 500KHZ.Such count frequency can not let us satisfaction because the high speed the case where Under, too low count frequency can cause error.This is exactly a comparison stubborn problem in counting circuit.Solution It is by extending integrated counter, as prime counter, and using the counter in piece as subsequent counter device.If integrated Although measurement range expands if counter carrys out use as just frequency divider, the precision measured accordingly can reduce. In order not to reduce measurement accuracy, the integrated counter of extension is connected as low counter by parallel interface and is read in, ginseng Addend is according to calculation process.The digit of extension can determine as needed.If extending tetra- digit counter chips of a piece of 74LS161, The original measurement upper limit can be extended 16 times.If necessary to which upper frequency limit is further increased it is necessary to extend high-positioned counter, And want the higher integrated counter of selection work speed such as:74LS161,74F161 etc..
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.
The platform displacement detection device includes the grating scale being disposed on platform and grating scale circuit, the grating scale electricity Road 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, hair The anode of optical diode D2 is connect by resistance R10 with power supply, the minus earth of light emitting diode D2, the moon of photodiode D1 Pole is connect with power supply, and the anode of photodiode D1 is grounded by resistance R11, the anode of photodiode D1 by capacitance C3 with The positive input terminal of amplifier TAA861 connects, and the positive input terminal of amplifier TAA861 also passes sequentially through resistance R13 and resistance R4 and power supply The positive input terminal of connection, amplifier TAA861 also passes sequentially through resistance R13 and resistance R5 and ground connection, the negative input end of amplifier TAA861 Resistance R6 and capacitance C2 ground connection are passed sequentially through, the negative input end of amplifier TAA861 passes sequentially through resistance R14 and resistance R17 and power supply Connection, the output end of amplifier TAA861 are connect by capacitance C1 with the feedback end of amplifier TAA861, the prime sample circuit Input terminal is connect with the output end of the amplifier TAA861, and the output end of the prime sample circuit is electrically connected with platform controller It connects.The key problem of counting circuit principle, the circuit that counts first is to determine a counting device, there is grating scale, increment herein Formula photoelectric encoder and several elements of absolute optical encoder are it can be selected that each there is good and bad point during these:1. absolutely Formula photoelectric encoder, it is easy to use, without cumulative errors, it need not be carried out reset operation every time, be ideal selection, But its cost is prohibitively expensive in fact.2. incremental optical-electricity encoder, it may be implemented the measurement of positive and negative rotation circuit, and can be with It is exactly that its circuit for realizing is opposite by calculating the rotating speed of individual pen come the speed of measurement motor, but the shortcomings that it also has oneself Complex, measurement accuracy is easy to be interfered by cumulative errors.3. its circuit theory of grating scale is relatively easy, can realize just The test of reversion needs to calculate motor speed by software, and fairly simple circuit is realized and accurate data feedback.It is comprehensive with Upper total, I has selected the counting device for using grating scale as me.
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)。
Substantial effect of the invention is:It is real the present invention provides a kind of simple and convenient, low-cost precision console Now simple, 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 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, flat Platform, 7, platform driver, 8, platform displacement detection device, 81, prime sample circuit.
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 precision console (referring to attached drawing 1, attached drawing 2, attached drawing 3, attached drawing 4, attached drawing 5 and attached drawing 6), by power supply power supply, Including prime sample circuit, platform, platform driver, platform motor, platform motor driver, platform displacement detection device, put down Platform controller, communicating circuit, control computer, the platform controller is electrically connected by communicating circuit with control computer, described flat Platform controller is connect by platform motor driver with platform motor, the output shaft of the platform motor by platform driver with Platform Machinery connects, and the platform displacement detection device is disposed on the output shaft of the platform motor, platform displacement detection dress The output end set is connect with the input terminal of the prime sample circuit, the output end and platform controller of the prime sample circuit Electrical connection, the prime sample circuit include and door U6 and door U5, the first d type flip flop, the second d type flip flop and 74LS161 cores The ends D of piece, first d type flip flop connect power supply, and the ends CLK of first d type flip flop are connect with the output end of door U5, institute The ends Q for stating the first d type flip flop are connect with the first input end of door U6, with the first input end of door U6 also with platform courses chip The ends INT0 connection, connect with the output end of platform displacement detection device with the second input terminal of door U6, the output end with door U6 It connect, is also connect with the output end of platform displacement detection device with the second input terminal of door U5, with door with the ends CLK of 74LS161 The first input end of U5 is connect with the ends Q of the second d type flip flop, and the ends D of the second d type flip flop are connect with power supply, the second d type flip flop The ends CLK are connect with a standard input/output terminal of platform courses chip, the R at the ends R and the first d type flip flop of the second d type flip flop End is connect with the ends MR of 74LS161 chips, the ends CET and the ends CEP of 74LS161 chips with the platform displacement detection device Output end connection.The platform controller is 51 microcontrollers, and the communicating circuit includes MX232 chips and nine kinds of needles interface, institute State 51 microcontrollers communication serial ports pass sequentially through MX232 chips and nine kinds of needles interface with control computer be electrically connected.The platform motor Driver includes that PWM waveform generation circuit and signal processing circuit are constituted, and the PWM waveform generation circuit is by 74LS373 chips With 8253 chips composition, the platform controller is connect by 74LS373 chips with the input terminal of 8253 chips, 8253 chips Output end be electrically connected with the platform motor by signal processing circuit.The signal processing circuit include 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 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.It is described flat Platform displacement detector includes the grating scale being disposed on platform and grating scale circuit, and the grating scale circuit includes light-emitting diodes 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, and the output end output of amplifier TAA861 is used for The feedback signal being connect with platform controller.The input terminal of the prime sample circuit and the output end of the amplifier TAA861 connect It connects, the output end of the prime sample circuit is electrically connected with platform controller.
On the basis of the present embodiment, it can also be arranged and be put down so that piezoelectric ceramic actuator is mobile as the precision of core component Platform, including D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector and A/D converter, the control Computer processed is connected by the input terminal of D/A converter and driving circuit, and output end and the piezoelectric ceramic actuator of driving circuit connect It connects, corresponding piezoelectric ceramic actuator is equipped with actuator displacement detector, and actuator displacement detector passes through A/D converter It is electrically connected with control computer.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.The sluggish control mould Block includes hysteresis module, sluggish operator module and neural network module, hysteresis module, sluggish operator module input terminal with from The output end of suitable solution module connects, and the input terminal of neural network module is connect with the output end of sluggish operator module, nerve The input terminal of network module is also connect with the output end of self-adaptive control module, and hysteresis module exports feedback value and neural network The negative-feedback value of module output inputs the feedback end of neural network module jointly.The neural network is to include several neurons The double-layer structure of module, the double-layer structure are a hidden layer and an output layer, and each neural element module includes swashing Encourage function module and weights module;Error transform module is to be in systematic error by transformation to be set in advance in desired error In range;Self-adaptive control module input signal is the error after error transform, and real-time control and tune are carried out to the error of conversion Whole, neural network output end output control signal controls piezoelectric ceramic actuator.
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:
vpIt 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
It is simple and convenient to present embodiments provide one kind, low-cost precision console realizes simply, control precisely, is fitted Close 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 (5)

1. a kind of precision console, by power supply power supply, it is characterised in that:Including prime sample circuit, platform, platform driver, Platform motor, platform motor driver, platform displacement detection device, platform controller, communicating circuit, control computer are described flat Platform controller is electrically connected by communicating circuit with control computer, and the platform controller passes through platform motor driver and platform electricity Machine connects, and the output shaft of the platform motor is connect by platform driver with Platform Machinery, the platform displacement detection device It is disposed on the output shaft of the platform motor, the input of the output end of platform displacement detection device and the prime sample circuit End connection, the output end of the prime sample circuit is electrically connected with platform controller, the prime sample circuit include with door U6, Power supply is connected with the ends D of door U5, the first d type flip flop, the second d type flip flop and 74LS161 chips, first d type flip flop, it is described The ends CLK of first d type flip flop are connect with the output end of door U5, and the ends Q of first d type flip flop are inputted with the first of door U6 End connection, also connect with the ends INT0 of platform courses chip with the first input end of door U6, with the second input terminal of door U6 with put down The output end of platform displacement detector connects, and is connect with the ends CLK of the output end of door U6 and 74LS161, defeated with the second of door U5 Enter end also to connect with the output end of platform displacement detection device, connect with the first input end of door U5 and the ends Q of the second d type flip flop It connects, the ends D of the second d type flip flop are connect with power supply, and the ends CLK of the second d type flip flop are inputted with a standard of platform courses chip Output end connects, and the ends R of the second d type flip flop and the ends R of the first d type flip flop are connect with the ends MR of 74LS161 chips, The ends CET and the ends CEP of 74LS161 chips are connect with the output end of the platform displacement detection device,
Further include D/A converter, driving circuit, piezoelectric ceramic actuator, actuator displacement detector and A/D converter, institute It states control computer to connect by the input terminal of D/A converter and driving circuit, output end and the piezoelectric ceramics of driving circuit execute Device connects, and corresponding piezoelectric ceramic actuator is equipped with actuator displacement detector, and actuator displacement detector is turned by A/D Parallel operation is electrically connected with control computer, and the control computer is to be equipped with error transform module, self-adaptive control module and sluggish control The control computer of molding block, the input quantity of the error transform module are the feedback of specified rate and actuator displacement detector The output of 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;The sluggishness Control module includes hysteresis module, sluggish operator module and neural network module, hysteresis module, sluggish operator module input terminal It is connect with the output end of self-adaptive control module, 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, and each nerve element module wraps Include excitation function module and weights module;Error transform module is that systematic error is desired in being set in advance in by transformation In error range;Self-adaptive control module input signal is the error after error transform, and real-time control is carried out to the error of conversion And adjustment, neural network output end output control signal control piezoelectric ceramic actuator.
2. precision console according to claim 1, it is characterised in that:The platform controller is 51 microcontrollers, described 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 is electrically connected with control computer.
3. precision console according to claim 1, it is characterised in that:The platform motor driver includes PWM waveform Generation 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 signal Processing circuit is electrically connected with the platform motor.
4. precision console according to claim 1, it is characterised in that:The signal processing circuit include 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 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.
5. precision console according to claim 4, it is characterised in that:The platform displacement detection device includes being disposed in Grating scale on platform 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, electricity Hold C2, capacitance C3 and capacitance C4, power supply to be grounded by capacitance C4, the anode of light emitting diode D2 is connected by resistance R10 and power supply It connects, the cathode of the minus earth of light emitting diode D2, photodiode D1 is connect with power supply, and the anode of photodiode D1 passes through Resistance R11 ground connection, the anode of photodiode D1 are connect by capacitance C3 with the positive input terminal of amplifier TAA861, amplifier TAA861 Positive input terminal also pass sequentially through resistance R13 and resistance R4 is connect with power supply, the positive input terminal of amplifier TAA861 also passes sequentially through The negative input end of resistance R13 and resistance R5 and ground connection, amplifier TAA861 passes sequentially through resistance R6 and capacitance C2 ground connection, amplifier The negative input end of TAA861 passes sequentially through resistance R14 and resistance R17 is connect with power supply, and the output end of amplifier TAA861 passes through capacitance C1 is connect with the feedback end of amplifier TAA861, and the input terminal of the prime sample circuit and the output end of the amplifier TAA861 connect It connects, the output end of the prime sample circuit is electrically connected with platform controller.
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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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CN203965952U (en) * 2014-08-04 2014-11-26 刘泊 Based on the precision stage of piezoelectric ceramics
CN204945761U (en) * 2015-04-14 2016-01-06 宁波职业技术学院 A kind of precise hard_drawn tuhes platform

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CN1387021A (en) * 2002-06-21 2002-12-25 华中科技大学 Bench with 2D displacement
CN1716456A (en) * 2005-04-28 2006-01-04 武汉理工大学 Nano grade positioning precision one dimension displacement work table
CN101458532A (en) * 2008-07-11 2009-06-17 华中科技大学 Synchronous control system for ultraprecise double-layer macro/micromotion platform
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