CN105511501A - Rotary type inverted pendulum with counterweight - Google Patents
Rotary type inverted pendulum with counterweight Download PDFInfo
- Publication number
- CN105511501A CN105511501A CN201511014285.5A CN201511014285A CN105511501A CN 105511501 A CN105511501 A CN 105511501A CN 201511014285 A CN201511014285 A CN 201511014285A CN 105511501 A CN105511501 A CN 105511501A
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- Prior art keywords
- crossbeam
- column
- fork
- counterweight
- servomotor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A rotary type inverted pendulum with a counterweight comprises the components of a vertical pole, the counterweight, a crossbeam and a swing rod. The bottom of the vertical pole is fixed to a vertical column base. The vertical column is vertically arranged on a horizontal experimental table through the vertical column base. The upper part of the vertical column is internally provided with a servo motor. The servo motor is connected with a central processing unit and a power supply. The crossbeam is arranged at the top of the vertical column. The servo motor can drive the crossbeam to rotate at the top of the vertical column. The swing rod is suspended at one end of the crossbeam. The end of the crossbeam is also provided with a simple pendulum encoder. The simple pendulum encoder is connected with the servo motor and the central processing unit. The simple pendulum encoder can recode a deviation angle between the swing rod and the vertical direction in the rotation process of the crossbeam. The counterweight is fixed to the crossbeam. The counterweight is used for keeping the balance of the crossbeam. According to the rotary type inverted pendulum with the counterweight, a relatively small external force interference is realized in an experiment process; the crossbeam is provided with the counterweight and the crossbeam can be adjusted to realize balance, thereby performing a function of protecting the servo motor.
Description
Technical field
The present invention relates to a kind of inverted pendulum device, be specifically related to a kind of rotary inverted pendulum device of attached counterweight.
Background technology
Inverted pendulum is a kind of unstable, and manual control makes it be in a kind of device of mobile equilibrium.It is a kind of fast typical, multivariate, and non-linear, unstable system, the research for inverted pendulum can help us to be familiar with the problem in more multi-control field, so have very high theory value and practical value.In theory, its understanding control theory that us can be helped darker and method.In application, it is in robot, and even aerospace field has very large application.And, due to inverted pendulum device simplicity of design, cheap, in experimental teaching, there is very large application.At present, the platform tackle-type inverted pendulum of use, its takes up an area wide, and dolly run on slide rail in be easily subject to the effect of external force, there is certain limitation.For the Single-Rotational Inverted Pendulum existed, owing to not adding counterweight on crossbeam, crossbeam balance in the horizontal direction can not be ensured in the process of experiment, and easily damage motor.
Summary of the invention
In order to solve above-mentioned Problems existing, the invention discloses a kind of rotary inverted pendulum of attached counterweight, its concrete technical scheme is as follows:
A rotary inverted pendulum for attached counterweight, comprises column, balancing weight, crossbeam and fork, and the bottom of described column is fixed with upright post base, and described column passes through upright post base standing on horizontal experiment table,
Be provided with servomotor in described column top, described servomotor is connected with central processing unit and power supply,
Described crossbeam is arranged on column top, and servomotor can drive crossbeam at column rotary-top,
Described fork hangs the one end being arranged on crossbeam, and this end of fork is also provided with single pendulum scrambler, and described single pendulum scrambler is connected with servomotor and central processing unit, and described single pendulum scrambler can record in crossbeam-rotating process, the deviation angle of fork and vertical direction,
Described balancing weight and crossbeam are fixedly installed, and described balancing weight is for keeping beam balance.
The top of described fork is provided with fork connector, and described fork is connected by fork connector with crossbeam, and fork connector is connected with single pendulum scrambler by hinged mode.
The top of described column is provided with slip ring, and the top of described crossbeam and slip ring is fixed, and slip ring can rotate at column inner periphery.
Described single pendulum scrambler is also provided with encoder bases, and encoder bases and crossbeam are fixed.
Described crossbeam is provided with several counterweight holes, by counterweight hole, balancing weight and crossbeam is fixed.
Described column is the open column of inner hollow, and described servomotor is arranged in the inner hollow of column, and the top of described column is provided with motor cabinet, and motor cabinet connects servomotor, and described slip ring is positioned on motor cabinet.
Principle of work of the present invention is:
Column is fixed on column base plate, the present invention is supported standing on smooth experiment table by column base plate by column, servomotor is arranged in the central space of column, motor cabinet is fixed on column top, servomotor is suspended in column by motor cabinet, servomotor is connected with central processing unit, slip ring is arranged in servo motor seat, when central processing unit controls servomotor work, servomotor just can drive slip ring to rotate with certain speed, crossbeam and slip ring are fixed, and then crossbeam also can follow servomotor rotation, central processing unit controls the rotating speed of servomotor, and then the rotating speed of crossbeam can be controlled.One end of crossbeam hangs and is provided with fork, fork connector, single pendulum scrambler and encoder bases, due to certain quality that fork, fork connector, single pendulum scrambler and encoder bases exist, fork is while rotation, also certain axial thrust can be produced, so crossbeam can produce shake, the present invention even can be made to topple over, so the present invention adds balancing weight according to corresponding situation on crossbeam, play and stablize effect of the present invention.Fork connector is connected with scrambler by hinged mode, is formed in one " joint ", fork can be made around crossbeam swing.The rotation of crossbeam in horizontal plane, makes fork in the vertical direction keep balance.
The invention has the beneficial effects as follows:
(1) with uses at present compared with wider inverted pendulum, the present invention's occupation of land is less, and the External force interference be subject in experimentation is few;
(2) compared with current inverted pendulum, crossbeam arranges balancing weight, the balance of crossbeam bar before experiment, can be regulated, play the effect of protection servomotor;
(3) fork place can be expanded into secondary pendulum, only needs to regulate the position of counterweight and quantity that crossbeam is balanced at horizontal level on pretreatment, so have expansion, and deeply carrying out of convenient research;
(4) apparatus of the present invention structure is simple, and programming Control is convenient, utilizes single pendulum scrambler and servomotor and central processing unit to realize feedback regulation, and experiment is simple.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is the control procedure figure of central processing unit of the present invention,
Reference numerals list: 1-fork, 2-fork connector, 3-single pendulum scrambler, 4-crossbeam, 5-balancing weight, 6-slip ring, 7-motor cabinet, 8-servomotor, 9-encoder bases, 10-column, 11-upright post base, 12-counterweight hole.
Embodiment
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further.Following embodiment should be understood only be not used in for illustration of the present invention and limit the scope of the invention.
Visible by reference to the accompanying drawings, the rotary inverted pendulum of this kind of attached counterweight, comprise column 10, balancing weight 5, crossbeam 4 and fork 1, the bottom of described column 10 is fixed with upright post base 11, described column 10 passes through upright post base 11 standing on horizontal experiment table, when the present invention uses, stand on smooth horizontal experiment table.
Be provided with servomotor 8 in described column 10 top, described servomotor 8 is connected with central processing unit and power supply,
Described crossbeam 4 is arranged on column 10 top, and servomotor 8 can drive crossbeam 4 at column 10 rotary-top, and central processing unit controls servomotor 8 and drives power, and then controls the rotary rpm of crossbeam 4.
Described fork 1 hangs the one end being arranged on crossbeam 4, this end of fork 1 is also provided with single pendulum scrambler 3, described single pendulum scrambler 3 is connected with servomotor 8 and central processing unit, described single pendulum scrambler 3 can record in crossbeam 4 rotary course, the deviation angle of fork 1 and vertical direction, central processing unit, single pendulum scrambler 3 and private take motor and form a feedback system, single pendulum scrambler 3 gathers the deviation angle of fork 1 and vertical direction, central processing unit is analyzed with corresponding crossbeam 4 rotating speed, makes the present invention can keep balance.
Described balancing weight 5 is fixedly installed with crossbeam 4, and described balancing weight 5 balances for keeping crossbeam 4.According to the quality of crossbeam 4 and fork 1, select corresponding balancing weight 5, make crossbeam 4 keep balance.
The top of described fork 1 is provided with fork connector 2, and described fork 1 is connected by fork connector 2 with crossbeam 4, and fork connector 2 is connected with single pendulum scrambler 3 by hinged mode.When rotary work of the present invention, fork 1 can swing around pin joint, produces angular deviation with vertical direction.
The top of described column 10 is provided with slip ring 6, and described crossbeam 4 is fixed with the top of slip ring 6, and slip ring 6 can rotate at column 10 inner periphery.When servomotor 8 works, slip ring 6 rotates together with crossbeam 4.
Described single pendulum scrambler 3 is also provided with encoder bases 9, and encoder bases 9 is fixed with crossbeam 4.Encoder bases 9 pairs of scramblers play protection and fixing effect, avoid scrambler position skew in use occurs or damages.
Described crossbeam 4 is provided with several counterweight holes 12, by counterweight hole 12, balancing weight 5 and crossbeam 4 is fixed.For making crossbeam 4 keep balance, balancing weight 5 can insert and be fixed in corresponding counterweight hole 12, and several counterweight holes 12 can meet crossbeam 4 and the fork 1 of more different qualities, can find the balancing weight 5 and counterweight hole 12 that make it balance on crossbeam 4 as early as possible.
Described column 10 is the open column of inner hollow, and described servomotor 8 is arranged in the inner hollow of column 10, and the top of described column 10 is provided with motor cabinet 7, and motor cabinet 7 connects servomotor 8, and described slip ring 6 is positioned on motor cabinet 7.By motor cabinet 7, servomotor 8 is suspended in column 10, and motor cabinet 7 pairs of slip rings 6 are played a supporting role, and during work, slip ring 6 is rotary work above motor cabinet 7.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned technological means, also comprises the technical scheme be made up of above technical characteristic combination in any.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to right.
Claims (6)
1. a rotary inverted pendulum for attached counterweight, it is characterized in that comprising column, balancing weight, crossbeam and fork, the bottom of described column is fixed with upright post base, and described column passes through upright post base standing on horizontal experiment table,
Be provided with servomotor in described column top, described servomotor is connected with central processing unit and power supply,
Described crossbeam is arranged on column top, and servomotor can drive crossbeam at column rotary-top,
Described fork hangs the one end being arranged on crossbeam, and this end of fork is also provided with single pendulum scrambler, and described single pendulum scrambler is connected with servomotor and central processing unit, and described single pendulum scrambler can record in crossbeam-rotating process, the deviation angle of fork and vertical direction,
Described balancing weight and crossbeam are fixedly installed, and described balancing weight is for keeping beam balance.
2. the rotary inverted pendulum of a kind of attached counterweight according to claim 1, it is characterized in that the top of described fork is provided with fork connector, described fork is connected by fork connector with crossbeam, and fork connector is connected with single pendulum scrambler by hinged mode.
3. the rotary inverted pendulum of a kind of attached counterweight according to claim 2, it is characterized in that the top of described column is provided with slip ring, the top of described crossbeam and slip ring is fixed, and slip ring can rotate at column inner periphery.
4. the rotary inverted pendulum of a kind of attached counterweight according to claim 3, it is characterized in that described single pendulum scrambler is also provided with encoder bases, encoder bases and crossbeam are fixed.
5. the rotary inverted pendulum of a kind of attached counterweight according to claim 4, be is characterized in that described crossbeam being provided with several counterweight holes, balancing weight and crossbeam is fixed by counterweight hole.
6. the rotary inverted pendulum of a kind of attached counterweight according to claim 5, it is characterized in that described column is the open column of inner hollow, described servomotor is arranged in the inner hollow of column, the top of described column is provided with motor cabinet, motor cabinet connects servomotor, and described slip ring is positioned on motor cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511014285.5A CN105511501A (en) | 2015-12-31 | 2015-12-31 | Rotary type inverted pendulum with counterweight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511014285.5A CN105511501A (en) | 2015-12-31 | 2015-12-31 | Rotary type inverted pendulum with counterweight |
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| Publication Number | Publication Date |
|---|---|
| CN105511501A true CN105511501A (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511014285.5A Pending CN105511501A (en) | 2015-12-31 | 2015-12-31 | Rotary type inverted pendulum with counterweight |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239491A (en) * | 2016-08-30 | 2016-12-21 | 江苏华航威泰机器人科技有限公司 | A kind of robotically-driven actuator of inverted pendulum |
| CN106855717A (en) * | 2017-01-17 | 2017-06-16 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
Citations (8)
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| CN2562279Y (en) * | 2002-08-23 | 2003-07-23 | 中国科学技术大学 | Rotary downward pendulum |
| JP4605204B2 (en) * | 2007-10-24 | 2011-01-05 | トヨタ自動車株式会社 | Inverted pendulum type moving body and control method thereof |
| US20110071714A1 (en) * | 2009-09-24 | 2011-03-24 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
| CN103810929A (en) * | 2014-01-17 | 2014-05-21 | 渤海大学 | Planar two-dimensional degree-of-freedom rotary inverted pendulum device |
| CN203838951U (en) * | 2014-05-28 | 2014-09-17 | 哈尔滨理工大学 | Automatic rotating inverted pendulum device based on ARM |
| CN203909627U (en) * | 2014-04-02 | 2014-10-29 | 孟鹏飞 | Rotary inverted pendulum based on model design |
| CN204189370U (en) * | 2014-11-25 | 2015-03-04 | 温州大学 | Single-Rotational Inverted Pendulum experimental provision |
| CN205281271U (en) * | 2015-12-31 | 2016-06-01 | 南京信息工程大学 | Rotation type inverted pendulum that attaches counter weight |
-
2015
- 2015-12-31 CN CN201511014285.5A patent/CN105511501A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2562279Y (en) * | 2002-08-23 | 2003-07-23 | 中国科学技术大学 | Rotary downward pendulum |
| JP4605204B2 (en) * | 2007-10-24 | 2011-01-05 | トヨタ自動車株式会社 | Inverted pendulum type moving body and control method thereof |
| US20110071714A1 (en) * | 2009-09-24 | 2011-03-24 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
| CN103810929A (en) * | 2014-01-17 | 2014-05-21 | 渤海大学 | Planar two-dimensional degree-of-freedom rotary inverted pendulum device |
| CN203909627U (en) * | 2014-04-02 | 2014-10-29 | 孟鹏飞 | Rotary inverted pendulum based on model design |
| CN203838951U (en) * | 2014-05-28 | 2014-09-17 | 哈尔滨理工大学 | Automatic rotating inverted pendulum device based on ARM |
| CN204189370U (en) * | 2014-11-25 | 2015-03-04 | 温州大学 | Single-Rotational Inverted Pendulum experimental provision |
| CN205281271U (en) * | 2015-12-31 | 2016-06-01 | 南京信息工程大学 | Rotation type inverted pendulum that attaches counter weight |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239491A (en) * | 2016-08-30 | 2016-12-21 | 江苏华航威泰机器人科技有限公司 | A kind of robotically-driven actuator of inverted pendulum |
| CN106855717A (en) * | 2017-01-17 | 2017-06-16 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
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Application publication date: 20160420 |
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