CN105549640B - A kind of apparatus and method for realizing turntable rotating shaft oscillating motion - Google Patents
A kind of apparatus and method for realizing turntable rotating shaft oscillating motion Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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Abstract
A kind of apparatus and method for realizing turntable rotating shaft oscillating motion, stepper motor is connected by transmission device with rotating shaft, controller produces pulse signal, is rotated by driver element Driving Stepping Motor, and stepper motor drives rotating shaft to realize that sinusoidal wobble is moved by transmission device.Using two axle circular interpolation methods, an axle is that another axle of actual axle is imaginary axis, produces sinusoidal signal in actual axle, realizes the startup of rotating shaft, waves and stop.Using apparatus and method of the present invention, rotating shaft to wave precision high and be easily adjusted frequency and amplitude, start and stop to be connected with sine curve with frequency cosine curve using half range, rotating shaft is set to start and stop steadily, and the present invention is using servo period as the sampling interval, sampled point is more, significantly reduces the distortion factor of waveform.
Description
Technical field
The present invention relates to a kind of apparatus and method for realizing rotating shaft oscillating motion, it is more particularly to a kind of by stepper motor and
The apparatus and method that transmission device realizes rotating shaft oscillating motion, belong to turntable oscillating motion control field.
Background technology
Turntable oscillating motion typically has rotating shaft to directly drive and use reducing gear two schemes, rotating shaft direct drive essence
Degree is high, but usually requires high torque motor, can cause that turntable volume is larger and cost is very high；It is common using reducing gear
Be that a kind of is the mode of reductor, and which has idle running error, causes to wave precision not using two kinds of transmission devices
It is high；Another is cam drive mode, and which is difficult adjustment frequency and amplitude, and cam is easy to wear, in-convenience in use.Calculating
In method, timing positioning method is usually taken, fixed time interval is generally higher than 10 milliseconds, and rotating shaft starts and stopped general using sinusoidal flat
Sliding mode, subject matter is that sampled point is less, and when frequency is more than or equal to 10 hertz, waveform distortion is larger, starts and stops
It is only unstable.
The content of the invention
The technology of the present invention solves problem：The deficiencies in the prior art are overcome to realize that turntable rotating shaft is waved there is provided one kind
The apparatus and method of motion, wave precision height, are easily adjusted frequency and amplitude, wave startup and stop steadily, and need not be greatly
Torque motor, easy to use, cost is low.
The present invention technical solution be：A kind of device for realizing turntable rotating shaft oscillating motion, including transmission device,
Stepper motor, driver element and controller；
Wherein stepper motor is connected by transmission device with rotating shaft, and controller calculates the amplitude of rotating shaft oscillating motion simultaneously in real time
Export to driver element, the amplitude of rotating shaft oscillating motion is converted to drive signal in real time and exported to stepper motor by driver element,
Stepper motor is rotated under drive signal effect, drives turntable rotating shaft to carry out oscillating motion by transmission device.
The transmission device realizes that the flexible gearing includes arc block, steel wire rope, bullet using flexible gearing
Property mechanism and drive, arc block are fixedly connected with the framework of rotating shaft, and elastic mechanism is arranged on the side of arc block, and drive is solid
It is associated on the axle of stepper motor, steel wire rope is entangled on drive, after two free ends of steel wire rope intersect, one end and elastic mechanism
Connection, the other end is fixedly connected on the fixing end of arc block, and fixing end is located on arc block and the symmetrical opposite side of elastic mechanism；
The elastic mechanism is used to apply certain pretightning force for steel wire rope.
The elastic mechanism includes spring, stator, slide and pre-loading screw, and spring is placed on stator and slide
Between, stator and slide are connected by rotatable pre-loading screw, and amount of spring compression is realized by the rotation of pre-loading screw
Regulation.
The controller is realized by PMAC motion control cards.
The method that turntable rotating shaft oscillating motion is realized using described device, is comprised the following steps：
Step one：Radius r1, center of circle O1 and starting point s1 that controller is inputted according to user, every time interval t1, are utilized
The amplitude that two axle arc interpolations obtain current time rotating shaft oscillating motion is exported to driver element, passes through stepper motor and biography
Dynamic device realizes the startup of rotating shaft, and wherein t1 is servo period, radius r1=A0/2, center of circle O1=(A0/2, A0/2), starting point s1
=(0, A0/2), A0 is the peak swing of rotating shaft oscillating motion；
Step 2：When rotating shaft, which starts the time, reaches T/4, radius r2, center of circle O2 and rise that controller is inputted according to user
Point s2, every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations export to
Driver element, waving for rotating shaft is realized by stepper motor and transmission device, and wherein T is the cycle of rotating shaft oscillating motion, radius
R2=A0, center of circle O2=(0,0), starting point s2=(A0, A0/2)；
Step 3：Stop preceding T/4 moment for waving in rotating shaft, radius r3, center of circle O3 that controller is inputted according to user and
Starting point s3, every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations is exported
To driver element, the stopping of rotating shaft is realized by stepper motor and transmission device, so that the oscillating motion of turntable rotating shaft is completed,
Wherein radius r3=A0/2, origin O3=(A0/2, A0/2), s3=(A0, A0/2).
The two axles arc interpolation implementation is as follows：
(6.1) radius, the center of circle and the starting point that controller is inputted according to user carry out circular motion position resolving；
(6.2) by the position live fluoroscopic of circular motion to X-axis and Y-axis, the movement function of X-axis and Y-axis is obtained；
(6.3) projection value of current time X-axis is exported single to driving as the amplitude of current time rotating shaft oscillating motion
Member, the projection value of Y-axis is not exported, and realizes two axle circular interpolations.
In the step (6.2), the movement function for obtaining X-axis and Y-axis is as follows：
The startup stage of rotating shaft oscillating motion, X-axis movement function is At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0
The swing phase of rotating shaft oscillating motion, X-axis movement function At=A0*SIN(2π*f*t)
The stop phase of rotating shaft oscillating motion, X-axis movement function At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0
The startup stage of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-pi)+0.5*A0
The swing phase of rotating shaft oscillating motion, Y-axis movement function At=A0*COS(2π*f*t)
The stop phase of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-π)+0.5*A0
Wherein AtFor the amplitude of t rotating shaft oscillating motion, A0For the peak swing of rotating shaft oscillating motion set in advance, f
For the frequency of rotating shaft oscillating motion.
The advantage of the present invention compared with prior art is：
(1) present invention controls stepper motor and transmission device to realize by controller, simple in construction, compact, it is not necessary to big
Torque motor, easy to use, cost is significantly less than direct driving.
(2) present invention is driven using flexible gearing, and steel wire rope is connected using one end, and the other end is used by spring
The elastic device of stator composition, can quantitatively be adjusted to the pretightning force of spring, reach preferably transmission effect, while this
The flexible gearing of invention is simple in construction, with low cost, it is easy to accomplish, while without idle running error, substantially increasing transmission
Precision.
(3) present invention is realized using arc interpolation, and the frequency and amplitude of one side rotating shaft oscillating motion are easily adjusted,
On the other hand operation time interval is made to bring up to Microsecond grade from Millisecond, it is suitable with direct driving to make to wave precision, greatly
Ground, which is improved, waves precision, and especially when wobble frequency is more than or equal to 10Hz, waveform distortion is less than 1%.
(4) startup of the invention for by using two axle arc interpolations rotating shaft being waved and stop phase pass through half
The sine curve connection of width frequency multiplication cosine curve and swing phase, makes to wave startup and steady smoother, is being opened while avoiding
Dynamic and stop phase introduces high order and (is more than 2 times) harmonic wave, reduces the influence to test product.
(5) controller of the present invention is realized by PMAC motion control cards, and the servo period of PMAC motion control cards is 62.5
Microsecond, rotating shaft has been effectively ensured waves precision and the distortion factor.
Brief description of the drawings
Fig. 1 is rotating shaft rocking motion device schematic diagram of the present invention；
Fig. 2 is flexible gearing schematic diagram of the invention；
Fig. 3 is two axle circular motion schematic diagrames of the invention；
Fig. 4 is X-axis movement locus schematic diagram of the invention；
Fig. 5 is Y-axis movement locus schematic diagram of the invention.
Embodiment
As shown in figure 1, the present invention proposes a kind of device for realizing turntable rotating shaft oscillating motion, including transmission device 2,
The rotating shaft rocking motion device of stepper motor 3, driver element 4 and controller 5, wherein stepper motor 3 are by transmission device 2 with turning
Axle 1 is connected, and controller 5 calculates the amplitude of rotating shaft oscillating motion and is converted to output of pulse signal to driver element 4, driving in real time
The amplitude of rotating shaft oscillating motion is converted to drive signal in real time and exported to stepper motor 3 by unit 4, and stepper motor 3 drives described
Rotated under dynamic signal function, so as to drive turntable rotating shaft 1 to carry out sinusoidal wobble motion by transmission device 2.
Wave precision in order to further improve and reduce cost, transmission device of the invention can use flexible gearing
Realize, as shown in Fig. 2 the flexible gearing of the present invention includes arc block 21, steel wire rope 22, elastic mechanism 23 and drive
24, arc block 21 is fixedly connected with the framework of rotating shaft 1, and elastic mechanism 23 is arranged on the side of arc block 21, and drive 24 is connected firmly
On the axle of stepper motor 3, steel wire rope 22 is entangled on drive 24, after two free ends of steel wire rope 22 intersect, one end and bullet
Property mechanism 23 connect, the other end is fixedly connected at the fixing end 25 of arc block 21, fixing end 25 be located at arc block 21 with elasticity
The symmetrical opposite side of mechanism 23；Elastic mechanism 23 is used to apply certain pretightning force for steel wire rope 22, and elastic mechanism 23 is by spring
231st, stator 232, slide 233 and pre-loading screw 234 are constituted, spring 231 be placed on stator 232 and slide 233 it
Between, by rotating pre-loading screw 234, slide 233 is moved to stator 232, spring 231 is compressed, due to spring 231
Decrement is directly proportional to pretightning force size, so the decrement of regulation spring just can specify that pretightning force.
Controller 5 of the present invention realizes that periphery can be coordinated using industrial computer, and industrial computer is received by PMAC motion control cards
The information of user's input, and export and give PMAC motion control cards, the information that PMAC motion control cards are inputted according to user, which is calculated, to be turned
The amplitude of axle oscillating motion and output.The servo period of PMAC motion control cards is 62.5 microseconds, can greatly be lifted and waved
Precision and the distortion factor.
The present invention proposes a kind of method that utilization said apparatus realizes turntable rotating shaft oscillating motion, including following step
Suddenly：
Step one：The startup stage of rotating shaft oscillating motion：
Radius r1, center of circle O1 and starting point s1 that controller 5 is inputted according to user, every time interval t1, are justified using two axles
The amplitude that arc interpolation algorithm obtains current time rotating shaft oscillating motion is exported to driver element 4, is filled by stepper motor 3 and transmission
2 startups for realizing rotating shaft 1 are put, wherein t1 is servo period.A0 be rotating shaft oscillating motion peak swing, radius r1=A0/2,
Center of circle O1=(A0/2, A0/2), starting point s1=(0, A0/2)；
Step 3：The swing phase of rotating shaft oscillating motion:
When the startup time of rotating shaft 1 reaching T/4, radius r2, center of circle O2 and starting point s2 that controller 5 is inputted according to user,
Every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations exports single to driving
Member 4, the sinusoidal wobble of rotating shaft 1 is realized by stepper motor 3 and transmission device 2, and T is the cycle of rotating shaft oscillating motion, radius r2
=A0, center of circle O2=(0,0), starting point s2=(A0, A0/2)；
Step 4：The stop phase of rotating shaft oscillating motion:
The preceding T/4 moment for stopping waving in rotating shaft 1, radius r3, center of circle O3 and starting point that controller 5 is inputted according to user
S3, every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations is exported to drive
Moving cell 4, the stopping of rotating shaft 1 is realized by stepper motor 3 and transmission device 2.Wherein radius r3=A0/2, origin O3=(A0/
2, A0/2), s3=(A0, A0/2).
The present invention realizes that two axle circular motion schematic diagrames are as shown in Figure 3 using two axle arc interpolations.When flat in two axles
Bowlder is done in face, and X-axis is sine curve, and Y-axis is cosine curve, and two axle arc interpolation implementations are as follows：
(a) radius and origin that controller is inputted according to user carry out circular motion position resolving；
(b) by the position live fluoroscopic of circular motion to X-axis and Y-axis, the movement function of X-axis and Y-axis is obtained；
The startup stage of rotating shaft oscillating motion, X-axis movement function is At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0,
For half range frequency multiplication cosine curve.
The swing phase of rotating shaft oscillating motion, X-axis movement function At=A0*SIN(2π*f*t)。
The stop phase of rotating shaft oscillating motion, X-axis movement function At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0, it is
Half range frequency multiplication cosine curve.
The startup stage of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-pi)+0.5*A0。
The swing phase of rotating shaft oscillating motion, Y-axis movement function At=A0*COS(2π*f*t)。
The stop phase of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-π)+0.5*A0。
Wherein AtFor the amplitude of t rotating shaft oscillating motion, A0For the peak swing of rotating shaft oscillating motion set in advance, f
For the frequency of rotating shaft oscillating motion.
(c) exported the projection value of current time X-axis as the amplitude of current time rotating shaft oscillating motion to driver element,
The projection value of Y-axis is not exported, and realizes two axle circular interpolations.
Using wobble frequency as 10Hz, peak swing is A0Exemplified by, the moving wave shape of X-axis is as shown in figure 4, when rotating shaft starts
Half range frequency multiplication cosine curve is employed, the slope of curve is zero on startup, i.e., rotating shaft initial rate is 0, is opened with rotating shaft from stopping
Emotionally condition is coincide, and can smoothly be started, and rotating shaft is with sinusoidal motion after startup, and cosine curve and sine are bent at 1/4 cycle
Line is connected, and two slope of a curves are zero, it is ensured that the smooth connection of sine and cosine, when rotating shaft stops waving, and is stopping shaking
During preceding 1/4 cycle of pendulum, sine curve is in smoothing junction with cosine curve when slope is zero, and rotating shaft is stopped shaking by cosine curve
Pendulum, the slope of curve is zero when rotating shaft stops, and can smoothly be stopped.The moving wave shape of Y-axis as shown in figure 5, Y-axis is imaginary axis,
Algorithm calculating is served only for, so its moving wave shape can discontinuously not considered.Waveform is obtained by waveform distortion instrument measurement
The distortion factor is less than 1%.
The present invention gives the device that rotating shaft is waved is realized, stepper motor and transmission device is controlled to realize by controller,
High torque motor is not needed, easy to use, cost is significantly less than straight drive scheme, while flexible gearing is further devised,
Idle running error is overcome, transmission accuracy is improved.On the basis of said apparatus, realize that rotating shaft is shaken using two axle circular interpolation methods
Pendular motion a, axle is that another axle of actual axle is imaginary axis, and sinusoidal signal is produced in actual axle, waves precision height and is easily adjusted
Frequency and amplitude, while rotating shaft startup and stop phase are connected using half range with frequency cosine curve with sine curve, make rotating shaft
Smoothly start and stop.Meanwhile, the present invention is using servo period as the sampling interval, and sampled point is more, significantly reduces waveform
The distortion factor.Therefore, the present invention can effectively overcome existing reductor mode to there is idle running error, wave that precision is not high and cam
The kind of drive is difficult to adjust the deficiency of frequency and amplitude, while the algorithm for overcoming existing timing positioning method is more than etc. in frequency
Waveform distortion is larger when 10 hertz, and starts and stop jiggly shortcoming.Have broad application prospects.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (6)
1. a kind of device for realizing turntable rotating shaft oscillating motion, it is characterised in that：Including transmission device (2), stepper motor
(3), driver element (4) and controller (5)；
Wherein stepper motor (3) is connected by transmission device (2) with rotating shaft (1), and controller (5) calculates rotating shaft oscillating motion in real time
Amplitude and export and give driver element (4), it is defeated that the amplitude of rotating shaft oscillating motion is converted to drive signal by driver element (4) in real time
Go out to give stepper motor (3), stepper motor (3) is rotated under drive signal effect, and turntable is driven by transmission device (2)
Rotating shaft (1) carries out oscillating motion；
The transmission device realizes that the flexible gearing includes arc block (21), steel wire rope using flexible gearing
(22), elastic mechanism (23) and drive (24), arc block (21) are fixedly connected with the framework of rotating shaft (1), elastic mechanism (23)
The side of arc block (21) is arranged on, drive (24) is connected firmly on the axle of stepper motor (3), and steel wire rope (22) is entangled in drive
(24) on, after two free ends of steel wire rope (22) intersect, one end is connected with elastic mechanism (23), and the other end is fixedly connected on arc
The fixing end (25) of shape block (21), fixing end (25) is located on arc block (21) and the symmetrical opposite side of elastic mechanism (23)；Institute
State elastic mechanism (23) be used for be the certain pretightning force of steel wire rope (22) application.
2. a kind of device for realizing turntable rotating shaft oscillating motion according to claim 1, it is characterised in that：The elasticity
Mechanism (23) includes spring (231), stator (232), slide (233) and pre-loading screw (234), and spring (231) is placed on
Between stator (232) and slide (233), stator (232) and slide (233) pass through rotatable pre-loading screw
(234) connect, the regulation of spring (231) decrement is realized by the rotation of pre-loading screw (234).
3. a kind of device for realizing turntable rotating shaft oscillating motion according to claim 1, it is characterised in that：The control
Device (5) is realized by PMAC motion control cards.
4. a kind of method that described device of utilization claim 1 or 2 realizes turntable rotating shaft oscillating motion, it is characterised in that including
Following steps：
Step one：Radius r1, center of circle O1 and starting point s1 that controller (5) is inputted according to user, every time interval t1, utilize two
The amplitude that axle arc interpolation obtains current time rotating shaft oscillating motion exports and gives driver element (4), passes through stepper motor (3)
Realize the startup of rotating shaft (1) with transmission device (2), wherein t1 is servo period, radius r1=A0/2, center of circle O1=(A0/2,
A0/2), starting point s1=(0, A0/2), A0 is the peak swing of rotating shaft oscillating motion；
Step 2：When rotating shaft (1) the startup time reaching T/4, radius r2, center of circle O2 that controller (5) is inputted according to user and
Starting point s2, every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations is exported
Driver element (4) is given, waving for rotating shaft (1) is realized by stepper motor (3) and transmission device (2), wherein T is that fortune is waved in rotating shaft
Dynamic cycle, radius r2=A0, center of circle O2=(0,0), starting point s2=(A0, A0/2)；
Step 3：The preceding T/4 moment for stopping waving in rotating shaft (1), radius r3, center of circle O3 that controller (5) is inputted according to user
With starting point s3, every time interval t1, the amplitude for obtaining current time rotating shaft oscillating motion using two axle arc interpolations is defeated
Go out and give driver element (4), the stopping of rotating shaft (1) is realized by stepper motor (3) and transmission device (2), so as to complete turntable
The oscillating motion of rotating shaft, wherein radius r3=A0/2, center of circle O3=(A0/2, A0/2), s3=(A0, A0/2).
5. the method according to claim 4 for realizing turntable rotating shaft oscillating motion, it is characterised in that：The two axles circular arc
Interpolation algorithm implementation is as follows：
(6.1) radius, the center of circle and the starting point that controller (5) is inputted according to user carry out circular motion position resolving；
(6.2) by the position live fluoroscopic of circular motion to X-axis and Y-axis, the movement function of X-axis and Y-axis is obtained；
(6.3) exported the projection value of current time X-axis as the amplitude of current time rotating shaft oscillating motion to driver element
(4), the projection value of Y-axis is not exported, and realizes two axle circular interpolations.
6. the method according to claim 5 for realizing turntable rotating shaft oscillating motion, it is characterised in that：The step
(6.2) in, the movement function for obtaining X-axis and Y-axis is as follows：
The startup stage of rotating shaft oscillating motion, X-axis movement function is At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0
The swing phase of rotating shaft oscillating motion, X-axis movement function At=A0*SIN(2π*f*t)
The stop phase of rotating shaft oscillating motion, X-axis movement function At=0.5*A0*COS(2π*2*f*t-π)+0.5*A0
The startup stage of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-π)+0.5*A0
The swing phase of rotating shaft oscillating motion, Y-axis movement function At=A0*COS(2π*f*t)
The stop phase of rotating shaft oscillating motion, Y-axis movement function At=0.5*A0*SIN(2π*2*f*t-π)+0.5*A0
Wherein AtFor the amplitude of t rotating shaft oscillating motion, A0For the peak swing of rotating shaft oscillating motion set in advance, f is to turn
The frequency of axle oscillating motion.
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| CN107917397B (en) * | 2017-11-27 | 2019-04-30 | 中国矿业大学 | Sine and cosine curve physical motion lamps and lanterns |
| CN112628369A (en) * | 2020-12-16 | 2021-04-09 | 北京航天控制仪器研究所 | No return error sways motion structure |
| CN113109338A (en) * | 2021-03-22 | 2021-07-13 | 共享智能铸造产业创新中心有限公司 | Detection method for test block section |
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