CN105869482A - Multifunctional magnetic levitation elevator control demonstration instrument - Google Patents

Abstract

The invention discloses a multifunctional magnetic levitation elevator control demonstration instrument. An elevator guide rail 1 is fixed to a stair shaft support 8 through a flange base 7. An acceleration (speed) detection module 3, a quality detection module 6 and a Hall element 5 are installed on the top of a simulation car, the bottom of the stair shaft support 8 and the side wall of the stair shaft support 8 respectively. The simulation car 9 is fixedly connected with a single-phase asynchronous linear motor 10, and does vertical movement along an elevator guide rail. A control processing module 13 receives and stores acceleration (speed), position and simulation card load information, and completes acceleration, deceleration, speed uniforming and levitation control for the single-phase asynchronous linear motor 10. The control processing module 13 comprises two core function modules, namely a control algorithm design part and an algorithm evaluation part. The control algorithm can be uploaded to the control processing module. A display module 14 can display elevator operation information, control algorithm information and algorithm evaluation results. The multifunctional magnetic levitation elevator control demonstration instrument can be used for sensor teaching, magnetic levitation elevator control demonstration, motor control demonstration, motor control demonstration debugging and other teaching activities, and the teaching effect is improved.

Description

A kind of multifunctional maglev elevator controlling Teaching instrument

Technical field

The present invention relates to a kind of instruments used for education, particularly to a kind of multifunctional maglev elevator controlling Teaching instrument, should Teaching instrument can be used for magnetic levitation elevator and runs control principle demonstration, it is provided that student is controlled the reality of algorithm debugging Thing emulation platform.

Background technology

Magnetic levitation elevator, based on electromagnetic induction principle, owing to eliminating the wearing terrains such as steel wire rope, is extensively closed Note.Elevator belongs to special equipment, it is difficult to move into teaching classroom.Field adjustable chance shortage makes student grasp During magnetic levitation elevator control principle, being only capable of being carried out by textbook or software emulation, teacher explains difficulty, and student lacks Chance is started in weary practice.The report controlling equipment currently, with respect to magnetic levitation elevator is less, and market does not has phase yet Close magnetic levitation elevator and control teaching production marketing.Based on above-mentioned present situation, it is necessary to research and develop a set of matter emulation equipment, Can be used in the explanation of magnetic levitation elevator control principle and demonstration, it is provided that student's control algorithm design and the reality of debugging Thing emulation platform, has thus drawn technical solution of the present invention.

Summary of the invention

For deficiency of the prior art, it is an object of the invention to provide a kind of multifunctional maglev elevator controlling Teaching instrument, this Teaching instrument can demonstrate magnetic levitation elevator control principle to student, it is provided that student is controlled algorithm Design and the physical emulation platform debugged.

For achieving the above object, the technical solution used in the present invention is to provide a kind of multifunctional maglev elevator control Teaching instrument processed, mainly includes that content is as follows:

(1) this Teaching instrument include single-phase asynchronous linear electric motors, cage guide, emulation car, stair shaft support and The critical pieces such as sensor Detection & Controling unit, cage guide is fixed on stair shaft support by flange seat.

(2) acceleration (speed) detection module can be with the operation acceleration of detection simulation car and speed；Based on The position detecting module of Hall element can detect the run location of car；Quality detection module can obtain imitative The load-carrying of true car.

(3) car weight information, positional information are sent to control processing module by (signal) wire, accelerate Degree (speed) information is sent to control processing module by wireless communication module.

(4) control algolithm of control unit, it is possible to combine sensor detection information and linear electric motors are controlled, Simulant elevator complete acceleration and deceleration, at the uniform velocity, hovering run, it is achieved simulation magnetic levitation elevator run control demonstration.

(5) controlling processing module support program and upload debugging, provide algorithm to debug platform for student, control processes Module has data storage function, can be with the service data of storage emulation car.Control processing module and there is control Evaluation of algorithm function can carry out Performance comparision according to service data to different control algolithms.

The effect of the present invention is: is capable of emulating car and at the uniform velocity transports in simulant elevator hoistway along guide rail OK, simulant elevator acceleration and deceleration, travel at the uniform speed and stop at different floors, completing hovering.To single-phase asynchronous straight line The feedback control of motor, the operation control mechanism of magnetic levitation elevator are demonstrated.Quality detection module, Hall unit Part, the detection of acceleration (speed) sensor be able to provide control processing module car weight information, Run location information and speed, acceleration information.The use of multiclass sensor contributes to education activities to sensor Explanation demonstration.Controlling processing module can be to emulation running process of elevator information (speed, acceleration) and sedan-chair Railway carriage or compartment weight information carries out record storage, and is designed with control algolithm Rating and Valuation Department and is estimated control algolithm performance, Control program can be uploaded, and facilitates student based on this simulation Platform Designing, debugging control algorithm.The present invention can For sensor teaching, magnetic levitation elevator controls demonstration, motor controls demonstration, motor control algorithms designs and adjusts In the education activities such as examination, effectively promote teaching efficiency.

Accompanying drawing explanation

Fig. 1 is the Teaching instrument system three-dimensional structure diagram of the present invention.

Fig. 2 is that the Teaching instrument of the present invention controls processing module functional block diagram.

Detailed description of the invention

Below in conjunction with concrete accompanying drawing 1 and accompanying drawing 2, the invention will be further described.

Fig. 1 is the Teaching instrument system three-dimensional structure diagram of the present embodiment.

Fig. 2 is that the Teaching instrument of the present embodiment controls processing module functional block diagram.

As it is shown in figure 1, Teaching instrument structure system is by cage guide 1, wireless communication module 2, acceleration (speed) Sensor 3, magnet piece 4, Hall element 5, quality detection module 6, flange seat 7, stair shaft support 8, imitative True car 9, single-phase asynchronous linear electric motors 10, motor control line 11, motor drive module 12, control process Module 13, display module 14, wire 15,220V power supply 16, data wire 17, button 18 form.

Cage guide 1, flange seat 7, stair shaft support 8, emulation car 9, single-phase asynchronous linear electric motors 10 structure Becoming the basic physical arrangement of Teaching instrument, flange seat 7 is for being fixed on stair shaft support 8 by cage guide 1.Show Religion instrument is in running, and motor drive module 12 is powered by 220V power supply 16.Button 18 sends control System instruction to controlling processing module 13 through data wire 17, is produced control signal and is sent to by data wire 17 Motor drive module 12, motor drive module drives single-phase asynchronous linear electric motors 10 by motor control line 11, Control emulation car 9 acceleration and deceleration, at the uniform velocity run with hovering.

Acceleration (speed) sensor 3, magnet piece 4, Hall element 5, quality detection module 6 are used for showing Religion instrument system service data gathers, and Hall element 5 measures car displacement, quality by induced magnet block 4 Detection module 6 is used for measuring car gross weight (load-carrying), and acceleration (speed) sensor 3 is used for measuring sedan-chair Acceleration (speed) in the running of railway carriage or compartment, acceleration (speed) data are sent to by wireless communication module 2 Control processing module 13, and car displacement, load-carrying all are transferred to control processing module 13 by wire 15.

As in figure 2 it is shown, control processing module to complete the Core Feature of this Teaching instrument.From logic function angle Dividing, it is by controlling processing unit 19, data store 20, control algorithm design portion 21 and evaluation of algorithm Portion 22 forms.Control processing unit 19 acceleration (speed) information collected, position, quality etc. to be transported Row information is stored in data store 20, and storage mode can be SD card, hard-disc storage, high in the clouds storage.Control Algorithm design portion 21 processed can be uploaded to control processing unit 19, and according to the history in data store 20 Service data design control algolithm, i.e. control processing unit 19 combine acceleration (speed), positional information and Emulation car weight information, can support design, debug different control algolithms.Evaluation of algorithm portion 22 makees equally For controlling the significant components of processing module 13, can be according to the operation number emulating car in data store 20 According to (different control algolithm), compare the control performance of control algolithm.The evaluation index of control algolithm can be control Precision J processed_c, precision I of hovering_end, control comfort level J_a.Define J individually below_c、I_endAnd J_a:

$J_{c1}=\underset{t=1}{\overset{n}{\Σ}}{(v_t-v_r)}^2,J_{c2}=\underset{t=1}{\overset{n}{\Σ}}{(s_t-s_r)}^2,$

J_end=s_n-s_r(end),

$J_a=\underset{t=1}{\overset{n}{\Σ}}{(a_t-a_{cmft})}^2,$

Wherein, t represents the time variable of emulation cage operation process, and 1,2...n represents time, v used by operation overall process_t And s_tRepresent the speed of service and run displacement, v_rAnd s_rRepresent object run speed and object run displacement, in advance Can be given by operation curve.J_cRepresent control accuracy, including speed Tracking precision J_c1With displacement tracking precision J_c2。s_nRepresent position during end hovering, s_r(end)Represent target end hovering position, J_endRepresent the outstanding of end Stop precision.a_cmftSimulation human comfort's acceleration, can not the most greatly can not be too small, the least meeting makes the operation time Long, a_tRepresent that reality controls acceleration, J_aReflect the control comfort level of emulation elevator.

Display module 14 in Fig. 1 controls the sensor information of processing module 13 detection, control for showing Parameter and evaluation of algorithm information, it is provided that teaching object visual feedback information.

Claims (6)

1. a multifunctional maglev elevator controlling Teaching instrument, it is characterised in that

Teaching instrument described in 1.1 include cage guide 1, wireless communication module 2, acceleration (speed) detection module 3, Magnet piece 4, Hall element 5, quality detection module 6, flange seat 7, stair shaft support 8, emulation car 9, Single-phase asynchronous linear electric motors 10, motor control line 11, motor drive module 12, control processing module 13, Display module 14, wire 15,220V power supply 16, data wire 17, button 18.

1.2 cage guides 1 are fixed on stair shaft support 8 by flange seat 7, and Hall element 5 is equidistantly mounted on stair shaft Support 8 sidewall.Acceleration detection module 3 is arranged on emulation car 9 and pushes up, and emulation car 9 is with single-phase asynchronous Linear electric motors 10 are fixing to be connected, and moves vertically with cage guide 1.Single-phase asynchronous linear electric motors 10 pass through Motor drive module 12 is powered by 220V power supply 16.Control processing module 13 right by motor control line 11 Single-phase asynchronous linear electric motors 10 are controlled.Hall element 5, quality detection module 6 pass through wired mode, Acceleration (speed) detection module 3 sends position letter by wireless communication module 2 to controlling processing module 13 Breath, emulation car weight information and acceleration (speed) information.Control processing module 13 and will receive information It is stored in data store 20.

2. according to a kind of multifunctional maglev elevator controlling Teaching instrument described in claim 1.2, it is characterised in that Based on single-phase asynchronous electromagnetic linear motor principle of induction, linear electric motors can be controlled and simulate magnetic suspension along vertical track Elevator constant velocity, acceleration and deceleration and hovering run, and demonstrate for magnetic levitation elevator control principle.

3. according to a kind of multifunctional maglev elevator controlling Teaching instrument described in claim 1.2, it is characterised in that Controlling processing unit 19 and emulation car movement data is stored in data store 20, storage mode can be SD card, hard-disc storage, high in the clouds storage.Data store 20 with the interface controlling processing unit 19 can be All ports carried out data transmission such as serial ports, Ethernet interface.

4. according to a kind of multifunctional maglev elevator controlling Teaching instrument described in claim 1.2, it is characterised in that Controlling processing unit 19 can be the operation processing unit such as single-chip microcomputer or ARM and associated peripheral circuits thereof.

5. according to a kind of multifunctional maglev elevator controlling Teaching instrument described in claim 1.2, it is characterised in that By controlling the core component control algolithm Rating and Valuation Department 22 of processing module 13, different control algolithm performances can be entered Row assessment.The evaluation index of control algolithm can be control accuracy J_c, precision J of hovering_end, control comfort level J_a。 Define J individually below_c、J_endAnd J_a:

$J_{c1}=\underset{t=1}{\overset{n}{\Σ}}{(v_t-v_r)}^2,J_{c2}=\underset{t=1}{\overset{n}{\Σ}}{(s_t-s_r)}^2,$

J_end=s_n-s_r(end),

$J_a=\underset{t=1}{\overset{n}{\Σ}}{(a_t-a_{cmft})}^2,$

Wherein, t represents the time variable of emulation cage operation process, and 1,2...n represents time, v used by operation overall process_t And s_tRepresent the speed of service and run displacement, v_rAnd s_rRepresent object run speed and object run displacement, in advance Can be given by operation curve.J_cRepresent control accuracy, including speed Tracking precision J_c1With displacement tracking precision J_c2。s_nRepresent actual motion end hovering position, s_r(end)Represent target end hovering position, J_endRepresent end Hovering precision.a_cmftSimulation human comfort's acceleration, can not the most greatly can not be too small, the least meeting makes operation Overlong time, a_tRepresent that reality controls acceleration, J_aReflect the control comfort level of emulation elevator.

6. according to a kind of multifunctional maglev elevator controlling Teaching instrument described in claim 1.2, it is characterised in that Control algolithm program can be uploaded to control processing module 13.The core component controlling processing module 13 controls to calculate Method design portion 21 combines acceleration (speed), positional information and emulation car weight information, and right 5 In Con trolling index, complete control structure and the parameter designing of control algolithm.