CN105869482B - A kind of multifunctional maglev elevator controlling Teaching instrument - Google Patents
A kind of multifunctional maglev elevator controlling Teaching instrument Download PDFInfo
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- CN105869482B CN105869482B CN201610310924.0A CN201610310924A CN105869482B CN 105869482 B CN105869482 B CN 105869482B CN 201610310924 A CN201610310924 A CN 201610310924A CN 105869482 B CN105869482 B CN 105869482B
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- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/181—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for electric and magnetic fields; for voltages; for currents
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Abstract
A kind of multifunctional maglev elevator controlling Teaching instrument, cage guide 1 is fixed on stair shaft stent 8 by flange seat 7, and acceleration (speed) detection module 3, quality detection module 6 and Hall element 5 are separately mounted to emulation car roof, 8 bottom and side wall of stair shaft stent.Emulation car 9 is fixedly connected with single-phase asynchronous linear motor 10, is vertically moved with cage guide.Control process module 13 receives, store acceleration (speed), position and emulation car weight information, and acceleration and deceleration, at the uniform velocity and Hovering control are completed to single-phase asynchronous linear motor 10.Control process module 13 includes control algorithm design portion and two, algorithm evaluation portion corn module.Control algolithm can be uploaded to control process module.Display module 14 can show elevator operation information, control algolithm information and algorithm evaluation result.The present invention can be used in the education activities such as sensor teaching, magnetic levitation elevator control demonstration, motor control demonstration, motor control algorithms debugging, promote teaching efficiency.
Description
Technical field
The present invention relates to a kind of instruments used for education, more particularly to a kind of multifunctional maglev elevator controlling Teaching instrument, the teaching
Instrument can be used for magnetic levitation elevator operation control principle demonstration, provide the physical emulation platform that student carries out control algolithm debugging.
Background technology
Magnetic levitation elevator is based on electromagnetic induction principle, due to eliminating the wearing terrains such as steel wire rope, receives significant attention.Electricity
Ladder belongs to special equipment, it is difficult to move into teaching classroom.Field adjustable chance lacks so that student is grasping magnetic levitation elevator control
It during principle, is only capable of carrying out by textbook or software emulation, teacher explains difficulty, and student, which lacks, puts into practice chance of starting.At present, on
The report of magnetic levitation elevator control device is less, in the market also without related magnetic suspension elevator controlling teaching production marketing.It is 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, provide
Student's control algorithm design and the physical emulation platform of debugging, have thus drawn technical solution of the present invention.
The content of the invention
For deficiency of the prior art, the object of the present invention is to provide a kind of multifunctional maglev elevator controlling teachings
Instrument, the Teaching instrument can demonstrate magnetic levitation elevator control principle to student, provide student and carry out control algorithm design and debugging
Physical emulation platform.
To achieve the above object, the technical solution adopted by the present invention is to provide a kind of multifunctional maglev elevator controlling teaching
It is as follows mainly to include content for instrument：
(1) Teaching instrument includes single-phase asynchronous linear motor, cage guide, emulation car, stair shaft stent and sensor
The critical pieces such as Detection ＆ Controling unit, cage guide are fixed on stair shaft stent by flange seat.
(2) acceleration (speed) detection module can be with the operation acceleration and speed of detection simulation car；Based on Hall member
The position detecting module of part can detect the running position of car；Quality detection module can obtain the load-carrying of emulation car.
(3) car weight information, location information are sent to control process module, acceleration (speed) by (signal) conducting wire
Information is sent to control process module by wireless communication module.
(4) control algolithm of control unit can control linear motor with reference to sensor detection information, simulation electricity
Ladder complete acceleration and deceleration, at the uniform velocity, hovering operation, realize simulation magnetic levitation elevator operation control demonstration.
(5) control process module support program uploads debugging, and providing algorithm for student debugs platform, control process module tool
There is data storage function, it can be with the operation data of storage emulation car.Control process module has control algolithm evaluation function can
According to operation data, performance comparison is carried out to different control algolithms.
The present invention effect be：It can realize that emulation car travels at the uniform speed along guide rail in simulant elevator hoistway, mould
Intend elevator acceleration and deceleration, travel at the uniform speed and stopped in different floors, complete hovering.Feedback control to single-phase asynchronous linear motor,
The operation control mechanism of magnetic levitation elevator is demonstrated.The inspection of quality detection module, Hall element, acceleration (speed) sensor
It surveys and is able to the weight information that control process module car is provided, running position information and speed, acceleration information.Multiclass passes
The use of sensor contributes to education activities to demonstrate the explanation of sensor.Control process module can be to emulating running process of elevator
Information (speed, acceleration) and car weight information carry out record storage, and are designed with control algolithm Rating and Valuation Department to control algolithm
Performance is assessed, and control program can upload, and student is facilitated to be based on the simulation Platform Designing, debugging control algorithm.This hair
It is bright that sensor teaching, magnetic levitation elevator can be used for control the religions such as demonstration, motor control demonstration, motor control algorithms design and debugging
In activity, teaching efficiency is effectively promoted.
Description of the drawings
Fig. 1 is the Teaching instrument system three-dimensional structure diagram of the present invention.
Fig. 2 is the Teaching instrument control process functions of modules block diagram of the present invention.
Specific embodiment
With reference to specific attached drawing 1 and attached 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 the Teaching instrument control process functions of modules block diagram of the present embodiment.
As shown in Figure 1, Teaching instrument structure 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 stent 8, emulation car 9, single-phase asynchronous linear motor
10th, motor control line 11, motor drive module 12, control process module 13, display module 14, conducting wire 15,220V power supplys 16, number
It is formed according to line 17, button 18.
Cage guide 1, flange seat 7, stair shaft stent 8, emulation car 9, single-phase asynchronous linear motor 10 form Teaching instrument base
This physical arrangement, flange seat 7 are used to cage guide 1 being fixed on stair shaft stent 8.In the process of running, 220V is electric for Teaching instrument
Source 16 is powered motor drive module 12.Button 18 sends control instruction through data cable 17 to control process module 13, production
Raw control signal is sent to motor drive module 12 by data cable 17 again, and motor drive module is driven by motor control line 11
Single-phase asynchronous linear motor 10,9 acceleration and deceleration of control emulation car are at the uniform velocity run with hovering.
Acceleration (speed) sensor 3, magnet piece 4, Hall element 5, quality detection module 6 are used for Teaching instrument system operation
Data acquisition, Hall element 5 measure car displacement by induced magnet block 4, and quality detection module 6 is used to measure car gross weight
It measures (load-carrying), acceleration (speed) sensor 3 is used to measure the acceleration (speed) in car operational process, wireless communication module
2 by acceleration (speed) data sending to control process module 13, and car displacement, load-carrying are transferred to control by conducting wire 15
Processing module 13 processed.
As shown in Fig. 2, control process module completes the Core Feature of this Teaching instrument.From logic function angular divisions,
It is made of control process unit 19, data store 20, control algorithm design portion 21 and algorithm evaluation portion 22.Control process unit
The operation informations such as the acceleration collected (speed) information, position, quality are stored in data store 20 by 19, and storage mode can
Be SD card, hard-disc storage, high in the clouds storage.Control algorithm design portion 21 can be uploaded to control process unit 19, and according to number
Control algolithm is designed according to the history data in storage part 20, i.e. control process unit 19 combines acceleration (speed), position
Information and emulation car weight information, can support to design, debug different control algolithms.Algorithm evaluation portion 22 is equally as control
The significant components of processing module 13 processed, can be according to operation data (the difference control calculation that car is emulated in data store 20
Method), compare the control performance of control algolithm.The evaluation index of control algolithm can be control accuracy Jc, hovering precision Iend, control
Comfort level J processeda.J is defined individually belowc、IendAnd Ja：
Jend=sn-sr(end),
Wherein, t represents the time variable of emulation car operational process, and 1,2...n represents time, v used in operation overall processt
And stRepresent the speed of service and operation displacement, vrAnd srRepresent object run speed and object run displacement, it in advance can be by running
Curve provides.JcControl accuracy is represented, including speed tracing precision Jc1With displacement tracking precision Jc2。snIt represents when end is hovered
Position, sr(end)Represent target end hovering position, JendRepresent the hovering precision of end.acmftHuman comfort's acceleration is simulated,
Can neither too greatly can not be too small, too small that run time can be made long, atRepresent actual control acceleration, JaReflect emulation electricity
The control comfort level of ladder.
Sensor information that display module 14 in Fig. 1 detects for display control processing module 13, control parameter and
Algorithm evaluation information provides teaching object visual feedback information.
Claims (2)
1. a kind of multifunctional maglev elevator controlling Teaching instrument, which is characterized in that
The Teaching instrument includes cage guide (1), wireless communication module (2), acceleration and velocity measuring module (3), magnet piece
(4), Hall element (5), quality detection module (6), flange seat (7), stair shaft stent (8), emulation car (9), single-phase asynchronous straight
Line motor (10), motor control line (11), motor drive module (12), control process module (13), display module (14), conducting wire
(15), 220V power supplys (16), data cable (17), button (18)；
Cage guide (1) is fixed on by flange seat (7) on stair shaft stent (8), and Hall element (5) is equidistantly mounted on stair shaft stent
(8) side wall, acceleration and velocity measuring module (3) are mounted on emulation car (9) and push up, emulation car (9) and single-phase asynchronous straight line
Motor (10) is fixedly connected, and is vertically moved with cage guide (1), and single-phase asynchronous linear motor (10) is by motor drive module
(12) drive, control process module (13) controls single-phase asynchronous linear motor (10) by motor control line (11), suddenly
That element (5), quality detection module (6) pass through wireless communication module by wired mode, acceleration and velocity measuring module (3)
(2) send location information to control process module (13), emulate car weight information and acceleration, velocity information, at control
Receive information is stored in data store (20) by reason module (13)；
Based on single-phase asynchronous electromagnetic linear motor principle of induction, it can control linear motor even along vertical track simulation magnetic levitation elevator
Speed, acceleration and deceleration and hovering operation, are demonstrated for magnetic levitation elevator control principle；
Control process unit (19) will emulate car movement data and be stored in data store (20), and storage mode is SD card, hard
Disk storage or high in the clouds storage, data store (20) and the interface of control process unit (19) are serial ports or Ethernet interface；
Control process unit (19) is microcontroller or ARM operation processing units and its associated peripheral circuits；
By the core component control algolithm Rating and Valuation Department (22) of control process module (13), different control algolithm performances are commented
Estimate, the evaluation index of control algolithm is control accuracy Jc, hovering precision Jend, control comfort level Ja, J is defined individually belowc、Jend
And Ja：
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Wherein, t represents the time variable of emulation car operational process, and 1,2 ... n represents time, v used in operation overall processtAnd stTable
Show the speed of service and operation displacement, vrAnd srIt represents object run speed and object run displacement, is provided in advance by operation curve,
JcControl accuracy is represented, including speed tracing precision Jc1With displacement tracking precision Jc2, snRepresent actual motion end hovering position,
sr(end)Represent target end hovering position, JendRepresent the hovering precision of end, acmftSimulate human comfort's acceleration, atIt represents
Actual control acceleration, JaReflect the control comfort level of emulation elevator.
A kind of 2. multifunctional maglev elevator controlling Teaching instrument according to claim 1, which is characterized in that control algolithm journey
Sequence is uploaded to control process module (13), and the core component control algorithm design portion (21) of control process module (13), which combines, to be accelerated
Degree, speed, location information and emulation car weight information and control accuracy Jc, hovering precision Jend, control comfort level Ja,
Complete the control structure and parameter designing of control algolithm.
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| CN201610310924.0A CN105869482B (en) | 2016-05-13 | 2016-05-13 | A kind of multifunctional maglev elevator controlling Teaching instrument |
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| CN105869482B true CN105869482B (en) | 2018-05-22 |
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| CN107993508A (en) * | 2017-12-24 | 2018-05-04 | 佛山市龙远科技有限公司 | One kind simulation fistfight experiencing system |
| CN108091236A (en) * | 2017-12-24 | 2018-05-29 | 佛山市龙远科技有限公司 | A kind of simulation railcar body check system |
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Inventor after: Wang Cheng Inventor after: Xiao Yongsong Inventor after: Xie Jiacheng Inventor after: Ming Kun Inventor after: Wu Shijie Inventor after: Wang Xian Inventor after: Mao Jiayi Inventor after: Chen Qiaoyuan Inventor after: Miao Bingqi Inventor before: Wang Cheng Inventor before: Xie Jiacheng Inventor before: Ming Kun Inventor before: Wu Shijie Inventor before: Wang Xian Inventor before: Mao Jiayi Inventor before: Chen Qiaoyuan Inventor before: Miao Bingqi |
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