CN106502162B - A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm - Google Patents
A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm Download PDFInfo
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- CN106502162B CN106502162B CN201611079546.6A CN201611079546A CN106502162B CN 106502162 B CN106502162 B CN 106502162B CN 201611079546 A CN201611079546 A CN 201611079546A CN 106502162 B CN106502162 B CN 106502162B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, is related to a kind of automatic Control Theory Experiment instructional device, belongs to teaching field.Including controlled device, controller, executing agency and feedback device, complete closed-loop control system circuit is constituted.Controlled device is nested with direct current generator for mechanical arm and combines, for generating angle position signal.Controller converges to predetermined value with being used to make the output fast and stable of controlled device.Controller is the research contents of automatic Control Theory Experiment tutoring system according to the Static and dynamic performance of the control algolithm regulating system of control system.Executing agency is direct current generator, and the position control of mechanical arm is realized in control mechanical arm rotation.Feedback device uses unity negative feedback, for detecting the actual angle position signal of mechanical arm, and signal is returned to controller.The present invention has the advantage that portable；Cost and low energy consumption；Function is more complete；Strong antijamming capability.The present invention is suitable for Course of Automatic Control Theory experimental teaching.
Description
Technical field
The present invention relates to a kind of automatic Control Theory Experiment instructional devices more particularly to a kind of based on portable mechanical arm
Automatic Control Theory Experiment instructional device belongs to teaching suitable for the Course of Automatic Control Theory experimental teaching of undergraduate
Field.
Background technique
In the setting for the specialized courses that the undergraduate of colleges and universities cultivates, in addition to theory teaching, there are also experimental teachings.Experiment religion
Learn the interest that researcher can be excited continue Scientific exploration secret.There are a very big disadvantages in current University Education
Disease, exactly a large amount of students are engaged in theoretical research, are emulated simply by software, and seldom carry out full-scale investigation to its theory side
Method is verified.
University's automatic Control Theory Experiment uses MATLAB emulation largely to verify the effect of classic algorithm at this stage, and
It is more abstract that this makes student's study get up.A small number of universities and colleges of undergraduate course carry out reality using reversible pendulum system or composite network method
It tests.
Reversible pendulum system is automatic Control Theory Experiment instructional device usual means, and the control problem of inverted pendulum is exactly to make to put
Bar reaches an equilbrium position as soon as possible, and is allowed to not big oscillation and excessive angle and speed.When swing rod reaches the phase
Behind the position of prestige, system can use the algorithm of response to overcome random perturbation to keep stable position.
The actual position signal of trolley and swing rod of the input of reversible pendulum system from sensor, is compared with desired value
Afterwards, control amount is obtained by control algolithm, then realizes the real-time control of inverted pendulum through digital-to-analogue conversion driving direct current generator.Specific mistake
Journey is as follows: one end of swing rod is mounted on trolley, and the direction that active force is parallel to trolley travelling acts on trolley, makes bar around trolley
On axis rotate in a vertical plane, trolley is moved along horizontal rail, and when not having active force, swing rod is in vertical stabilization
Equilbrium position (straight down) need to control to one, trolley to make pole swing or reach stabilization straight up
Power pulls it forward or backwards in orbit.
It is analyzed by the stress to trolley, the transmission function between available swing rod angle and trolley acceleration
Are as follows:
It can be seen that, which is second-order system from transmission function, can by analysis to second-order system and control
To verify the function and accuracy of classic algorithm.
Reversible pendulum system disadvantage: 1. the system model be built upon it is various ideally, for example ignore air drag
With various frictions, swing rod is necessary for homogeneous bar, and during actual experiment, air drag and various frictions be it is unpredictable,
And there is no homogeneous bar in practice, so reducing the accuracy of experiment, keep the realization of subsequent control algorithm more tired
It is difficult；2. the system includes the guide rail of trolley travelling, the devices such as motor and the swing rod of trolley travelling are driven, so than cumbersome,
It is not easily shifted and carry.Wherein to make swing rod keep stablizing, trolley needs continuous service, and the length of guide rail at least needs
1 meter.This system is an ideal model, the mathematical model of reversible pendulum system is established using Newton-Euler method, by opening
The model is analyzed in ring response analysis, using Classical control theory and Matlab/Simulink simulation software to system into
The design of line control unit.
Composite network method simulates various typical links: utilizing operational amplifier different input network and feedback network mould
Intend various typical links, then these simulation links are connected according to the structure chart of given system, have just been obtained corresponding
Simulation system.Input signal is added to the input terminal of simulation system again, and using measuring instruments such as computers, measuring system it is defeated
Out, the dynamic response curve and performance indicator of system can be obtained.If changing the parameter of system, can also further analyze and research ginseng
The influence of several pairs of system performances.
Such as: anticipatory control circuit diagram of the Fig. 1 for second-order system, system addition step signal, measuring system step response,
And record overshoot σ % and regulating time ts；Switch s is connected, and is repeated the above steps, and by the waveform surveyed twice and numerical value into
Row compares, and can obtain the effect of anticipatory control.
Composite networkization simulates disadvantage: needing when 1. composite network simulates various typical links according to different algorithm need
Different workbenches is temporarily built, for example needs to verify anticipatory control, then needs to build the module of figure as above, when needs are tested
It needs to build again when demonstrate,proving correction or lag.2. it is that open cycle system does not have feedback element, can only lead to when system is unstable
The size of each electronic component is overregulated to make system close to stabilization.
Summary of the invention
A kind of automatic Control Theory Experiment tutoring system skill to be solved based on portable mechanical arm disclosed by the invention
Art problem is to provide a kind of portable machine automatic Control Theory Experiment tutoring system small in size, can complete to automatically control reason
By major experimental in teaching.
Invention additionally discloses what is realized based on a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm
Typical teaching method.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, including controlled pair
As, controller, executing agency and feedback device, complete closed-loop control system circuit is constituted.
Controlled device is nested with direct current generator for mechanical arm and combines, for generating angle position signal.As shown in Fig. 2,
The angle position of mechanical arm is controlled device S, and wherein S (r) is reference position, i.e. target position, and S (t) is working as mechanical arm
Front position, i.e. physical location.
Controller converges to predetermined value with being used to make the output fast and stable of controlled device.Controller is according to control system
The Static and dynamic performance of control algolithm regulating system is the research contents of automatic Control Theory Experiment tutoring system.Control system
The Static and dynamic performance of control algolithm regulating system is realized by software programming.
Executing agency is direct current generator, and the position control of mechanical arm is realized in the rotation of DC MOTOR CONTROL mechanical arm.Direct current
Machine characteristic is considered as after factory to immobilize, and the mathematical model of direct current generator is determined by the electrical characteristic of itself.
Feedback device uses unity negative feedback, for detecting the actual angle position signal of mechanical arm, and signal is returned
Back to controller.The feedback device is preferably realized by photoelectric encoder.
Research object of the position of direct current generator as automatic Control Theory Experiment tutoring system.In order to more intuitively observe
Experimental result, the welding manipulator arm on the output shaft of direct current generator, the Warning Mark as motor position.Using controller to machine
Tool arm carries out position control.
The controller includes PC host computer and ARM slave computer；The voltage signal of PC host computer passes through USB serial ports first
Transmission module is sent to MCU main control module, and controls chip interior timing/timer by ARM and generate controllable duty ratio square wave
Driving direct current generator simultaneously drives mechanical arm to rotate；The angle position signal of direct current generator passes through the two-way feedback signal of feedback device
It is sent to MCU main control module, chip interior counter is controlled by ARM and phase logic analyzes and determines the rotation direction of mechanical arm
And angle position, angle position signal is finally sent to PC host computer and carries out the calculating of next step voltage signal values and in front end
Display module is shown, is tested last direct current generator rotation and is driven mechanical arm rotation to reach the finally stabilised effect of mechanical arm.
MCU main control module controls chip using the ARM of low cost, be responsible for the initialization of all other peripheral circuit, control,
It drives direct current generator rotation and receives the position feedback device signal of photoelectric encoder, and obtained result is passed through into USB serial ports
Module is sent to PC host computer platform；USB serial ports transmission module can provide power supply for ARM slave computer, and for ARM slave computer and
Data transmission interface between PC host computer；The driving circuit of motor drive module, the Linear Amplifer of mechanical arm uses two-way PWM
Mode driving voltage, driving signal controls the included timer/counter of chip by ARM and obtains, with the rotating forward of driving motor
Reversion and stalling, while being also devised with protection driving circuit virtual protection circuit；Feedback device is used to detect the reality of mechanical arm
Border angle position signal, feeds back to MCU main control module, and feedback device is the feedback of entire automatic Control Theory Experiment tutoring system
Part.
The direct current generator mathematical model are as follows: according to the opering characteristic of electric apparatus of direct current generator, by the position model of direct current generator
It is divided into two parts of rate pattern and position integral element, first passes through identification algorithm and obtain rate pattern, it is then long-pending with position again
Point link combines to obtain complete position model.As shown in figure 3, the position of direct current generator can be obtained by the modeling pattern
Set the open loop mathematical model of system.In order to calculate Tm、KeTwo parameters, using the speed control of direct current generator as research object, by
In the first order modeling that the corresponding model of the speed control of direct current generator is standardWherein TmIt is the mark of position system
Quasi- time constant, it is assumed that speed of the system in a step response when stabilization of speed is t, when system revolving speed reaches 0.632t
The corresponding time is exactly Tm.Wherein UfIndicate that the unknown time-variant nonlinear friction disturbance torque that dead zone is generated in position system is equivalent
To the voltage of input terminal, y indicates the position of motor, and v indicates speed, if TmFor the time constant of direct current generator, KeFor the speed of motor
Feedback proportional coefficient is spent, wherein Tm、KeIt is position system electrical characteristic constant, and UfIt is the equivalent electricity in mission nonlinear dead zone
Pressure carries out the software compensation of DC driven to the dead zone, to obtain direct current generator position mould when hardware system is established
Type isAs can be seen that position system is the second-order system of standard, the step response controlled according to motor position
Curve calculates parameter Ke.By many experiments corrected Calculation, system T is finally obtainedm、KeTwo parameters are respectively 0.15,
0.56.Therefore, direct current generator position model is
A kind of automatic Control Theory Experiment tutoring system shape preferred cartridge based on portable mechanical arm disclosed by the invention
Dress, controller, executing agency and feedback device are all encapsulated, using modular mentality of designing, only reserves and connects
Mouth is interacted with outside, designs a dial in the upper surface of box, direct current generator is fixed on the inside of box, direct current generator output
Axis is stretched out from the surface of box, and is connected with a pointer, facilitates to observe automatic Control Theory Experiment phenomenon in this way, more preferably
Analysis experimental result.
Hardware space position connection relationship: box-packed experimental box is can to store experiment between sealed in unit, storing to need
The connecting line wanted, dial are used to show the angle of mechanical arm rotation, and pointer is used to that mechanical rotation, direct current jack is presented
It is to the optional direct current 12V of direct current generator for electrical outlet, USB data interface/DC power supply connector is on experimental facilities and PC
The interface of position machine connection, and power to ARM slave computer, motor power switching is cutting for motor supply voltage high and low shift (5V/12V)
Button is changed, power switch is the master switch of chamber.
Since a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention is to be directed to
Course of Automatic Control Theory Instructional Design, the analysis method of Course of Automatic Control Theory mostly uses graphical method, if system responds,
Root locus, frequency characteristic lamp need to draw a large amount of curve, therefore other than experimental provision, host computer platform has also been devised
Aided education.
The experimental selection unit of host computer platform aided education is used for the reality carried out required for must selecting before the experiments
It tests；Parameter modifying unit: being before experiment starts, and student must modify in frame in parameter and fill in corresponding experiment parameter, if
It does not fill in, default parameters will be used；Data Computation Unit: the real time data returned to ARM slave computer is analyzed and is calculated, will
The real time information received carries out calculating analysis, converts the flag information that Theory of Automatic Control applies to for common data,
Facilitate the viewing and understanding of student；Data display unit: student not only can be with field observation experimental phenomena, can also be by upper
Every real time data of the quantitative observation experiment system of machine platform, in addition the unit can also be the real-time curve of controlled device upper
It is shown in the machine software of position；Experiment control unit: controlling the progress of experiment, and experiment can start at any time, stops, knot
Beam, can also after the end of the experiment, the experimental data before calling, observation comparison；Communication unit: it is responsible for carrying out with experimental provision
Real time communication also receives the data information of experimental provision return while sending control command.
Host computer platform aided education function:
(1) control experimental provision is tested: being responsible for sending control command to experimental provision using host computer.Experiment is opened
Begin, suspend, terminate, the selection of control algolithm, the readback of parameter passes through host computer platform and controlled, and experimental provision is by connecing
The control command for receiving host computer completes experiment.
(2) it shows empirical curve, analyzes experimental data: the characteristics of due to this subject of Theory of Automatic Control, on drawing is
Position one function that must be realized of machine platform, host computer platform receive the angle for the experimental data such as mechanical arm that experimental provision returns
Degree, position etc. are arranged by calculating, and with curve, the forms such as data form show student, with the teaching efficiency reached.
The control strategy of host computer includes:
The closed-loop pole when not adding controller can be obtained from the mathematical model of portable mechanical arm direct current generator,
For the Static and dynamic performance of optimization system, control effect is promoted, needs that control algolithm is added to system.Wherein control algolithm packet
It includes:
PID controller design: the mathematical model of control system, control law are as follows:
Therefore, in PID control experiment, 3 parameters, respectively Kp, Ti, Td are devised altogether.When being tested, pass through
These three parameters are modified, are compared, available proportional integral differential link acts in the controller.
Lead-lag controller design: it is similar with PID control experiment, in lead-lag control experiment, 3 are devised altogether
Parameter, respectively K, Ti, Td.When being tested, student can modify the parameter of controller by PC control platform, lead to
It crosses using different control parameters, obtains the function of lead-lag controller.
Custom algorithm design: it can verify that the control whether algorithm oneself write can reach is made in this module student
With, the Program transformation that oneself is write can be uploaded to PC host computer at dynamic link library (.dll) format, and run program, from
To curve in analyze associated dynamic and static performance index, so that it may the parameter of measure algorithm control performance is obtained, by repairing
Change the control algolithm to verify oneself.
Root locus correction experiment: the transmission function by designing corrective network gives the performance indicator satisfaction of system
It is required that including connect anticipatory control and cascade lag controller.
Frequency method correction experiment is similar with root locus, by designing the transmission function of corrective network, refers to the performance of system
Mark meets given requirement, including series connection anticipatory control and cascade lag controller.
POLE PLACEMENT USING experiment, by the analysis to original system, obtains the stable pole and zero of system, passes through POLE PLACEMENT USING
Method carries out POLE PLACEMENT USING to system, is that system meets given target.
The last control algolithm control experiment of Linear-Quadratic Problem, including LQR control algolithm, the emulation of LQR controller, are eliminated steady
The practical control of state error and LQR controller.
Direct current generator modeling experiment is analyzed by the acquisition and data that start hour angle degree position to direct current generator, from specific
The model parameter of direct current generator is obtained in experiment.
The utility model has the advantages that
1, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, uses direct current
Motor carries out practical control as experimental provision, using low-power consumption ARM single-chip microcontroller, greatly reduces cost and energy consumption.
2, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, using closed loop
Control system, function is more complete, can complete experiment all in theory teaching, so that student's study is got up more specific, understands
Theoretical knowledge is more thorough.
3, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, to mechanical arm
It carries out close loop maneuver and theoretical knowledge fits like a glove, be not related to various emulation, solve current mainstream experimental facilities and need to emulate
The problem of.
4, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, anti-interference energy
Power is strong, and readjustment parameter is not needed when the change of external environment can direct experiment；
5, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, by control
Platform processed is packaged with executing agency, can be more easily carried while ensure that beauty to carrying out on classroom
Teaching demonstration has extremely strong portability.
6, a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm disclosed by the invention, student can be with
By carrying out self-definition design to control algolithm, PC host computer is uploaded to by generating dynamic link library, runs program, from obtaining
Curve in analyze associated dynamic and static performance index, and verify whether the algorithm oneself write can reach by this experimental provision
To good control action.
Detailed description of the invention
Fig. 1 is the anticipatory control circuit diagram in background technique；
Fig. 2 is portable mechanism arm control system model figure；
Fig. 3 is direct current generator mathematical model；
Fig. 4 is portable mechanism arm control system working envelope figure；
Fig. 5 is the composition of robotic arm apparatus system；
Fig. 6 is portable experimental provision schematic diagram；
Wherein 1. experimental box 2. 3. dial 4. pointer 5. 12V DC supply hub 6. USB data interface/direct current between storing
5V power supply connector 7. network interface 8. motor power switching 9. power switch
Fig. 7 is host computer platform structure chart；
Fig. 8 is PID control system mathematical model.
Specific embodiment:
The present invention is described in detail below in conjunction with drawings and examples, while also describing technical solution of the present invention
The technical issues of solution and beneficial effect, it should be pointed out that described embodiment is intended merely to facilitate the understanding of the present invention,
And any restriction effect is not played to it.
Embodiment 1:
As shown in Figure 2,4, a kind of automatic Control Theory Experiment teaching based on portable mechanical arm disclosed in the present embodiment
System, including controlled device, controller, executing agency and feedback device constitute complete closed-loop control system circuit.
Controlled device is nested with direct current generator for mechanical arm and combines, for generating angle position signal.The angle of mechanical arm
Spending position is controlled device S, and wherein S (r) is reference position, i.e. target position, and S (t) is the current location of mechanical arm, i.e., in fact
Border position.
The mathematical model that controller is used to correct system makes it possible to converge to predetermined value.Controller is according to control system
The Static and dynamic performance of control algolithm regulating system is the research contents of automatic Control Theory Experiment tutoring system.Control system
The Static and dynamic performance of control algolithm regulating system is realized by software programming.
Executing agency is direct current generator, and the position control of mechanical arm is realized in the rotation of DC MOTOR CONTROL mechanical arm.Direct current
Machine characteristic is considered as after factory to immobilize, and the mathematical model of direct current generator is determined by the electrical characteristic of itself.
Feedback device uses unity negative feedback, for detecting the actual angle position signal of mechanical arm, and signal is returned
Back to controller.The feedback device is realized by photoelectric encoder.
Research object of the position of direct current generator as automatic Control Theory Experiment tutoring system.In order to more intuitively observe
Experimental result, the welding manipulator arm on the output shaft of direct current generator, the Warning Mark as motor position.Using controller to machine
Tool arm carries out position control.
As shown in figure 4, the controller includes PC host computer and ARM slave computer；The voltage signal of PC host computer first
It is sent to MCU main control module by USB serial ports transmission module, and chip interior timing/timer is controlled by ARM and is generated controllably
Duty ratio square wave driving direct current generator simultaneously drives mechanical arm to rotate；The angle position signal of direct current generator passes through the two of feedback device
Road feedback signal is sent to MCU main control module, controls chip interior counter by ARM and phase logic analyzes and determines mechanical arm
Rotation direction and angle position, finally angle position signal be sent to PC host computer carry out next step voltage signal values meter
It calculates and is shown in front end display module, test last direct current generator rotation and mechanical arm rotation is driven finally to stablize to reach mechanical arm
Effect.
As shown in Fig. 2, ARM slave computer includes MCU main control module, USB serial ports transmission module, motor drive module and feedback
Device.MCU main control module controls chip using the ARM of low cost, is responsible for the initialization, control, drive of all other peripheral circuit
Dynamic direct current generator rotation and the position feedback device signal for receiving photoelectric encoder, and obtained result is passed through into USB serial ports mould
Block is sent to PC host computer platform；USB serial ports transmission module can provide power supply for ARM slave computer, and be ARM slave computer and PC
Data transmission interface between host computer；The driving circuit of motor drive module, the Linear Amplifer of mechanical arm uses the two-way side PWM
Formula driving voltage, driving signal controls the included timer/counter of chip by ARM and obtains, anti-with the rotating forward of driving motor
Turn and stall, while being also devised with protection driving circuit virtual protection circuit；Feedback device is used to detect the reality of mechanical arm
Angle position signal, feeds back to MCU main control module, and feedback device is the feedback section of entire automatic Control Theory Experiment tutoring system
Point.
As shown in figure 3, the direct current generator mathematical model are as follows: according to the opering characteristic of electric apparatus of direct current generator, by direct current generator
Position model be divided into two parts of rate pattern and position integral element, first pass through identification algorithm and obtain rate pattern, then
It combines to obtain complete position model with position integral element again, the position of direct current generator can be obtained by the modeling pattern
Set the open loop mathematical model of system.In order to calculate Tm、KeTwo parameters, using the speed control of direct current generator as research object, by
In the first order modeling that the corresponding model of the speed control of direct current generator is standardWherein TmIt is the mark of position system
Quasi- time constant, it is assumed that speed of the system in a step response when stabilization of speed is t, when system revolving speed reaches 0.632t
The corresponding time is exactly Tm.Wherein UfIndicate that the unknown time-variant nonlinear friction disturbance torque that dead zone is generated in position system is equivalent
To the voltage of input terminal, y indicates the position of motor, and v indicates speed, if TmFor the time constant of direct current generator, KeFor the speed of motor
Feedback proportional coefficient is spent, wherein Tm、KeIt is position system electrical characteristic constant, and UfIt is the equivalent electricity in mission nonlinear dead zone
Pressure carries out the software compensation of DC driven to the dead zone, to obtain direct current generator position mould when hardware system is established
Type isAs can be seen that position system is the second-order system of standard.The step response controlled according to motor position
Curve calculates parameter Ke.By many experiments corrected Calculation, system T is finally obtainedm、KeTwo parameters are respectively 0.15,
0.56.Therefore, direct current generator position model is
As shown in Figure 5,6, a kind of automatic Control Theory Experiment teaching based on portable mechanical arm disclosed in the present embodiment
System shape be it is box-packed, controller, executing agency and feedback device are all encapsulated, using modular design think of
Road only reserves interface and interacts with outside, designs a dial in the upper surface of box, direct current generator is fixed in box
Side, direct current generator output shaft is stretched out from the surface of box, and is connected with a pointer, is facilitated observation in this way and is automatically controlled reason
By experimental phenomena, experimental result is preferably analyzed.
Hardware space position connection relationship: box-packed experimental box is can to store experiment between sealed in unit, storing to need
The connecting line wanted, dial are used to show the angle of mechanical arm rotation, and pointer is used to that mechanical rotation, direct current jack is presented
It is to the optional direct current 12V of direct current generator for electrical outlet, USB data interface/DC power supply connector is on experimental facilities and PC
The interface of position machine connection, and power to ARM slave computer, motor power switching is cutting for motor supply voltage high and low shift (5V/12V)
Button is changed, power switch is the master switch of chamber.
A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as disclosed in the present embodiment is needle
To Course of Automatic Control Theory Instructional Design, the analysis method of Course of Automatic Control Theory mostly uses graphical method, as system is rung
It answers, root locus, frequency characteristic, needs to draw a large amount of curve, therefore other than experimental provision, it is auxiliary that host computer platform is also disclosed
Assiatant learns.
As shown in fig. 7, the experimental selection unit of host computer platform aided education for needed for must selecting before the experiments
The experiment to be carried out；Parameter modifying unit: being before experiment starts, student must modify in frame in parameter and fill in corresponding experiment
Parameter will use default parameters if do not filled in；Data Computation Unit: to slave computer return real time data carry out analysis and
It calculates, the real time information received is subjected to calculating analysis, converts the mark that Theory of Automatic Control applies to for common data
Will information facilitates the viewing and understanding of student；Data display unit: student not only can be with field observation experimental phenomena, can be with
By every real time data of the quantitative observation experiment system of host computer platform, in addition the unit can also be the real-time of controlled device
Curve is shown in upper computer software；Experiment control unit: controlling the progress of experiment, and experiment can open at any time
Begin, stop, terminates, can also after the end of the experiment, the experimental data before calling, observation comparison；Communication unit: being responsible for and real
Experiment device carries out real time communication, and the data information of experimental provision return is also received while sending control command.
Host computer platform aided education function:
(1) control experimental provision is tested: being responsible for sending control command to experimental provision using host computer.Experiment is opened
Begin, suspend, terminate, the selection of control algolithm, the readback of parameter passes through host computer platform and controlled, and experimental provision is by connecing
The control command for receiving host computer completes experiment.
(2) it shows empirical curve, analyzes experimental data: the characteristics of due to this subject of Theory of Automatic Control, on drawing is
Position one function that must be realized of machine platform.Host computer platform receives the angle for the experimental data such as mechanical arm that experimental provision returns
Degree, position etc. are arranged by calculating, and with curve, the forms such as data form show student, with the teaching efficiency reached.
The control strategy of host computer includes:
The closed-loop pole when not adding controller can be obtained from the mathematical model of portable mechanical arm direct current generator,
For the Static and dynamic performance of optimization system, control effect is promoted, needs that control algolithm is added to system.Wherein control algolithm packet
It includes:
As shown in figure 8, PID controller design: the mathematical model of control system, control law are as follows:
Therefore, in PID control experiment, 3 parameters, respectively K are devised altogetherp, TI, Td.When being tested, pass through
These three parameters are modified, are compared, available proportional integral differential link acts in the controller.
Lead-lag controller design: it is similar with PID control experiment, in lead-lag control experiment, 3 are devised altogether
Parameter, respectively K, Ti, Td.When being tested, student can modify the parameter of controller by PC control platform, lead to
It crosses using different control parameters, obtains the function of lead-lag controller.
Custom algorithm design: it can verify that the control whether algorithm oneself write can reach is made in this module student
With by the way that host computer is written in the algorithm of oneself, operation program analyzes associated dynamic from obtained curve and static properties refers to
Mark, so that it may obtain the parameter of measure algorithm control performance, the control algolithm of oneself is verified by modifying.
Root locus correction experiment: the transmission function by designing corrective network gives the performance indicator satisfaction of system
It is required that including connect anticipatory control and cascade lag controller.
Frequency method correction experiment is similar with root locus, by designing the transmission function of corrective network, refers to the performance of system
Mark meets given requirement, including series connection anticipatory control and cascade lag controller.
POLE PLACEMENT USING experiment, by the analysis to original system, obtains the stable pole and zero of system, passes through POLE PLACEMENT USING
Method carries out POLE PLACEMENT USING to system, is that system meets given target.
The last control algolithm control experiment of Linear-Quadratic Problem, including LQR control algolithm, the emulation of LQR controller, are eliminated steady
The practical control of state error and LQR controller.
Experimental example 1:PID experiment
Based on a kind of described automatic Control Theory Experiment tutoring system based on portable mechanical arm realize it is automatic from
Dynamic control theory PID Experimental Teaching Method, includes the following steps:
Step 1: connecting electricity for experimental facilities, is connected host computer with host computer operating system by USB interface.
Step 2: host computer operating system is opened.
Step 3: system is initialized, the selection including serial ports, signaling rate, the selection of data bit etc..
Step 4: selection PID experiment configures Kp, TI, TdThree parameters, click start to test, and system brings into operation, at this time
It will pop up the empirical curve for indicating arm angle, observe the trend of curve, see whether system tends towards stability, if unstable return
Upper one layer is returned, parameter is reconfigured and is tested, until system is stablized.
Experimental example 2: lead-lag experiment
Based on a kind of described automatic Control Theory Experiment tutoring system based on portable mechanical arm realize it is automatic from
Dynamic control theory lead-lag teaching method, includes the following steps:
Step 1: ibid
Step 2: ibid.
Step 3: ibid.
Step 4: selection lead-lag experiment configures K, Ti, TdThree parameters, click start to test, and system brings into operation,
It will pop up the empirical curve for indicating arm angle at this time, observe the trend of curve, see whether system tends towards stability, if unstable
Surely one layer is returned, parameter is reconfigured and is tested, until system is stablized.
The above control specific descriptions carry out the purpose of invention, technical scheme and beneficial effects further detailed
Illustrate, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection scope.
Claims (7)
1. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm, it is characterised in that: including controlled device,
Controller, executing agency and feedback device constitute complete closed-loop control system circuit；
Controlled device is nested with direct current generator for mechanical arm and combines, for generating angle position signal；The angle position of mechanical arm
Setting is controlled device S, and wherein S (r) is reference position, i.e. target position, and S (t) is the current location of mechanical arm, i.e. actual bit
It sets；
Controller is used to correct the mathematical model of system；Controller is according to the quiet dynamic of the control algolithm regulating system of control system
Characteristic is the research contents of automatic Control Theory Experiment tutoring system；The quiet dynamic of the control algolithm regulating system of control system
Characteristic is programmed by PC upper computer software and is realized；
Executing agency is direct current generator, and the position control of mechanical arm is realized in the rotation of DC MOTOR CONTROL mechanical arm；Direct current generator is special
Property be considered as and immobilize after factory, the mathematical model of direct current generator is determined by the electrical characteristic of itself；
Feedback device uses unity negative feedback, for detecting the actual angle position signal of mechanical arm, and signal is returned to
Controller；The feedback device is preferably realized by photoelectric encoder；
Research object of the angle position of direct current generator as automatic Control Theory Experiment tutoring system；In order to more intuitively observe
Experimental result, the welding manipulator arm on the output shaft of direct current generator, the Warning Mark as motor position；Using controller to machine
Tool arm carries out Angle-domain imaging；
The direct current generator mathematical model are as follows: according to the opering characteristic of electric apparatus of direct current generator, the position model of direct current generator is divided into
Two parts of rate pattern and position integral element, first pass through identification algorithm and obtain rate pattern, then integrate ring with position again
Section combination obtains complete position model；The open loop mathematical modulo of the position system of direct current generator can be obtained by modeling pattern
Type, in order to calculate Tm、KeTwo parameters, using the speed control of direct current generator as research object, due to the speed control of direct current generator
Make the first order modeling that corresponding model is standardWherein TmIt is the standard time constant of position system, it is assumed that system
Speed in a step response when stabilization of speed is t, and when system revolving speed reaches 0.632t, the corresponding time is exactly Tm；Uf
Indicate that the unknown time-variant nonlinear friction equivalent voltage to input terminal of disturbance torque that dead zone is generated in position system, y indicate electricity
The position of machine, v indicates speed, if TmFor the time constant of direct current generator, KeFor the velocity feedback proportionality coefficient of motor, wherein Tm、
KeIt is position system electrical characteristic constant, and UfIt is the equivalent voltage in mission nonlinear dead zone, when hardware system is established
It waits, the software compensation of DC driven is carried out to the dead zone, to show that direct current generator position model isIt can be with
Find out, position system is the second-order system of standard, according to the step response curve that motor position controls, calculates parameter Ke；It is logical
Many experiments corrected Calculation is crossed, finally obtains system Tm、KeTwo parameters are respectively 0.15,0.56, therefore, direct current generator position
Model is
The control strategy of the PC host computer includes:
PID controller design: the mathematical model of control system, control law are as follows:
Therefore, in PID control experiment, 3 parameters, respectively Kp, T are devised altogetherI, Td；When being tested, pass through modification
These three parameters, compare, and available proportional integral differential link acts in the controller；
Lead-lag controller design: it is similar with PID control experiment, in lead-lag control experiment, 3 ginsengs are devised altogether
Number, respectively Kp, TI, Td；When being tested, student can modify the parameter of controller by PC PC control platform, lead to
It crosses using different control parameters, obtains the function of lead-lag controller；
Custom algorithm design: can verify the control action whether algorithm oneself write can reach in this module student,
The Program transformation that oneself is write can be uploaded to PC host computer at dynamic link library format, and run program, from obtained curve
Middle analysis associated dynamic and static performance index, so that it may obtain the parameter of measure algorithm control performance, be verified by modifying
The control algolithm of oneself；
Root locus correction experiment: the transmission function by designing corrective network makes the performance indicator of system meet given requirement,
Including series connection anticipatory control and cascade lag controller；
Frequency method correction experiment is similar with root locus, by designing the transmission function of corrective network, keeps the performance indicator of system full
Given requirement enough, including series connection anticipatory control and cascade lag controller；
POLE PLACEMENT USING experiment, by the analysis to original system, obtains the stable pole and zero of system, by POLE PLACEMENT USING side
Method carries out POLE PLACEMENT USING to system, is that system meets given target；
The last control algolithm control experiment of Linear-Quadratic Problem, including LQR control algolithm, the emulation of LQR controller, eliminate stable state and miss
The practical control of difference and LQR controller；
Direct current generator modeling experiment is analyzed by the acquisition and data that start hour angle degree position to direct current generator, from specific experiment
In obtain the model parameter of direct current generator.
2. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as described in claim 1, feature
Be: the controller includes PC host computer and ARM slave computer；Wherein, ARM slave computer includes MCU main control module, USB string
Port transmission module, motor drive module and feedback device；MCU main control module controls chip using the ARM of low cost, is responsible for all
The initialization and control of other peripheral circuits, the position feedback device be responsible for the rotation of driving direct current generator, receive photoelectric encoder
Signal, and obtained result is sent to PC host computer platform by USB serial port module；USB serial ports transmission module can be used as ARM
Slave computer provides power supply, and is the data transmission interface between ARM slave computer and PC host computer；Motor drive module, it is mechanical
The driving circuit of the Linear Amplifer of arm uses two-way PWM mode driving voltage, and driving signal is determined by the way that ARM control chip is included
When device/counter obtain, with the rotating forward reversion and stalling of driving motor, while being also devised with protection driving circuit virtual protection electricity
Road；Feedback device is used to detect the actual angle position signal of mechanical arm, feeds back to MCU main control module, feedback device is whole
The feedback fraction of a automatic Control Theory Experiment tutoring system.
3. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as described in claim 1, feature
Be: the controller includes PC host computer and ARM slave computer；The voltage signal of PC host computer is passed by USB serial ports first
Defeated module is sent to MCU main control module, and controls chip interior timing/timer by ARM and generate the drive of controllable duty ratio square wave
Dynamic direct current generator simultaneously drives mechanical arm to rotate；The angle position signal of direct current generator is passed by the two-way feedback signal of feedback device
Send to MCU main control module, by ARM control chip interior counter and phase logic analyze and determine mechanical arm rotation direction and
Angle position signal is finally sent to the calculating of PC host computer progress next step voltage signal values and shown in front end by angle position
Show that module is shown, tests last direct current generator rotation and drive mechanical arm rotation to reach the finally stabilised effect of mechanical arm.
4. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as claimed in claim 1 or 2, special
Sign is: shape is preferably box-packed, and controller, executing agency and feedback device are all encapsulated, set using modular
Thinking is counted, interface is only reserved and is interacted with outside, designs a dial in the upper surface of box, direct current generator is fixed on box
Inside, direct current generator output shaft is stretched out from the surface of box, and is connected with a pointer；
Hardware space position connection relationship: box-packed experimental box is can to store what experiment needed between sealed in unit, storing
Connecting line, dial are used to show the angle of mechanical arm rotation, and pointer is used to that mechanical rotation is presented, and direct current jack is straight
For the optional direct current 12V of galvanic electricity machine for electrical outlet, USB data interface/DC power supply connector is that experimental facilities and PC host computer connect
The interface connect, and power to ARM slave computer, motor power switching is the switching push button of motor supply voltage high and low shift, and power supply is opened
Pass is the master switch of chamber.
5. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as claimed in claim 4, feature
Be: PC host computer platform aided education: the experimental selection unit of host computer platform aided education is for necessary before the experiments
The experiment carried out required for selection；Parameter modifying unit: being before experiment starts, student must modify in frame in parameter and fill in phase
The experiment parameter answered will use default parameters if do not filled in；Data Computation Unit: the real time data that ARM slave computer is returned
It is analyzed and is calculated, the real time information received is subjected to calculating analysis, convert Theory of Automatic Control for common data
The flag information applied to facilitates the viewing and understanding of student；Data display unit: student can not only be tested existing with field observation
As, it can also be by every real time data of the quantitative observation experiment system of host computer platform, in addition the unit can also be controlled
The real-time curve of object is shown in upper computer software；Experiment control unit: controlling the progress of experiment, and experiment can be in office
When between start, stop, terminate, can also after the end of the experiment, the experimental data before calling, observation comparison；Communication unit:
It is responsible for carrying out real time communication with experimental provision, the data information of experimental provision return is also received while sending control command.
6. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as described in claim 1, feature
Be: Theory of Automatic Control PID Experimental Teaching Method includes the following steps,
Step 1: connecting electricity for experimental facilities, is connected slave computer with host computer operating system by USB interface；
Step 2: host computer operating system is opened；
Step 3: system is initialized, the selection including serial ports, signaling rate, the selection of data bit etc.；
Step 4: selection PID experiment configures Kp, TI, TdThree parameters, click start to test, and system brings into operation, at this time can bullet
The empirical curve for indicating arm angle out, observes the trend of curve, sees whether system tends towards stability, if in unstable return
It one layer, reconfigures parameter and is tested, until system is stablized.
7. a kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm as described in claim 1, feature
Be: Theory of Automatic Control lead-lag Experimental Teaching Method includes the following steps,
Step 1: connecting electricity for experimental facilities, is connected slave computer with host computer operating system by USB interface；
Step 2: host computer operating system is opened；
Step 3: system is initialized, the selection including serial ports, signaling rate, the selection of data bit etc.；
Step 4: selection lead-lag experiment configures K, Ti, TdThree parameters, click start to test, and system brings into operation, at this time
It will pop up the empirical curve for indicating arm angle, observe the trend of curve, see whether system tends towards stability, if unstable return
Upper one layer is returned, parameter is reconfigured and is tested, until system is stablized.
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| CN107123350A (en) * | 2017-07-13 | 2017-09-01 | 郑州工业应用技术学院 | A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm |
| CN108230865A (en) * | 2018-02-11 | 2018-06-29 | 安徽工程大学 | Automated teaching apparatus based on spin control system |
| TWI688843B (en) * | 2018-11-30 | 2020-03-21 | 財團法人金屬工業研究發展中心 | Automatic control method and automatic control device of mechanical system |
| CN111223384B (en) * | 2019-12-09 | 2021-08-31 | 中国民用航空飞行学院 | Teaching experiment platform for characteristics and control of variable-pitch aviation power system |
| CN111216131B (en) * | 2020-01-21 | 2023-03-24 | 重庆邮电大学 | Robot cascade anti-interference control method and system based on flexible actuator driving |
| CN112621746A (en) * | 2020-12-02 | 2021-04-09 | 上海交通大学烟台信息技术研究院 | PID control method with dead zone and mechanical arm visual servo grabbing system |
| CN114360345A (en) * | 2022-02-28 | 2022-04-15 | 南京航空航天大学 | Portable automatic control principle teaching experiment system of dexterous type |
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| CN201465410U (en) * | 2009-06-17 | 2010-05-12 | 天津科技大学 | Simulation teaching instrument for position and pose change of robot arm |
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