CN107015573A - The control method and system of electromagnetic motion platform - Google Patents
The control method and system of electromagnetic motion platform Download PDFInfo
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- CN107015573A CN107015573A CN201710166952.4A CN201710166952A CN107015573A CN 107015573 A CN107015573 A CN 107015573A CN 201710166952 A CN201710166952 A CN 201710166952A CN 107015573 A CN107015573 A CN 107015573A
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- motion platform
- exercise data
- magnet
- electric current
- permanent magnet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a kind of control method of electromagnetic motion platform and system, the system includes：Motion capture unit, position control unit, current control unit and electromagnetic motion platform, wherein, electromagnetic motion platform at least includes：It is arranged on multiple permanent magnets on upper mounting plate, the multiple magnet coils being arranged on lower platform and the position sensor being arranged on each permanent magnet, motion capture unit is used for the exercise data for obtaining each permanent magnet, and send the exercise data of each permanent magnet to position control unit, position control unit is used to calculate the current value obtained by each magnet coil according to the exercise data of each permanent magnet, and send the current value of each magnet coil to current control unit, current control unit is used for the electric current that each magnet coil is passed through according to the current value control of each magnet coil received, position sensor is used for the movement position data feedback of each permanent magnet to position control unit.
Description
Technical field
The present invention relates to motion pseudo-experience technical field, more particularly, to a kind of control of electromagnetic motion platform
Method and system.
Background technology
The driving source of the control system of current multi-degree-of-freedom motion platform is essentially servomotor+leading screw and linear electric motors
Both.Servomotor and leading screw weight itself are larger, and linear electric motors weight is big, in fact track body longer dimension, therefore more than
Two kinds of driving sources can not realize the miniaturization and lightweight of multi-degree-of-freedom motion platform.Above two driving source is in driving,
There is mechanical structure friction, mechanical structure friction easily produces noise and then causes the service life reduction of driving source.In addition, to driving
The control in source carries out closed loop feedback only for driving executing agency (for example, motor), for the transmission after driving executing agency
Mechanism (for example, electric cylinders, cylinder, living hinge) does not carry out closed loop feedback, because multi-degree-of-freedom motion platform is and driver
Structure is directly connected to, and the motion that the kinematic error of transmission mechanism also results in multi-degree-of-freedom motion platform is not in place so that control system
The control accuracy of system is relatively low.
The content of the invention
It is an object of the present invention to provide a kind of control method of electromagnetic motion platform and the new solution of system.
According to an aspect of the invention, there is provided a kind of control system of electromagnetic motion platform, including：Exercise data
Acquiring unit, position control unit, current control unit and electromagnetic motion platform, wherein, the electromagnetic motion platform is extremely
Include less：Multiple permanent magnets for being arranged on upper mounting plate, the multiple magnet coils being arranged on lower platform and it is arranged on each forever
Position sensor on magnet, the motion capture unit is used for the exercise data for obtaining each permanent magnet, and will
The exercise data of each permanent magnet is sent to the position control unit, and the position control unit is used for according to described each
The exercise data of individual permanent magnet calculates the current value for the electric current for obtaining being passed through each magnet coil, and will be passed through it is described each
The current value of the electric current of magnet coil is sent to the current control unit, and the current control unit is used for what basis was received
The current value control for being passed through the electric current of each magnet coil is passed through the electric current of each magnet coil, the position sensing
Device is used for the movement position data feedback of each permanent magnet to the position control unit.
Alternatively, the motion capture unit at least includes：Receiving unit and exercise data is counter solves unit, wherein,
The receiving unit is used for the movement instruction for receiving the electromagnetic motion platform external equipment, and is obtained according to the movement instruction
Sent to the exercise data of the electromagnetic motion platform, and by the exercise data of the electromagnetic motion platform to the motion
Data are counter to solve unit,
The anti-unit that solves of the exercise data is used for according to being obtained the anti-solution of the exercise data of the electromagnetic motion platform
The exercise data of each permanent magnet.
Alternatively, the electromagnetic motion platform also includes：Multiple current sensors, the two ends of each magnet coil
Current sensor is provided with, the current sensor is used for the actual current value of the electric current by each magnet coil is passed through
Feed back to the current control unit.
Alternatively, the electromagnetic motion platform also includes：Support member, one end of the support member with it is described flat
Platform is connected, and the other end of the support member is connected with the lower platform.
Alternatively, the support member at least includes：Multiple guide rods, ring flange and universal joint, wherein, it is the multiple to lead
It is fixed on to one end of bar on the lower platform, the other end of the guide rod leaves gap, the flange with the upper mounting plate
Disk is offered both passes through a through hole, the one of the universal joint with the guide rod quantity identical through hole, each guide rod
End is connected with the ring flange, and the other end of the universal joint is connected with the upper mounting plate.
Alternatively, the support member includes three guide rods, and three guide rods are uniformly fixed on described lower flat
On platform.
Alternatively, the current control unit at least includes：Current operating unit, current-modulation unit and electric current driving are put
Big unit.
Alternatively, the electromagnetic motion platform includes three permanent magnets and three magnet coils, wherein, institute
State three permanent magnets to be uniformly fixed on the upper mounting plate, three magnet coils are uniformly fixed on the lower platform.
According to the second aspect of the invention there is provided a kind of control method of electromagnetic motion platform, the electromagnetic type fortune
Moving platform includes：The multiple permanent magnets being arranged on upper mounting plate and the multiple magnet coils being arranged on lower platform,
Methods described includes：Obtain the exercise data of each permanent magnet；According to the motion number of each permanent magnet
The current value for the electric current for obtaining being passed through each magnet coil according to calculating；The electric current of each magnet coil according to being passed through
Current value control is passed through the electric current of each magnet coil；It is described each after each described magnet coil is passed through control electric current
Individual permanent magnet moves to corresponding position, obtains the movement position data of each permanent magnet；It is described each according to what is got
The movement position data of individual permanent magnet, are adjusted to the obtained electric current for being passed through each magnet coil that calculates.
Alternatively, the exercise data of each permanent magnet described in the acquisition, including：Receive outside the electromagnetic motion platform
The movement instruction of equipment is connect, and obtains according to the movement instruction exercise data of the electromagnetic motion platform；According to described
The anti-solution of exercise data of electromagnetic motion platform obtains the exercise data of each permanent magnet.
Alternatively, after each described magnet coil is passed through the control electric current, in addition to：Measurement is passed through each described electricity
The actual current value of the electric current of magnetic coil；The actual current value of the electric current of each magnet coil is to being passed through according to described be passed through
The current value of the control electric current of each magnet coil is adjusted.
The control method and system for the electromagnetic motion platform that the present invention is provided, by controlling to flow into each magnet coil
The size of electric current produces the magnetic field of varying strength, produces suction or thrust with the interaction of corresponding permanent magnet, and then realize
The various athletic postures of platform, the present invention uses the motion of non-contacting electromagnetic force powered motion platform, compared with prior art,
The problem of avoiding noise caused by the friction between mechanical structure and relatively low life-span.In addition, the present invention by each forever
The position sensor set on magnet, by the movement position data feedback of each permanent magnet to position control unit, realizes electricity
The closed-loop control of magnetic-type motion platform, relative in the prior art only to drive mechanism carry out closed loop feedback for, due to each
The movement position of permanent magnet determines the athletic posture of electromagnetic motion platform, and the present invention is directly to electromagnetic motion platform
Movement position data are fed back, and improve the control precision of the control system of electromagnetic motion platform.
By referring to the drawings to the detailed description of the exemplary embodiment of the present invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 shows the structural representation of the control system of electromagnetic motion platform according to an embodiment of the invention.
Fig. 2 shows the structural representation of electromagnetic motion platform according to an embodiment of the invention.
Fig. 3 shows that another structure of the control system of electromagnetic motion platform according to an embodiment of the invention is shown
It is intended to.
Fig. 4 shows the process chart of the control method of electromagnetic motion platform according to an embodiment of the invention.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
The invention provides a kind of control system of electromagnetic motion platform.Fig. 1 is shown according to one implementation of the present invention
The structural representation of the control system of the electromagnetic motion platform of example.Fig. 2 shows electromagnetism according to an embodiment of the invention
The structural representation of formula motion platform.Referring to Fig. 1, the control system 100 of electromagnetic motion platform at least includes：Exercise data is obtained
Take unit 110, position control unit 120, current control unit 130 and electromagnetic motion platform 140.Referring to Fig. 1 and Fig. 2, electricity
Magnetic-type motion platform 140 at least includes：Upper mounting plate 1410, lower platform 1420, multiple permanent magnets 1430, multiple magnet coils 1440
With position sensor 1450, wherein, multiple permanent magnets 1430 are arranged on upper mounting plate 1410, and multiple magnet coils 1440 are arranged on
On lower platform 1420, position sensor 1450 is provided with each permanent magnet.The electric current that each magnet coil flows through according to it
Size produce the magnetic field of varying strength, produce suction or thrust with the interaction of corresponding permanent magnet, and then realize upper mounting plate
Various athletic postures.The motion capture unit 110 shown in Fig. 1 is used for the exercise data for obtaining each permanent magnet, and
The exercise data of each permanent magnet is sent to position control unit 120.Position control unit 120 is used for each according to what is received
The exercise data of individual permanent magnet calculates the current value for the electric current for obtaining being passed through each magnet coil, and is passed through what calculating was obtained respectively
The current value of the electric current of individual magnet coil is sent to current control unit 130.Current control unit 130 is used for what basis was received
The current value control for being passed through the electric current of each magnet coil is passed through the electric current of each magnet coil.It is arranged on each permanent magnet
Position sensor 1450 is used to sense the obtained movement position data feedback of each permanent magnet to position control unit 120.
The control system for the electromagnetic motion platform that the present invention is provided, the electric current of each magnet coil is flowed into by control
Size produces the magnetic field of varying strength, produces suction or thrust with the interaction of corresponding permanent magnet, and then realize upper mounting plate
Various athletic postures, the present invention uses the motion of non-contacting electromagnetic force powered motion platform, compared with prior art, it is to avoid
The problem of noise caused by friction between mechanical structure and relatively low life-span.In addition, the present invention is by each permanent magnet
The position sensor of setting, by the movement position data feedback of each permanent magnet to position control unit, realizes electromagnetic type fortune
The closed-loop control of moving platform, relative in the prior art only to drive mechanism carry out closed loop feedback for, due to each permanent magnet
Movement position determine the athletic posture of electromagnetic motion platform, the present invention is the motion bit directly to electromagnetic motion platform
Put data to be fed back, improve the control precision of the control system of electromagnetic motion platform.
In the embodiment of the present invention, referring to Fig. 3, motion capture unit 110 at least includes receiving unit 1110 and motion
Data are counter to solve unit 1120.Movement instruction of the receiving unit 1110 for receiving electromagnetic motion platform external equipment, and according to
The movement instruction obtains the exercise data of electromagnetic motion platform.Specifically, electromagnetic motion platform external equipment is a game
Handle, user is according to game content, and direct game handle controls the motion of electromagnetic motion platform, user's direct game handle hair
When going out a movement instruction, the game paddle sends movement instruction to the control system of electromagnetic motion platform.Electromagnetic type is moved
Receiving unit 1110 in the control system of platform is received after the movement instruction, and electromagnetic type motion is obtained according to the movement instruction
The exercise data of platform, for example, the acceleration information and angular velocity data of electromagnetic motion platform, and by electromagnetic motion platform
Exercise data send to exercise data is counter and solve unit 1120.The anti-unit 1120 that solves of exercise data receives electromagnetic motion platform
Exercise data after, anti-solution computing is carried out to the exercise data of electromagnetic motion platform, the exercise data of each permanent magnet is obtained,
For example, the displacement of each permanent magnet, rotational angle and angular velocity data.The present embodiments relate to electromagnetic motion platform
External equipment is not limited to game paddle, can also be bracelet, remote control.
Referring to Fig. 3, electromagnetic motion platform 140 also includes：Multiple current sensors 1460, the two ends of each magnet coil
It is provided with current sensor 1460.Current sensor 1460 is used to that the obtained actual electricity for being passed through each magnet coil will to be sensed
Flow valuve feeds back to current control unit 130, in order to which current control unit 130 is according to each magnet coil that is passed through received
What actual current value was obtained with calculating is compared by the current value of each magnet coil, to carry out current compensation computing.
In the embodiment of the present invention, electromagnetic motion platform 140 also includes：Support member, wherein, one end of support member with
Upper mounting plate 1410 is connected, and the other end of support member is connected with lower platform 1420.Referring to Fig. 2, support member at least includes：It is multiple
Guide rod 1470a, ring flange 1470b and universal joint 1470c.Wherein, multiple guide rod 1470a one end is fixed on lower platform
On 1420, when electromagnetic motion platform is in off working state, multiple guide rod 1470a other end and upper mounting plate 1410 are stayed
Have a gap, ring flange 1470b offer with guide rod 1470a quantity identical through holes, wherein, each guide rod both passes through one
Individual through hole, universal joint 1470c one end is connected with ring flange 1470b, for example, can be bolt connection, universal joint 1470c's is another
End is connected with upper mounting plate 1410, for example, can be bolt connection.When electromagnetic motion platform is in off working state, ring flange
1470b is placed on lower platform 1420, when the magnetic field that each magnet coil is produced causes each permanent magnet is provided to rise driving force
When, upper mounting plate 1410 is moved upwards, and then upper mounting plate 1410 pulls ring flange 1470b along guide rod by universal joint 1470c
1470a upward slidings.In the embodiment of the present invention, the quantity of guide rod can be three, and this three guiding are uniformly fixed to
On lower platform 1420, wherein, the quantity of guide rod is not limited to three, can also be other any number of guide rods.
In the embodiment of the present invention, referring to Fig. 3, current control unit 130 at least includes：Control unit 1310 and electric current driving
Amplifying unit 1320.Control unit 1310 is used to be modulated the electric current for being passed through each magnet coil, to control each electromagnetism
Magnitude of field intensity and rate of change that coil is produced, wherein, the modulating mode of control unit 1310 has a variety of, and such as pulse width is adjusted
System, pulse frequency modulated and current amplitude modulation, preferably pulse frequency modulated.Electric current drive amplification unit 1320 be used for pair
The current signal that control unit 1310 is exported carries out power amplification processing.
Referring to Fig. 2, in the embodiment of the present invention, electromagnetic motion platform includes three permanent magnets and three magnet coils,
Wherein, three permanent magnets are uniformly fixed on upper mounting plate, and three magnet coils are uniformly fixed on lower platform, each permanent magnet
It is oppositely arranged with a magnet coil.When being passed through electric current to three magnet coils, magnet coil can be produced to permanent magnet and pushed away
Power or suction.When the thrust that any magnet coil is produced is equal to upper mounting plate in the weight component of the point, upper mounting plate keeps balance,
When the thrust that any magnet coil is produced is more than upper mounting plate in the weight component of the point, the platform has upward add in the point
Speed, is that the platform has downwards in the point in the weight component of the point when the thrust of any magnet coil is less than upper mounting plate
Acceleration.When three magnet coils are all passed to suitable size of current, then upper mounting plate can be realized and is moved upwardly or downwardly.By
Lack constraint connection in the combination of magnet coil and permanent magnet, therefore in the motion process of upper mounting plate, put down in universal joint limitation
The free degree of platform, makes the rotary motion central shaft of upper mounting plate can be only positioned at the axle center of universal joint.
Based on same inventive concept, present invention also offers a kind of control method of electromagnetic motion platform, wherein, electromagnetism
Formula motion platform at least includes：The multiple permanent magnets being arranged on upper mounting plate and the multiple magnet coils being arranged on lower platform.
Fig. 4 shows the process chart of the control method of electromagnetic motion platform according to an embodiment of the invention.Referring to Fig. 4,
This method at least comprises the following steps S402 to step S410.
Step S402, obtains the exercise data of each permanent magnet；
Step S404, the electric current for the electric current for obtaining being passed through each magnet coil is calculated according to the exercise data of each permanent magnet
Value；
Step S406, controls to be passed through the electricity of each magnet coil according to the current value for the electric current for being passed through each magnet coil
Stream；
Step S408, after each magnet coil is passed through control electric current, each permanent magnet moves to corresponding position, obtains
The movement position data of each permanent magnet；
Step S410, according to the movement position data of each permanent magnet got, what calculating was obtained is passed through each electricity
The electric current of magnetic coil is adjusted.
In the embodiment of the present invention, above-mentioned steps S402 is specially：The motion for receiving electromagnetic motion platform external equipment refers to
Order, and obtain according to movement instruction the exercise data of electromagnetic motion platform；It is anti-according to the exercise data of electromagnetic motion platform
Solution obtains the exercise data of each permanent magnet.Specifically, electromagnetic motion platform external equipment be a game paddle, user according to
Game content, direct game handle controls the motion of electromagnetic motion platform, and user's direct game handle sends a movement instruction,
The exercise data of electromagnetic motion platform is obtained according to the movement instruction, for example, the acceleration information of electromagnetic motion platform and
Angular velocity data, then, is handled the exercise data of electromagnetic motion platform, i.e. the motion number to electromagnetic motion platform
According to anti-solution computing is carried out, the exercise data of each permanent magnet is obtained, for example, the displacement of each permanent magnet, rotational angle and angle speed
Degrees of data.The present embodiments relate to the external equipment of electromagnetic motion platform be not limited to game paddle, can also for bracelet,
Remote control.
In the embodiment of the present invention, after each magnet coil is passed through control electric current, this method also includes：Measurement is passed through each
The actual current value of the electric current of magnet coil；According to the actual current value for the electric current for being passed through each magnet coil to being passed through each electricity
The current value of the control electric current of magnetic coil is adjusted.Specifically, according to the actual electricity for being passed through each magnet coil received
Flow valuve is compared with calculating the obtained current value for being passed through each magnet coil, to carry out current compensation computing.
The present invention can be system, method and/or computer program product.Computer program product can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can keep and store to perform the tangible of the instruction that equipment is used by instruction
Equipment.Computer-readable recording medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
Be stored with instruction punch card or groove internal projection structure and above-mentioned any appropriate combination.It is used herein above to calculate
Machine readable storage medium storing program for executing is not construed as instantaneous signal in itself, the electromagnetic wave of such as radio wave or other Free propagations, logical
Cross the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer-readable recording medium each calculate/
Processing equipment, or outer computer is downloaded to or outer by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can be transmitted, be wirelessly transferred including copper transmission cable, optical fiber, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For perform the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Source code or object code that any combination is write, programming language of the programming language including object-oriented-such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can perform fully on the user computer, partly perform on the user computer, as one solely
Vertical software kit is performed, part is performed or completely in remote computer on the remote computer on the user computer for part
Or performed on server.In the situation of remote computer is related to, remote computer can be by network-bag of any kind
LAN (LAN) or wide area network (WAN)-be connected to subscriber computer are included, or, it may be connected to outer computer is (such as sharp
With ISP come by Internet connection).In certain embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can perform computer-readable program instructions, so as to realize each side of the present invention
Face.
Referring herein to method according to embodiments of the present invention, device (system) and computer program product flow chart and/
Or block diagram describes various aspects of the invention.It should be appreciated that each square frame and flow chart of flow chart and/or block diagram and/
Or in block diagram each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing unit, so as to produce a kind of machine so that these instructions are passing through computer or other programmable datas
During the computing device of processing unit, work(specified in one or more of implementation process figure and/or block diagram square frame is generated
The device of energy/action.Can also be the storage of these computer-readable program instructions in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so that, be stored with instruction
Computer-readable medium then includes a manufacture, and it is included in one or more of implementation process figure and/or block diagram square frame
The instruction of the various aspects of defined function/action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that perform series of operation steps on computer, other programmable data processing units or miscellaneous equipment, to produce
Raw computer implemented process, so that performed on computer, other programmable data processing units or miscellaneous equipment
Instruct function/action specified in one or more of implementation process figure and/or block diagram square frame.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction are used comprising one or more
In the executable instruction for realizing defined logic function.In some realizations as replacement, the function of being marked in square frame
Can be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame in flow chart and the square frame in block diagram and/or flow chart, can use function as defined in execution or dynamic
The special hardware based system made is realized, or can be realized with the combination of specialized hardware and computer instruction.It is right
For those skilled in the art it is well known that, realized by hardware mode, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
Best explaining the principle of each embodiment, practical application or to the technological improvement in market, or making its of the art
Its those of ordinary skill is understood that each embodiment disclosed herein.The scope of the present invention is defined by the appended claims.
Claims (11)
1. a kind of control system of electromagnetic motion platform, it is characterised in that including：Motion capture unit, position control
Unit, current control unit and electromagnetic motion platform, wherein,
The electromagnetic motion platform at least includes：Multiple permanent magnets for being arranged on upper mounting plate, be arranged on it is many on lower platform
Individual magnet coil and the position sensor being arranged on each permanent magnet,
The motion capture unit is used for the exercise data for obtaining each permanent magnet, and by each permanent magnet
Exercise data is sent to the position control unit,
The position control unit, which is used to be calculated according to the exercise data of each permanent magnet, to be obtained by each described electromagnetism
The current value of the electric current of coil, and the current value of the electric current of each magnet coil will be passed through send to the current control list
Member,
The current control unit is used to be led to according to the current value control of the electric current for being passed through each magnet coil received
Enter the electric current of each magnet coil,
The position sensor is used for the movement position data feedback of each permanent magnet to the position control unit.
2. control system according to claim 1, it is characterised in that the motion capture unit at least includes：Connect
Receive unit and exercise data be counter solves unit,
Wherein, the receiving unit is used for the movement instruction for receiving the electromagnetic motion platform external equipment, and according to described
Movement instruction obtains the exercise data of the electromagnetic motion platform, and the exercise data of the electromagnetic motion platform is sent
Unit is solved to the exercise data is counter,
The exercise data is counter, which to solve unit, is used for according to being obtained the anti-solution of the exercise data of the electromagnetic motion platform each
The exercise data of permanent magnet.
3. control system according to claim 1, it is characterised in that the electromagnetic motion platform also includes：Multiple electricity
Flow sensor, the two ends of each magnet coil are provided with current sensor, and the current sensor is used to that institute will to be passed through
The actual current value for stating the electric current of each magnet coil feeds back to the current control unit.
4. control system according to claim 1, it is characterised in that the electromagnetic motion platform also includes：Supporting part
Part, one end of the support member is connected with the upper mounting plate, and the other end of the support member is connected with the lower platform.
5. control system according to claim 4, it is characterised in that the support member at least includes：Multiple guide rods,
Ring flange and universal joint, wherein, one end of the multiple guide rod is fixed on the lower platform, the other end of the guide rod
Gap is left with the upper mounting plate, the ring flange is offered and the guide rod quantity identical through hole, each guide rod
Both pass through a through hole, one end of the universal joint is connected with the ring flange, the other end of the universal joint with it is described flat
Platform is connected.
6. control system according to claim 5, it is characterised in that the support member includes three guide rods, institute
Three guide rods are stated uniformly to be fixed on the lower platform.
7. control system according to claim 1, it is characterised in that the current control unit at least includes：Electric current is transported
Calculate unit, current-modulation unit and electric current drive amplification unit.
8. according to any described control systems of claim 1-7, it is characterised in that the electromagnetic motion platform includes three
The permanent magnet and three magnet coils, wherein, three permanent magnets are uniformly fixed on the upper mounting plate, and described three
Individual magnet coil is uniformly fixed on the lower platform.
9. a kind of control method of electromagnetic motion platform, it is characterised in that the electromagnetic motion platform includes：It is arranged on
Multiple permanent magnets and the multiple magnet coils being arranged on lower platform on platform, methods described include：Obtain it is described each forever
The exercise data of magnet；
The current value of the electric current of each magnet coil described in obtaining being passed through is calculated according to the exercise data of each permanent magnet；
According to being passed through the electric current of each magnet coil current value control be passed through described in each magnet coil electric current；
After each described magnet coil is passed through control electric current, each described permanent magnet moves to corresponding position, obtains described
The movement position data of each permanent magnet；
The movement position data of each permanent magnet according to getting, what the calculating was obtained is passed through each described electromagnetism
The electric current of coil is adjusted.
10. method according to claim 9, it is characterised in that the exercise data of each permanent magnet described in the acquisition, bag
Include：
The movement instruction of the electromagnetic motion platform external device is received, and the electromagnetic type is obtained according to the movement instruction
The exercise data of motion platform；
The exercise data of each permanent magnet according to being obtained the anti-solution of the exercise data of the electromagnetic motion platform.
11. method according to claim 9, it is characterised in that be passed through the control electric current in each described magnet coil
Afterwards, methods described also includes：
Measurement is passed through the actual current value of the electric current of each magnet coil；
Control of the actual current value of the electric current of each magnet coil to each magnet coil described in being passed through according to described be passed through
The current value of electric current processed is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710166952.4A CN107015573B (en) | 2017-03-20 | 2017-03-20 | Control method and system of electromagnetic motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710166952.4A CN107015573B (en) | 2017-03-20 | 2017-03-20 | Control method and system of electromagnetic motion platform |
Publications (2)
| Publication Number | Publication Date |
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| CN107015573A true CN107015573A (en) | 2017-08-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110138309A (en) * | 2019-04-23 | 2019-08-16 | 宁波高悦精密机械有限公司 | A kind of control system of servo-drive electric cylinders |
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