CN107783461A - A kind of electrostatically suspended control method and system - Google Patents
A kind of electrostatically suspended control method and system Download PDFInfo
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- CN107783461A CN107783461A CN201710790373.7A CN201710790373A CN107783461A CN 107783461 A CN107783461 A CN 107783461A CN 201710790373 A CN201710790373 A CN 201710790373A CN 107783461 A CN107783461 A CN 107783461A
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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
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Abstract
The present invention relates to a kind of electrostatically suspended control method and system, this method includes：The positional information of electrified aerosol is obtained, converts location information at least one voltage control quantity；According to control voltage corresponding to the generation of each voltage control quantity；The movement of electrified aerosol is controlled according to each control voltage.A kind of electrostatically suspended control method and system provided by the invention, by being detected to the positional information of electrified aerosol, control voltage corresponding to generation, it is possible to achieve stable electrostatic suspension, simultaneously, automatically positional information is handled by processor, the movement of generation control voltage control electrified aerosol, reduces number of devices, with small volume, the advantages of integrated level is high, and the control speed to electrified aerosol is quickly, and practicality is stronger.
Description
Technical field
The present invention relates to electrostatically suspended control field, more particularly to a kind of electrostatically suspended control method and system.
Background technology
In material processing, to avoid the chamber wall under hot conditions from polluting fusing sample, sample is influenceed
Purity, avoid the accurate measurement to sample characteristics of for example from bringing interference, usually using electromagnetic suspension, gas suspension, supersonic wave suspended and
The suspension technologies such as electrostatic suspension are processed to sample.
But traditional electromagnetic suspension technology can only realize the suspension of metal material sample, gas suspension technology and ultrasound
Ripple suspension technology can bring very big disturbance to the shaping of sample again, and existing electrostatically suspended control system then mainly has two classes：
Floating type DSP (DigitalSignalProcessing, the Digital Signal Processing) chip produced with TI companies is processing core
Numerical control system, the modular signal acquisition process control system that NI companies produce.The former is commonplace, and it has integrated level
The advantages that height, small power consumption, but because its computing capability is limited, it is impossible to meet existing electrostatically suspended control system to image well
Read the requirement of arithmetic speed.The latter combines the collection of NI modularization and PC processing, the advantages of giving full play to each module, makes
The data-handling capacity for obtaining the control system is significantly improved, but such control system is dependent on signal acquisition and output etc.
Each generic module, its integrated level is poor compared with other numerical control systems, and volume is larger, and power consumption is also than higher.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of electrostatically suspended control method
And system.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of electrostatically suspended control method, including：
The positional information of electrified aerosol is obtained, the positional information is converted at least one voltage control quantity；
According to control voltage corresponding to each voltage control quantity generation；
The movement of the electrified aerosol is controlled according to each control voltage.
The beneficial effects of the invention are as follows：A kind of electrostatically suspended control method provided by the invention, by electrified aerosol
Positional information detected, control voltage corresponding to generation, it is possible to achieve stable electrostatic suspension, meanwhile, pass through processor
Automatically positional information is handled, the movement of generation control voltage control electrified aerosol, reduces number of devices, has
Small volume, the advantages of integrated level is high, and the control speed to electrified aerosol is quickly, and practicality is stronger.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the positional information for obtaining electrified aerosol, at least one electricity is converted to by the positional information
Voltage-controlled amount processed specifically includes：
Obtain the positional information of electrified aerosol；
Position coordinates is obtained according to the positional information；
The position coordinates is handled according to default Rotating Transition of Coordinate algorithm, obtains shift offset；
The shift offset is handled according to default Uncoupling Control Based, obtains voltage control quantity；
The voltage control quantity is handled according to default voltage allocation algorithm, obtains at least one voltage control
Amount.
It is using the above-mentioned further beneficial effect of scheme：By obtaining the positional information of electrified aerosol and extracting accordingly
Position coordinates, the voltage control quantity of control electrified aerosol movement, high degree can be quickly obtained by default algorithm
The low quantity for reducing related device, reduce the software and hardware copper palpus link between each device, realize the height collection of control system
Into improving the reliability of system.
Further, the control voltage according to corresponding to each voltage control quantity generation specifically includes：
Level conversion processing is carried out to each voltage control quantity, obtains corresponding level value；
Digital-to-analogue conversion processing is carried out to each level value, obtains corresponding analog voltage signal；
Processing is amplified to each analog voltage signal, obtains corresponding control voltage.
Further, it is described to control the movement of the electrified aerosol to specifically include according to each control voltage：
The moving direction of the electrified aerosol, each control voltage control institute are controlled according to each control voltage
State a moving direction of electrified aerosol.
It is using the above-mentioned further beneficial effect of scheme：The each of electrified aerosol is controlled by each control voltage of generation
Moving direction, it is possible to achieve accurately control movement and the position of electrified aerosol, control can be set according to the actual requirements
Direction, practicality are stronger.
Further, the positional information for obtaining electrified aerosol specifically includes：
Emitting parallel light irradiates the electrified aerosol；
Receive the projection of the electrified aerosol, and obtained according to the projection of the electrified aerosol described powered outstanding
The positional information of float.
It is using the above-mentioned further beneficial effect of scheme：Electrified aerosol is irradiated by emitting parallel light, and receives throwing
Shadow determines the position of electrified aerosol, has the characteristics of recognition speed is fast, and recognition accuracy is high, and device less investment, has
The advantages of cost is low.
The another technical solution that the present invention solves above-mentioned technical problem is as follows：
A kind of electrostatically suspended control system, including：
Interface circuit, for obtaining the positional information of electrified aerosol；
Processor, for the positional information to be converted at least one voltage control quantity；
Change-over circuit, for the control voltage according to corresponding to each voltage control quantity generation；
At least one high-field electrode, for controlling the movement of the electrified aerosol according to each control voltage.
The beneficial effects of the invention are as follows：A kind of electrostatically suspended control system provided by the invention, by interface circuit to band
The positional information of electrically floating thing is detected, and by processor generate corresponding to control voltage, it is possible to achieve stable electrostatic
Suspend, meanwhile, automatically positional information is handled, the movement of generation control voltage control electrified aerosol, reduces device
Number of packages amount, there is small volume, the advantages of integrated level is high, and the control speed to electrified aerosol is quickly, and practicality is stronger.
Further, the processor is specifically used for obtaining position coordinates according to the positional information, and according to default
Rotating Transition of Coordinate algorithm is handled the position coordinates, obtains shift offset, and calculate according to default uneoupled control
Method is handled the shift offset, obtains voltage control quantity, and according to default voltage allocation algorithm to the voltage
Controlled quentity controlled variable is handled, and obtains at least one voltage control quantity.
Further, the change-over circuit includes：
Electrical level transferring chip, for carrying out level conversion processing to each voltage control quantity, obtain corresponding level value；
DAC chip, for carrying out digital-to-analogue conversion processing to each level value, obtain corresponding analog signal；
High-voltage amplifier, for being amplified processing to each analog signal, obtain corresponding control voltage.
Further, each high-field electrode is specifically used for controlling the electrified aerosol according to each control voltage
Moving direction, and each high-field electrode controls a moving direction of the electrified aerosol.
Further, in addition to：
Light source, irradiate the electrified aerosol for emitting parallel light；
Receiver, for receiving the projection of the electrified aerosol, and projecting according to the electrified aerosol
To the positional information of the electrified aerosol.
The advantages of aspect that the present invention adds, will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by present invention practice.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of electrostatically suspended control method provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet for electrostatically suspended control method that another embodiment of the present invention provides；
Fig. 3 is a kind of structural framing figure for electrostatically suspended control system that another embodiment of the present invention provides,
Fig. 4 is the position relationship schematic diagram of a kind of high-field electrode and electrified aerosol that another embodiment of the present invention provides.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, be a kind of schematic flow sheet of electrostatically suspended control method provided in an embodiment of the present invention, this method
Comprise the following steps：
S1, the positional information of electrified aerosol is obtained, convert location information at least one voltage control quantity, for example,
The positional information of electrified aerosol, the positional information for then obtaining the two cameras point can be obtained by two cameras respectively
Main GPU chips are not sent to and are handled from GPU chips, convert location information into 2 voltage control quantities.
It should be noted that the quantity of voltage control quantity is relevant with the quantity of high-field electrode, high-field electrode is quiet for producing
Electric power makes electrified aerosol suspend, for example, high-field electrode can be 2, is separately positioned on top and the decentralization of electrified aerosol,
Moving up or moving down for electrified aerosol can be controlled according to the different magnitudes of voltage of two pieces of high-field electrodes, high-field electrode can also be set
1 is set to, is placed on the decentralization of electrified aerosol, electrified aerosol is suspended to resist the effect of gravity, he can also be by height
Piezoelectricity pole is arranged to 6, is separately positioned on 6 directions front and rear up and down of electrified aerosol, controls electrified aerosol
It is mobile.
Voltage control quantity is related to the positional information of electrified aerosol, can be set according to the carried charge of electrified aerosol
Put its relation with the positional information of electrified aerosol.
S2, according to control voltage corresponding to the generation of each voltage control quantity.
It should be noted that the magnitude of voltage for actually moving electrified aerosol can be very big, therefore, it is necessary to voltage is controlled
Amount is changed and the processing such as amplifies, so that it becomes numerical value is very big, can be actually provided to the electrostatic force of electrified aerosol movement
Magnitude of voltage, i.e. control voltage.
S3, the movement of electrified aerosol is controlled according to each control voltage.
It should be noted that in the step, the quantity of control voltage and the quantity of voltage control quantity are identicals.Work as high pressure
After electrode receives control voltage, corresponding electrostatic force will be produced to electrified aerosol, make bead mobile or static.
A kind of electrostatically suspended control method that the present embodiment provides, by being examined to the positional information of electrified aerosol
Survey, control voltage corresponding to generation, it is possible to achieve stable electrostatic suspension, meanwhile, by processor automatically to positional information
Handled, the movement of generation control voltage control electrified aerosol, reduce number of devices, there is small volume, integrated level height
The advantages of, and the control speed to electrified aerosol is quickly, and practicality is stronger.
As shown in Fig. 2 a kind of schematic flow sheet of the electrostatically suspended control method provided for another embodiment of the present invention, should
Method comprises the following steps：
S1, the positional information of electrified aerosol is obtained, convert location information at least one voltage control quantity.
Preferably, step S1 can be refined as following steps.
S11, the positional information of electrified aerosol is obtained, for example, being upper when controlling the high-field electrode that electrified aerosol suspends
At lower 2, electrified aerosol can be irradiated with the directional light of emission level, directional light here can be the laser collimated, then
The projection of electrified aerosol is received in the other end of electrified aerosol, and electrified aerosol is obtained according to the projection of electrified aerosol
Positional information.
Electrified aerosol is irradiated by emitting parallel light, and receives projection to determine the position of electrified aerosol, has and knows
The characteristics of other speed is fast, and recognition accuracy is high, and device less investment, there is the advantages of cost is low.
For example, it is also possible to the picture of electrified aerosol is shot by two cameras respectively, by powered outstanding in picture
Float is identified, and determines its position in camera coordinates system, and the positional information of electrified aerosol is determined with this.
S12, position coordinates is obtained according to positional information, for example, flat square can be established in the plane for receiving directional light
Coordinate system, after the projection or the image that obtain electrified aerosol, can according in the projection of electrified aerosol or image with electrically floating
The corresponding relation of thing and coordinate system determines position coordinates.
S13, position coordinates is handled according to default Rotating Transition of Coordinate algorithm, obtains shift offset, then root
Shift offset is handled according to default Uncoupling Control Based, obtains voltage control quantity, is distributed further according to default voltage
Algorithm is handled voltage control quantity, obtains at least one voltage control quantity.
It should be noted that it is number according to high-field electrode that voltage allocation algorithm, which is handled voltage control quantity and distributed,
What amount determined, for example, when there are 2 high-field electrodes, 2 road voltage control quantities are obtained with regard to distribution, control electrified aerosol fortune respectively
2 dynamic directions, when there are 6 high-field electrodes, 6 road voltage control quantities are obtained with regard to distribution, control electrified aerosol motion respectively
6 directions.
The process for being identified and handling to position coordinates in above steps can be realized by GPU chips, for example, can
To be realized by the JETSON TX1 modules of NVIDIA companies.These algorithms can be stored in advance in GPU chips.
, can be quick by default algorithm by obtaining the positional information of electrified aerosol and extracting position coordinates accordingly
Ground obtains controlling the voltage control quantity of electrified aerosol movement, the low quantity for reducing related device of high degree, reduces each
Software and hardware copper palpus link between device, realizes the highly integrated of control system, improves the reliability of system.
S2, according to control voltage corresponding to the generation of each voltage control quantity.
Preferably, step S2 can be refined as following steps.
S21, level conversion processing is carried out to each voltage control quantity, corresponding level value is obtained, for example, level can be passed through
Conversion chip realizes that the voltage control quantity for the 0~3.3V for exporting GPU chips is converted to 0~5V level value.
S22, digital-to-analogue conversion processing is carried out to each level value, corresponding analog voltage signal is obtained, for example, can pass through
DAC chip realizes the analog voltage signal that 0~5V level value is converted to 0~5V.
S23, processing is amplified to each analog voltage signal, obtains corresponding control voltage, it is necessary to which explanation, has several
Road analog voltage signal, it is possible to several amplifiers are set, for example, when needing to control 2 high-field electrodes, just have 2 road moulds
Intend voltage signal, then 2 amplifiers can be set, this 2 road analog voltage signal is amplified respectively.
S3, the movement of electrified aerosol is controlled according to each control voltage, for example, can be by the way that control voltage is sent into height
On piezoelectricity pole plate, the control to electrified aerosol is completed.
Preferably, in step S3, the moving direction of electrified aerosol, each control voltage control are controlled according to each control voltage
One moving direction of electrified aerosol processed, wherein, the direction quantity of control can be set according to the actual requirements, high by changing
The quantity of piezoelectricity pole is realized.
Each moving direction of electrified aerosol is controlled by each control voltage of generation, it is possible to achieve accurately control powered
The movement of suspension and position, can set the direction of control according to the actual requirements, and practicality is stronger.
A kind of electrostatically suspended control method that the present embodiment provides, by being examined to the positional information of electrified aerosol
Survey, control voltage corresponding to generation, it is possible to achieve stable electrostatic suspension, meanwhile, by processor automatically to positional information
Handled, the movement of generation control voltage control electrified aerosol, reduce number of devices, there is small volume, integrated level height
The advantages of, and the control speed to electrified aerosol is quickly, and practicality is stronger.
And the processing to image is realized by GPU chips etc., processing speed significantly improves, and is examined more suitable for view-based access control model
The high-precision control for the electrostatic suspension system higher to data transfer and processing requirement surveyed.
Meanwhile the algorithm of image recognition and Coordinate Conversion is not only realized based on hardware programming, and realize and close in piece
Ring control algolithm (PID), the quantity of related device is greatly reduced, reduces the communication of software and hardware between device, realizes control
System it is highly integrated, it will be apparent that improve the reliability of control.
As shown in figure 3, a kind of structural framing figure of the electrostatically suspended control system provided for another embodiment of the present invention, should
System includes：Light source 1, receiver 2, interface circuit 3, processor 4, change-over circuit 5 and at least one high-field electrode 6, wherein：
Light source 1 is used for emitting parallel light irradiation electrified aerosol.
Receiver 2 is used for the projection for receiving electrified aerosol, and obtains electrified aerosol according to the projection of electrified aerosol
Positional information.
Interface circuit 3 is used for the positional information for obtaining electrified aerosol.
Processor 4 is used to convert location information at least one voltage control quantity, and processor 4 can be GPU chips.
Preferably, processor 4 is specifically used for obtaining position coordinates according to positional information, and is rotated and become according to default coordinate
Scaling method is handled position coordinates, obtains shift offset, and according to default Uncoupling Control Based to shift offset
Handled, obtain voltage control quantity, and voltage control quantity is handled according to default voltage allocation algorithm, obtained at least
One voltage control quantity.
Change-over circuit 5 is used for the control voltage according to corresponding to the generation of each voltage control quantity.
Preferably, change-over circuit 5 can include：
Electrical level transferring chip 51, for carrying out level conversion processing to each voltage control quantity, obtain corresponding level value.
DAC chip 52, for carrying out digital-to-analogue conversion processing to each level value, obtain corresponding analog signal.
High-voltage amplifier 53, for being amplified processing to each analog signal, obtain corresponding control voltage.
High-field electrode 6 is used for the movement that electrified aerosol is controlled according to each control voltage.
Preferably, each high-field electrode 6 is specifically used for the moving direction that electrified aerosol is controlled according to each control voltage, and often
Individual high-field electrode 6 controls a moving direction of electrified aerosol.
A kind of electrostatically suspended control system that the present embodiment provides, the position of electrified aerosol is believed by interface circuit 3
Breath is detected, and generates corresponding control voltage by processor 4, it is possible to achieve stable electrostatic suspension, meanwhile, automatically
Positional information is handled, the movement of generation control voltage control electrified aerosol, reduces number of devices, there is volume
It is small, the advantages of integrated level is high, and the control speed to electrified aerosol is quickly, and practicality is stronger.
Compared to the conventional electrostatic suspension numerical control system using dsp chip as core of TI companies, due to whole system
The change of frame mode, and being handled by GPU chips view data, and communication interface speed significantly improve,
More suitable for the high-precision control of the electrostatic suspension system higher to data transfer and processing requirement of view-based access control model detection.
The controller that modularization collection compared to NI combines with PC processing, the electrostatically suspended control system that the present embodiment provides
System builds the execution core of integrated electrostatically suspended control algorithm using high-performance GPU chips, is not only realized based on hardware programming
The algorithm of image recognition and Coordinate Conversion, and realize closed loop control algorithm (PID) in piece, greatly reduce related device
Quantity, reduce the communication of software and hardware between device, realize the highly integrated of control system, it will be apparent that improve system can
By property, while reduce the power consumption of whole system.
As shown in figure 4, the position relationship of a kind of high-field electrode and electrified aerosol provided for another embodiment of the present invention
Schematic diagram, in the present embodiment, it is placed in parallel face-to-face comprising 2 pieces of circular high voltage electrodes 6, this 2 pieces of circular high voltage electrodes 6 altogether,
Respectively above and below the electrified aerosol, the side of electrified aerosol is provided with light source 1, for example, the light source 1 in figure can be with
For laser generator, for launching the laser after expanding and collimating, the opposite side of electrified aerosol is provided with receiver 2, example
Such as, can be camera etc., for determining the position of electrified aerosol, then control voltage corresponding to generation, is controlled with electrically floating
Thing move up and down and position.
Reader should be understood that in the description of this specification, reference term " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description
It can be combined in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting, this
The technical staff in field can be by the different embodiments or example described in this specification and the spy of different embodiments or example
Sign is combined and combined.
It is apparent to those skilled in the art that for convenience of description and succinctly, the dress of foregoing description
The specific work process with unit is put, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of unit, is only
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.
The unit illustrated as separating component can be or may not be physically separate, be shown as unit
Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be selected to realize the mesh of scheme of the embodiment of the present invention according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
It is that unit is individually physically present or two or more units are integrated in a unit.It is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can
To be stored in a computer read/write memory medium.Based on such understanding, technical scheme substantially or
Say that the part to be contributed to prior art, or all or part of the technical scheme can be embodied in the form of software product
Out, the computer software product is stored in a storage medium, including some instructions are causing a computer equipment
(can be personal computer, server, or network equipment etc.) performs all or part of each embodiment method of the present invention
Step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-OnlyMemory), deposit at random
Access to memory (RAM, RandomAccessMemory), magnetic disc or CD etc. are various can be with the medium of store program codes.
More than, it is only embodiment of the invention, but protection scope of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art the invention discloses technical scope in, various equivalent modifications or substitutions can be readily occurred in,
These modifications or substitutions should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be wanted with right
The protection domain asked is defined.
Claims (10)
- A kind of 1. electrostatically suspended control method, it is characterised in that including：The positional information of electrified aerosol is obtained, the positional information is converted at least one voltage control quantity；According to control voltage corresponding to each voltage control quantity generation；The movement of the electrified aerosol is controlled according to each control voltage.
- 2. electrostatically suspended control method according to claim 1, it is characterised in that the position for obtaining electrified aerosol Information, the positional information is converted at least one voltage control quantity and specifically included：Obtain the positional information of electrified aerosol；Position coordinates is obtained according to the positional information；The position coordinates is handled according to default Rotating Transition of Coordinate algorithm, obtains shift offset；The shift offset is handled according to default Uncoupling Control Based, obtains voltage control quantity；The voltage control quantity is handled according to default voltage allocation algorithm, obtains at least one voltage control quantity.
- 3. electrostatically suspended control method according to claim 1, it is characterised in that described according to each voltage control quantity Control voltage specifically includes corresponding to generation：Level conversion processing is carried out to each voltage control quantity, obtains corresponding level value；Digital-to-analogue conversion processing is carried out to each level value, obtains corresponding analog voltage signal；Processing is amplified to each analog voltage signal, obtains corresponding control voltage.
- 4. electrostatically suspended control method according to any one of claim 1 to 3, it is characterised in that described according to each institute Stating control voltage controls the movement of the electrified aerosol to specifically include：The moving direction of the electrified aerosol is controlled according to each control voltage, each control voltage controls the band One moving direction of electrically floating thing.
- 5. electrostatically suspended control method according to claim 4, it is characterised in that the position for obtaining electrified aerosol Information specifically includes：Emitting parallel light irradiates the electrified aerosol；The projection of the electrified aerosol is received, and the electrified aerosol is obtained according to the projection of the electrified aerosol Positional information.
- A kind of 6. electrostatically suspended control system, it is characterised in that including：Interface circuit, for obtaining the positional information of electrified aerosol；Processor, for the positional information to be converted at least one voltage control quantity；Change-over circuit, for the control voltage according to corresponding to each voltage control quantity generation；At least one high-field electrode, for controlling the movement of the electrified aerosol according to each control voltage.
- 7. electrostatically suspended control system according to claim 6, it is characterised in that the processor is specifically used for according to institute State positional information and obtain position coordinates, and the position coordinates is handled according to default Rotating Transition of Coordinate algorithm, obtain The shift offset is handled to shift offset, and according to default Uncoupling Control Based, obtains voltage control quantity, And the voltage control quantity is handled according to default voltage allocation algorithm, obtain at least one voltage control quantity.
- 8. electrostatically suspended control system according to claim 6, it is characterised in that the change-over circuit includes：Electrical level transferring chip, for carrying out level conversion processing to each voltage control quantity, obtain corresponding level value；DAC chip, for carrying out digital-to-analogue conversion processing to each level value, obtain corresponding analog signal；High-voltage amplifier, for being amplified processing to each analog signal, obtain corresponding control voltage.
- 9. the electrostatically suspended control system according to any one of claim 6 to 8, it is characterised in that each high-tension electricity Pole is specifically used for the moving direction that the electrified aerosol is controlled according to each control voltage, and each high-field electrode control Make a moving direction of the electrified aerosol.
- 10. electrostatically suspended control system according to claim 9, it is characterised in that also include：Light source, irradiate the electrified aerosol for emitting parallel light；Receiver, institute is obtained for receiving the projection of the electrified aerosol, and according to the projection of the electrified aerosol State the positional information of electrified aerosol.
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| CN108427347A (en) * | 2018-04-04 | 2018-08-21 | 肇庆学院 | A kind of control system of interior steady formula electromagnetic suspension micro mirror |
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| CN106268568A (en) * | 2015-05-26 | 2017-01-04 | 中国科学院上海硅酸盐研究所 | A kind of electrostatic suspension device of hot melt materials |
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| CN108427347A (en) * | 2018-04-04 | 2018-08-21 | 肇庆学院 | A kind of control system of interior steady formula electromagnetic suspension micro mirror |
| CN108427347B (en) * | 2018-04-04 | 2023-08-15 | 肇庆学院 | Control system of internal stable electromagnetic suspension micromirror |
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