CN108736770A - A kind of novel high-precision Mechano-electrically integrated control unit and its method - Google Patents
A kind of novel high-precision Mechano-electrically integrated control unit and its method Download PDFInfo
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- CN108736770A CN108736770A CN201810611314.3A CN201810611314A CN108736770A CN 108736770 A CN108736770 A CN 108736770A CN 201810611314 A CN201810611314 A CN 201810611314A CN 108736770 A CN108736770 A CN 108736770A
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- motor
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- hall sensor
- controller
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
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Abstract
The invention belongs to technical field of automatic control, a kind of novel high-precision Mechano-electrically integrated control unit and its method are disclosed, dc motor is provided with；The dc motor is by shaft coupling and has been bolted gearbox, and the dc motor and gearbox are secured by bolts on platform；The platform screwing is fixed with console, and the console upper end is provided with controller and power interface, and lower end is equipped with Hall sensor；The output shaft of gearbox runs through entire gearbox, and output shaft of gear-box one end is connected with transmission wheel, and the other end installs a magnetic element；The controller is made of information receiving module, information storage module, microprocessor, message output module.The present invention realizes the Mechatronics control of machine by using Hall sensor and magnetic element, meets the requirement of automation control；It is simple in structure, it is easy to manufacture；And high-precision control is realized by Hall sensor and magnetic element.
Description
Technical field
The invention belongs to technical field of automatic control more particularly to a kind of novel high-precision Mechatronics control dresses
It sets and its method.
Background technology
The control device that domestic and international market uses in this field at present is of all kinds, mostly there are some not in performance
Foot place, such as：Some output of products torques are small, and stuck phenomenon is easy tod produce in operation；Some product gear intensity differences, stall
When gear-box in transmission gear easy to produce broken teeth；Some products are without electric motor protecting function, and motor is easy to burn out when stall；Have
Product Precision and poor sensitivity, easy to produce malfunction, cause cargo conveying not in place, etc..These product defects are tight
Ghost image rings the normal use of machine product, not only brings inconvenience to customer, more increases the maintenance cost at manufacturer scene.
In conclusion problem of the existing technology is：
(1) traditional Mechano-electrically integrated control unit is complicated, cannot be satisfied requirement easy to operate；And traditional machine
Electrical integrated control device precision is not high, and high-precision job requirement is not achieved.
(2) Hall sensor is easy to be interfered by external magnetic field, causes the reduction of Mechano-electrically integrated control unit working efficiency,
Reduce product quality.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of novel high-precision Mechano-electrically integrated control units
And its method.
It is described novel high-precision the invention is realized in this way a kind of novel high-precision Mechatronics control method
Spending Mechatronics control method includes：
(1) power interface powers on, and dc motor is rotated together with output shaft；Magnetic element and Hall sensor phase
Even；The measurement accuracy of Hall sensor is improved using mathematical model；
The mathematical model is：
As N=1, have：
Work as θR1It is obtained at=0 °：
If d=5r, BR=(5/6) BRR；By being multiplied by one on BR often when only with a Hall sensor
Number 6/5 improves the precision measured；Distance d and position angle R1；As the B of weightsR；
(2) in rotation process when magnetic element and Hall sensor reach precalculated position, Hall sensor generates electricity
The feature extraction of signal, electric signal passes to controller, and controller, which controls dc motor, to be stopped；
The feature extraction of the electric signal includes：
1) to one group of electrical signal data, electrical signal data is divided into first isometric data segment；
2) nonlinear prediction is carried out to every section of electrical signal data, the prediction error of every section of electric signal is obtained, wherein predicting mould
The parameter m and d of type take fixed value；
3) the logarithm of the normalization variance of the prediction error of every section of electric signal, i.e. ln..2 (m, d), as extraction
Characteristic value；
Time series | { xn, n=1,2 ..., N regard a closed loop power structure as, that is, export xnPostpone as one
Input；Predicted time sequence is obtained with discrete Volterra autoregression models
Wherein base { zk(n) } it is made of all group items blocked of the d ranks of delay vector X (n-1), total dimension isEach model is determined by two parameters m and d；It is linear or non-thread
The fitting degree of property model can be characterized by the normalized variance of prediction error：
Wherein xn(n=1,2 ..., L) is actual value,It is pre- to be obtained by prediction model
Measured value
(3) dc motor rotates again after using voltage equation to stop a period of time, repeats above-mentioned action, realizes
The movement and stopping of equipment.
Further, the DC electric motor pressure equilibrium equation is：
In formula：RsResistance for nail per phase winding, Ω, L are inductance of the stator per phase winding, H, MijFor the i-th phase of stator
Mutual inductance between winding and jth phase winding, H；D is differential operator；ψa, ψb, ψcIndicate threephase stator magnetic linkage, Wb；ua, ub, ucTable
Show threephase stator voltage, V；ia, ib, icIndicate threephase stator electric current, A；
The electromagnetic torque equation of dc motor is：
The equation of motion is：
In formula：TeFor electromagnetic torque, TLFor load torque；B is damped coefficient；ω is dc motor mechanical separator speed, and J is
The rotary inertia of motor.
The novel high-precision Mechatronics control method pair is realized another object of the present invention is to provide a kind of
Novel high-precision Mechano-electrically integrated control unit, the novel high-precision Mechano-electrically integrated control unit is provided with direct current
Motor；
The dc motor is by shaft coupling and has been bolted gearbox, and the dc motor and gearbox are logical
Bolt is crossed to be fixed on platform；The platform screwing is fixed with console, and the console upper end is provided with controller and electricity
Source interface, lower end are equipped with Hall sensor.
Further, the Hall sensor is electrical connected with controller, and controller is electrically connected with dc motor.
Further, the output shaft of gearbox runs through entire gearbox, and output shaft of gear-box one end is connected with transmission wheel, another
One magnetic element of end installation, i.e. one end is for being driven, and the other end is for occurring magnetic information.
Further, the magnetic element is opposite with Hall sensor, when magnetic element and hall sensing in rotation process
When device reaches precalculated position, Hall sensor generates electric signal, and electric signal passes to controller, and then controller controls direct current
Turning and stopping for motivation, controls the state of equipment.
Further, the controller is by information receiving module, information storage module, microprocessor, message output module group
At.
Advantages of the present invention and good effect are：The present invention realizes machine by using Hall sensor and magnetic element
The Mechatronics control of device meets the requirement of automation control；It is simple in structure, easy to manufacture, easily operated and popularization；
And electromechanical integration high-precision control is realized by Hall sensor and magnetic element.Present invention reduces external magnetic fields
Interference.Experimental comparison is carried out using traditional current transformer and the Hall current mutual inductor designed according to the new method, as a result
Show the accuracy class that Hall current mutual inductor can reach 0.5~1, illustrates the feasibility of this method.The present invention is from electric signal
In detect automatically；The Embedded dimensions that EEG signals sequence is determined using the method for the selection Embedded dimensions based on predictability, into
Row phase space reconfiguration；The experimental results showed that:The feature of feature extracting method extraction based on nonlinear prediction effect can be significantly
Electric signal and normal electrical signal are distinguished, the case where which is suitble to small data quantity and to the stability of noise
It is good.Under steady state operating conditions, dynamic fault of eccentricity, corresponding characteristic frequency amplitude occur the dc motor of the present invention for motor
There is significant change, motor speed is different, and the variation degree of characteristic frequency amplitude is different.But under same rotating speed, fault degree adds
Greatly, the amplitude of characteristic frequency is consequently increased.
Description of the drawings
Fig. 1 is novel high-precision Mechano-electrically integrated control unit structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is novel controller architecture schematic diagram provided in an embodiment of the present invention；
In figure：1, dc motor；2, gearbox；3, platform；4, console；5, controller；6, power interface；7, Hall
Sensor；8, output shaft；9, transmission wheel；10, magnetic element；11, information receiving module；12, information storage module；13, Wei Chu
Manage device；14, message output module.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, novel high-precision Mechano-electrically integrated control unit provided in an embodiment of the present invention includes：Direct current
Motivation 1, gearbox 2, platform 3, console 4, controller 5, power interface 6, Hall sensor 7, output shaft 8, transmission wheel 9, magnetic
Property element 10.
Dc motor 1 is by shaft coupling and has been bolted gearbox 2, and dc motor 1 and gearbox 2 pass through spiral shell
Bolt is fixed on platform 3；3 screwing of platform is fixed with console 4, and 4 upper end of console is provided with controller 5 and power interface 6,
Lower end is equipped with Hall sensor 7；
Make Hall sensor 7 to be electrical connected with controller 5, controller 5 is electrical connected with dc motor 1；Gearbox 2
Output shaft 8 runs through entire gearbox 2, and 2 output shaft of gearbox, 8 one end is connected with transmission wheel 9, and the other end installs a magnetic element
10, i.e. one end is for being driven, and the other end is for occurring magnetic information；Magnetic element 10 is connected pair with Hall sensor 7, is rotating
In the process when magnetic element 10 and Hall sensor 7 reach precalculated position, Hall sensor 7 generates electric signal, and electric signal passes
Controller 5 is passed, and then controller 5 controls turning and stopping for dc motor 1, to control the state of equipment.
As shown in Fig. 2, controller 5 is exported by information receiving module 11, information storage module 12, microprocessor 13, information
Module 14 forms.
The operation principle of the present invention：In use, power interface 6 powers on, dc motor 1 is rotated together with output shaft 8.
Magnetic element 10 is connected with Hall sensor 7, when magnetic element 10 and Hall sensor 7 reach precalculated position in rotation process
When, Hall sensor 7 generates electric signal, and electric signal passes to controller 5, and then controller 5 controls dc motor 1 and stops,
Therefore the rotation of output shaft 8 can be controlled one week or several weeks control dc motor 1 stops.Direct current drive after stopping a period of time
Machine 1 rotates again, repeats above-mentioned action, realizes the movement and stopping of equipment.
The application principle of the present invention is further described with reference to specific embodiment.
Novel high-precision Mechatronics control method provided in an embodiment of the present invention includes：
(1) power interface powers on, and dc motor is rotated together with output shaft；Magnetic element and Hall sensor phase
Even；The measurement accuracy of Hall sensor is improved using mathematical model；
The mathematical model is：
As N=1, have：
Work as θR1It is obtained at=0 °：
If d=5r, BR=(5/6) BRR；By being multiplied by one on BR often when only with a Hall sensor
Number 6/5 improves the precision measured；Distance d and position angle R1；As the B of weightsR；
(2) in rotation process when magnetic element and Hall sensor reach precalculated position, Hall sensor generates electricity
The feature extraction of signal, electric signal passes to controller, and controller, which controls dc motor, to be stopped；
The feature extraction of the electric signal includes：
1) to one group of electrical signal data, electrical signal data is divided into first isometric data segment；
2) nonlinear prediction is carried out to every section of electrical signal data, the prediction error of every section of electric signal is obtained, wherein predicting mould
The parameter m and d of type take fixed value；
3) the logarithm of the normalization variance of the prediction error of every section of electric signal, i.e. ln..2 (m, d), as extraction
Characteristic value；
Time series | { xn, n=1,2 ..., N regard a closed loop power structure as, that is, export xnIt is defeated as a delay
Enter；Predicted time sequence is obtained with discrete Volterra autoregression models
Wherein base { zk(n) } it is made of all group items blocked of the d ranks of delay vector X (n-1), total dimension isEach model is determined by two parameters m and d；It is linear or non-thread
The fitting degree of property model can be characterized by the normalized variance of prediction error:
Wherein xn(n=1,2 ..., L) is actual value,For the prediction obtained by prediction model
Value
(3) dc motor rotates again after using voltage equation to stop a period of time, repeats above-mentioned action, realizes
The movement and stopping of equipment.
Further, the DC electric motor pressure equilibrium equation is：
In formula：RsResistance for nail per phase winding, Ω, L are inductance of the stator per phase winding, H, MijFor the i-th phase of stator
Mutual inductance between winding and jth phase winding, H；D is differential operator；ψa, ψb, ψcIndicate threephase stator magnetic linkage, Wb；ua, ub, ucTable
Show threephase stator voltage, V；ia, ib, icIndicate threephase stator electric current, A；
The electromagnetic torque equation of dc motor is：
The equation of motion is：
In formula：TeFor electromagnetic torque, TLFor load torque；B is damped coefficient；ω is dc motor mechanical separator speed, and J is
The rotary inertia of motor.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (7)
1. a kind of novel high-precision Mechatronics control method, which is characterized in that the novel high-precision electromechanical
Changing control method includes：
(1) power interface powers on, and dc motor is rotated together with output shaft；Magnetic element is connected with Hall sensor；It adopts
The measurement accuracy of Hall sensor is improved with mathematical model；
The mathematical model is：
As N=1, have：
Work as θR1It is obtained at=0 °：
If d=5r, BR=(5/6) BRR；By being multiplied by a constant 6/5 on BR when only with a Hall sensor
Improve the precision measured；Distance d and position angle R1；As the B of weightsR；
(2) in rotation process when magnetic element and Hall sensor reach precalculated position, Hall sensor generates electric signal,
The feature extraction of electric signal passes to controller, and controller, which controls dc motor, to be stopped；
The feature extraction of the electric signal includes：
1) to one group of electrical signal data, electrical signal data is divided into first isometric data segment；
2) nonlinear prediction is carried out to every section of electrical signal data, obtains the prediction error of every section of electric signal, wherein prediction model
Parameter m and d take fixed value；
3) the logarithm of the normalization variance of the prediction error of every section of electric signal, i.e. ln..2 (m, d), the feature as extraction
Value；
Time series | { xn, n=1,2 ..., N regard a closed loop power structure as, that is, export xnAs a delay input；
Predicted time sequence is obtained with discrete Volterra autoregression models
Wherein base { zk(n) } it is made of all group items blocked of the d ranks of delay vector X (n-1), total dimension isEach model is determined by two parameters m and d；It is linear or non-thread
The fitting degree of property model can be characterized by the normalized variance of prediction error:
Wherein xn(n=1,2 ..., L) is actual value,For the predicted value obtained by prediction model
(3) dc motor rotates again after using voltage equation to stop a period of time, repeats above-mentioned action, realizes work
The movement and stopping of device.
2. novel high-precision Mechatronics control method as described in claim 1, which is characterized in that the direct current drive
Machine voltage equation is：
In formula：RsResistance for nail per phase winding, Ω, L are inductance of the stator per phase winding, H, MijFor the i-th phase winding of stator
With the mutual inductance between jth phase winding, H；D is differential operator；ψa, ψb, ψcIndicate threephase stator magnetic linkage, Wb；ua, ub, ucIndicate three
Phase stator voltage, V；ia, ib, icIndicate threephase stator electric current, A；
The electromagnetic torque equation of dc motor is：
The equation of motion is：
In formula：TeFor electromagnetic torque, TLFor load torque；B is damped coefficient；ω is dc motor mechanical separator speed, and J is motor
Rotary inertia.
3. a kind of realizing that the novel high-precision of high-precision Mechatronics control method pair novel described in claim 1 is electromechanical
Integrated control unit, which is characterized in that the novel high-precision Mechano-electrically integrated control unit is provided with dc motor；
The dc motor is by shaft coupling and has been bolted gearbox, and the dc motor and gearbox pass through spiral shell
Bolt is fixed on platform；The platform screwing is fixed with console, and the console upper end is provided with controller and power supply connects
Mouthful, lower end is equipped with Hall sensor.
4. novel high-precision Mechano-electrically integrated control unit as claimed in claim 3, which is characterized in that the hall sensing
Device is electrical connected with controller, and controller is electrically connected with dc motor.
5. novel high-precision Mechano-electrically integrated control unit as claimed in claim 3, which is characterized in that the output of gearbox
Axis runs through entire gearbox, and output shaft of gear-box one end is connected with transmission wheel, and the other end installs a magnetic element, i.e. one end is used
In transmission, the other end is for occurring magnetic information.
6. novel high-precision Mechano-electrically integrated control unit as claimed in claim 3, which is characterized in that the magnetic element
It is opposite with Hall sensor, in rotation process when magnetic element and Hall sensor reach precalculated position, Hall sensor
Electric signal is generated, electric signal passes to controller, and then controller controls turning and stopping for dc motor, controls equipment
State.
7. novel high-precision Mechano-electrically integrated control unit as claimed in claim 3, which is characterized in that the controller by
Information receiving module, information storage module, microprocessor, message output module composition.
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Application publication date: 20181102 |