CN109272852A - A kind of linear position that content is expansible control teaching experiment system and method - Google Patents
A kind of linear position that content is expansible control teaching experiment system and method Download PDFInfo
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- CN109272852A CN109272852A CN201811440889.XA CN201811440889A CN109272852A CN 109272852 A CN109272852 A CN 109272852A CN 201811440889 A CN201811440889 A CN 201811440889A CN 109272852 A CN109272852 A CN 109272852A
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Abstract
The present invention relates to teaching experiment systems and method, it in particular is a kind of linear position that content is expansible control teaching experiment system and method, including computer, data acquisition and servo control processor, motor driver, direct current generator, linear mould group, load blocks, grating displacement sensor, magnetic grid displacement sensor and limit switch sensor, teaching experiment system of the present invention can be used as the opening experiment platform in Electromechanical Control direction, expand many related experiment contents, as Mechatronic Systems drive control is tested, the time domain response of representative input signals is tested, the frequency characteristic and open-loop transfer function test experiments of system, the experiment of position PID control, system stability test experiments etc., student can be effectively helped to understand the control process of electro-mechanical system, learn Mechatronic Systems and controls basic theory, training student Theory combines the ability of practice.
Description
Technical field
The present invention relates to teaching experiment systems and method, are in particular a kind of linear position that content is expansible control
Teaching experiment system and method.
Background technique
" Mechatronic Systems control basis " is an important core curriculum of electric-mechanic control system class profession, and theoretical property is very strong, general
Read relatively abstract, for Most students, experiment device for teaching in kind does not help to understand theoretical knowledge, can be to very
More concepts do not recognize intuitively, and grasping this subject can acquire a certain degree of difficulty.Meanwhile the student in Electromechanical Control direction should pass through this
Subject is combined with and is further understood to the machinery of electro-mechanical system, electronics, three aspect of control, especially to real system
In electromechanical parameters have a degree of understanding；Currently, automatically controlling, class experiment device for teaching type is many such as common to be fallen
Vertical pendulum experimental provision, DC MOTOR CONTROL teaching experiment system etc..But these automatically control most of class experiment and serve electricity
Power electronics, automation direction highlight the application of the part such as control, motor in systems, and weaken this portion of electric-mechanic control system
Point；Therefore, a set of Electromechanical Control teaching experiment system is developed, equilibrium combines three machinery, electronics, control aspects, prominent electromechanical
In conjunction with the influence to real system, software programmable, multimachine electrical parameter is adjustable, experiment content is expansible, is current Mechatronic Systems
Control one of the research emphasis of core curriculum.
Summary of the invention
It, can be with the object of the present invention is to provide a kind of linear position that content is expansible control teaching experiment system and method
Multiple functions can be realized by succinct programming, the programmable human-computer interaction interface with close friend, can quickly adjust certain
A little electromechanical parameters, with comprehensive basic function, multinomial different electromechanical control experiment content can be expanded out, overcome existing
Experiment device for teaching reduction electric-mechanic control system, it is complicated for operation, in the form of a single, be unfavorable for way of extensive experimentation content, be unfavorable for student's root
According to the deficiency for understanding autonomous Design system function and verify course theory to Mechatronic control system.
The purpose of the present invention is achieved through the following technical solutions:
A kind of linear position that content is expansible control teaching experiment system, including the acquisition of computer, data and servo control
Processor processed, motor driver, direct current generator, linear mould group, load blocks, grating displacement sensor, magnetic grid displacement sensor
And limit switch sensor, the computer and data acquisition and servo control processor communicate to connect, data acquisition and servo
Control processor and motor driver communication connection, motor driver and direct current generator communication connection, linear mould group and direct current
The output axis connection of machine, load blocks are fixedly connected in linear mould group, and linear mould group and load blocks move along a straight line, grating
Displacement sensor, magnetic grid displacement sensor and limit switch sensor are respectively positioned on the path of load blocks linear motion, grating
Displacement sensor and magnetic grid displacement sensor are located at the two sides of load blocks, grating displacement sensor, magnetic grid displacement sensing
Device and limit switch sensor are and data acquisition and servo control processor communication connection.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the magnetic grid displacement sensor is different from grating displacement sensor precision, and the precision of grating displacement sensor is high, magnetic grid position
The precision bottom of displacement sensor.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the data acquisition and servo control processor include data acquisition module, servo-driven module and encoder to count mould
Block, data acquisition module are connected with limit switch sensor signal, and servo-driven module is connected with direct current generator signal, magnetic grid position
Displacement sensor and grating displacement sensor are connect with encoder to count module by signal, data acquisition module and encoder to count mould
Block is connect with Computer signal.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the expansible linear position control teaching experiment system of the content further includes cast iron base, baffle I and baffle II, casting
The two sides of iron pedestal have been respectively fixedly connected with baffle I and baffle II, and direct current generator is fixedly connected on cast iron base.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the linear mould group include that linear mould group pedestal, lead screw and sliding block, lead screw are fixedly connected on the output shaft of direct current generator
On, the both ends of lead screw are rotatablely connected linear mould group pedestal, and two linear mould group pedestals are fixedly connected on cast iron base,
Lead screw has been connected through a screw thread sliding block, and the lower end of sliding block is contacted with cast iron base.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the load blocks include load, load erecting bed, drag chain and limit switch sensor baffle, load include load block,
Load threaded hole and dormant bolt, on load block setting there are four threaded hole is loaded, be connected through a screw thread on load block there are four
Dormant bolt, load are provided with multiple, and multiple load blocks pass through four load threaded holes and the interconnections of four dormant bolts,
Load erecting bed is fixedly connected by hexagon socket head cap screw with the sliding block of linear mould group, and threaded hole uses countersunk head well format, is saved empty
Between；Drag chain and limit switch sensor baffle are fixedly connected in the side of load erecting bed, and load block is fixedly connected on load
On erecting bed.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the grating displacement sensor include grating displacement sensor fixing end and grating displacement sensor mobile terminal, grating position
Displacement sensor fixing end is fixedly connected on cast iron base, and grating displacement sensor mobile terminal is fixedly connected on load erecting bed
On, grating displacement sensor fixing end and grating displacement sensor mobile terminal are positioned at ipsilateral.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, the magnetic grid displacement sensor include magnetic grid displacement sensor fixing end and magnetic grid displacement sensor mobile terminal, magnetic grid position
Displacement sensor fixing end is fixedly connected on cast iron base, and magnetic grid displacement sensor mobile terminal is fixedly connected on cast iron base,
Magnetic grid displacement sensor fixing end and magnetic grid displacement sensor mobile terminal are located at ipsilateral, magnetic grid displacement sensor mobile terminal and drag chain
Positioned at ipsilateral.
As advanced optimizing for the technical program, a kind of linear position that content is expansible of the present invention controls teaching experiment
System, there are three the limit switch sensor settings, and three limit switch sensors are located at straight positioned at load erecting bed
The both ends of line motion path and middle-end, limit switch sensor are fixedly connected on cast iron base, three limit switch sensings
Device is located at magnetic grid displacement sensor fixing end ipsilateral.
A kind of method of the linear position that content is expansible control teaching experiment system, the expansible straight line position of the content
Set control teaching experiment system method the following steps are included:
Step 1: pass through the weight of the quantity variation control load of load block, the load of adjustment load erecting bed；
Step 2: change grating displacement sensor and magnetic grid displacement sensor by the frequency of encoder to count module
Detection accuracy；
Step 3: the cosinusoidal voltage of identical amplitude, different frequency is inputted to servo control module in a manner of discrete approximation
Signal is controlled, discrete time intervals are set to change sample frequency；
Step 4: counting module receives the sinusoidal displacement response signal of load, analyzes the sinusoidal displacement response signal
Amplitude and phase difference, obtain the amplitude-frequency characteristic of system, and fitting obtains the frequency characteristic and open-loop transfer function of system；
Step 5: computer carries out position PID control according to the displacement of linear position input signal and sensor feedback,
Ratio, integral, differentiation element control parameter in the PID control are adjusted by programming, can be selected by the way that control parameter is arranged
Select P, PI, PD, pid correction method；
Step 6: computer plotting system time-domain response curve is divided by the variation of parameter in analysis time-domain response curve
The influence of ratio, integral, differentiation element control parameter to dynamic performance and steady-state performance in analysis system pid correction；
Step 7: the displacement of the lower magnetic grid displacement sensor feedback of computer Receiver Precision carries out PI correction, reaches
Systematic steady state error is detected by the higher grating displacement sensor of precision again after stable state, analyzes change system electromechanical parameters and ratio
Influence of the example correction coefficient to systematic steady state error.
A kind of linear position that content is expansible of present invention control teaching experiment system and method have the beneficial effect that
A kind of linear position that content is expansible control teaching experiment system of the present invention and method, can be of the present invention
Teaching experiment system controls program using the C# software programming of computer, and data acquisition and servo control processor can be used
Basic function function, Mechatronic Systems control function expected from autonomous Design, and real-time display test parameter in a computer
Variation and test result.
Utilize teaching experiment system of the present invention, it is possible to implement a kind of characterization electromechanical parameters and control performance mapping are closed
The experimental method of system.
Teaching experiment system of the present invention can quickly change the electromechanical parameters of system a part, for example, can be with
The different load of the shaft coupling that selects the different direct current generator of output torque, selection rigidity different, selection quality, in a computer
The frequency of encoder to count module is arranged to change the detection essence of grating displacement sensor and magnetic grid displacement sensor in programming
Degree programs in a computer, and to servo control module input control signal in a manner of discrete approximation, discrete time intervals are arranged
To change sample frequency etc..
Teaching experiment system of the present invention can design simple interactive interface and control function in a computer, defeated
Enter the cosinusoidal voltage control signal of identical amplitude, different frequency, data acquisition and servo control processor transmit the signal to
Motor driver, motor driver are converted to the pulse signal of high-frequency, high current according to the control voltage signal, pass to straight
Galvanic electricity machine, with the linear corresponding relationship of control voltage for driving the output shaft revolving speed of direct current generator with inputting in a computer, light
The position of displacement transducer and the detection load of magnetic grid displacement sensor, the sinusoidal displacement response signal for being converted into load pass to
Computer, further programmed process, analyzes the amplitude and phase difference of the sinusoidal displacement response signal, is in a computer
The amplitude-frequency characteristic of system, fitting obtain the open-loop transfer function of system, and the change that last test goes out different electromechanical parameters is to control
The influence for performance of uniting.
Teaching experiment system of the present invention can by computer programming, according to the expection linear position signal of input and
The displacement of grating displacement sensor feedback carries out position pid correction, ratio, integral, differentiation element control in the pid correction
Parameter processed can be adjusted by programming, respectively be joined according in the system time-domain response curve analysis system pid correction of Computer display
The influence of several pairs of dynamic performances and steady-state performance.
The displacement that teaching experiment system of the present invention can be fed back by the magnetic grid displacement sensor carries out the school PI
Just, systematic steady state error is detected by the grating displacement sensor again after reaching stable state, can analyze out and change system electromechanics
The influence of parameter and ratio correction factor to systematic steady state error.
Teaching experiment system of the present invention can limit the stroke of linear mould group, when load blocks are moved to row
When the position of the limit switch sensor of journey beginning and end, limit switch sensor baffle triggers limit switch sensor and sends
Signal is acquired to data and servo control processor, computer stop direct current generator after receiving the signal, can prevent direct current
Motor rotation blockage is burnt out.
Teaching experiment system of the present invention can be used as the opening experiment platform in Electromechanical Control direction, expand many phases
Close experiment content, as the experiment of Mechatronic Systems drive control, the time domain response experiment of representative input signals, system frequency characteristic and
Open-loop transfer function test experiments, the experiment of position PID control, system stability test experiments etc., effectively can help student to manage
The control process of electro-mechanical system is solved, study Mechatronic Systems controls basic theory, and training student theory combines the energy of practice
Power.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Before illustrating specific embodiment, to avoid repeating language, illustrating " being fixedly connected " as described below can be with
It is: is bolted, welds and the modes such as rivet interlacement are fixed, those skilled in the art can be according to different applications
Scene selects the different modes that is fixedly connected, and main purpose is that two pieces part is fixed.
Fig. 1 is the expansible linear position control teaching experiment system structural block diagram one of the contents of the present invention；
Fig. 2 is the expansible linear position control teaching experiment system structural block diagram two of the contents of the present invention；
Fig. 3 is the expansible linear position control teaching experiment system mechanical part structural schematic diagram of the contents of the present invention；
Fig. 4 is the expansible linear position control teaching experiment system mechanical part structural schematic diagram of the contents of the present invention；
Fig. 5 is load blocks structural schematic diagram one of the invention；
Fig. 6 is load blocks structural schematic diagram two of the invention.
In figure: computer 1；Data acquisition and servo control processor 2；Data acquisition module 2-1, servo-driven module 2-
2；Encoder to count module 2-3；Motor driver 3；Direct current generator 4；Linear mould group 5；Linear mould group pedestal 5-1；Lead screw 5-2；
Sliding block 5-3；Load blocks 6；Load 6-1；Load block 6-1-1；Load threaded hole 6-1-2；Dormant bolt 6-1-3；Load installation
Platform 6-2；Drag chain 6-3；Limit switch sensor baffle 6-4；Grating displacement sensor 7；Grating displacement sensor fixing end 7-1；
Grating displacement sensor mobile terminal 7-2；Magnetic grid displacement sensor 8；Magnetic grid displacement sensor fixing end 8-1；Magnetic grid displacement sensing
Device mobile terminal 8-2；Limit switch sensor 9；Cast iron base 10；Baffle I 11；Baffle II 12.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment, a kind of linear position that content is expansible control teaching experiment system below with reference to Fig. 1-6
Method, including the acquisition of computer 1, data and servo control processor 2, motor driver 3, direct current generator 4, linear mould group 5, load
Module 6, grating displacement sensor 7, magnetic grid displacement sensor 8 and limit switch sensor 9, motor driver 3 can be used
The ADVANCED-12A8 driver of ADVANCED MOTION CONTROLS company, computer 1 use C# software programming and production
Interactive interface is communicated to connect with data acquisition and servo control processor 2, utilizes data acquisition and servo control processor 2
The control function that the design of basic function function needs, the data acquisition and servo control processor 2 are passed to signal is controlled
Motor driver 3, the motor driver 3 rotate direct current generator 4 according to control signal, the rotation band of the direct current generator 4
Linear mould group 5 is with load blocks 6 by control signal linear motion；The grating displacement sensor 7 and magnetic grid displacement sensor 8
The load displacement signal that will test passes to data acquisition and servo control processor 2, and the limit switch sensor 9 will
The specific position triggering state signal detected passes to data acquisition and servo control processor 2, the computer 1 pass through volume
Journey receives detection signal, can use detection signal and further controls linear motion；Computer 1 controls journey using C# software programming
Sequence can be used the basic function function of data acquisition and each module of servo control processor, carry out the electromechanics of autonomous expected design
System control function, and according to expectation function design human-computer interaction interface, the variation and test result of real-time display test parameter,
Many expansible electromechanical control experiment contents may be implemented.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-6, the magnetic
Displacement transducer 8 is different from 7 precision of grating displacement sensor, and the precision of grating displacement sensor 7 is high, magnetic grid displacement sensor
8 precision bottom；The JCXF grating displacement sensor of Xin Tian photoelectricity scientific & technical corporation, magnetic grid position can be used in grating displacement sensor 7
The MSK200 magnetic grid displacement sensor of German Xi Kong SIKO company can be used in displacement sensor 8.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-6, the number
It is connect according to acquisition and servo control processor 2 with computer 1, including data acquisition module 2-1, servo-driven module 2-2 and volume
Code device counting module 2-3, data acquisition module 2-1 is connect with limit switch sensor 9, for receiving limit switch sensor 9
Specific position triggering state signal and be transferred to computer 1；Servo-driven module 2-2 is connect with direct current generator 4, for receiving
The analog quantity voltage of computer 1 controls signal, and is transferred to motor driver 3；Encoder to count module 2-3 and pattern displacement pass
Sensor 7 and magnetic grid displacement sensor 8 connect, for receive grating displacement sensor 7 and magnetic grid displacement sensor 8 detect it is negative
Displacement signal is carried, and is transferred to computer 1.Therefore, data acquisition module 2-1 and encoder to count module 2-3 is by signal
It is transferred to computer 1, servo-driven module 2-2 is to receive the signal from computer 1；The encoder to count module 2-3 is adopted
The encoder to count card that can be bought on the market with one piece, these boards inside carry basic function function, can be by reasonable
Ground combined programming realizes that above-mentioned control processing function, data collecting card and encoder to count card are logical by pci bus and computer 1
Letter connection；The PCI8620 data collecting card of one piece of Altay company, packet can be used in data acquisition and servo control processor 2
2-1 containing data acquisition module and servo-driven module 2-2 uses the ENC7480 of a Kuai Leisai intelligent control limited liability company
Encoder to count card includes encoder to count module 2-3.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment three below with reference to Fig. 1-6, it is described interior
Holding expansible linear position control teaching experiment system further includes cast iron base 10, baffle I 11 and baffle II 12, cast iron base
10 two sides have been respectively fixedly connected with baffle I 11 and baffle II 12, and direct current generator 4 is fixedly connected on cast iron base 10.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment four below with reference to Fig. 1-6, the line
Property mould group 5 include linear mould group pedestal 5-1, lead screw 5-2 and sliding block 5-3, lead screw 5-2 is fixedly connected on the output of direct current generator 4
On axis, the both ends of lead screw 5-2 are rotatablely connected linear mould group pedestal 5-1, and two linear mould group pedestal 5-1 are fixedly connected with
On cast iron base 10, lead screw 5-2 has been connected through a screw thread sliding block 5-3, and the lower end of sliding block 5-3 is contacted with cast iron base 13；Lead screw
When 5-2 is rotated centered on own axes, lead screw 5-2 is transported on the axis direction of lead screw 5-2 with movable slider 5-3
Dynamic, direct current generator 4 is rotated by a certain angular speed, is driven lead screw 5-1 to rotate by the angular speed, is converted into sliding block 5-3 by a certain speed
Degree linear motion.
Specific embodiment 6:
Illustrate that present embodiment, present embodiment are described further embodiment five below with reference to Fig. 1-6, it is described negative
Carrying module 6 includes load 6-1, load erecting bed 6-2, drag chain 6-3 and limit switch sensor baffle 6-4, and load 6-1 includes negative
It carries block 6-1-1, load threaded hole 6-1-2 and dormant bolt 6-1-3, there are four load threaded hole 6- for setting on load block 6-1-1
It is connected through a screw thread on 1-2, load block 6-1-1 there are four dormant bolt 6-1-3, loads 6-1 and be provided with multiple, multiple load blocks
6-1-1 passes through four load threaded hole 6-1-2 and four dormant bolt 6-1-3 are connected with each other, and load erecting bed 6-2 passes through interior
Hex bolts is fixedly connected with the sliding block 5-3 of linear mould group 5, threaded hole use countersunk head well format, save space, drag chain 6-3 and
Limit switch sensor baffle 6-4 is fixedly connected in the side of load erecting bed 6-2, and load block 6-1-1 is fixedly connected on negative
It carries on erecting bed 6-2；The quality of load 6-1, each load block 6-1-1 can be changed by increasing and decreasing the quantity of load block 6-1-1
Structure is identical, easy to process, is connected with each other by four load threaded hole 6-1-2 and four dormant bolt 6-1-3, the bottom
Increase and decrease load block 6-1-1 is fixedly connected by four dormant bolt 6-1-3 with erecting bed 6-2 is loaded, above one layer of load block
6-1-1 differs 90 ° with following one layer of the direction load block 6-1-1, by four dormant bolt 6-1-3 on upper layer and positioned at lower layer
Four load threaded hole 6-1-2 connections realization two load block 6-1-1 interconnection, load block 6-1-1 be provided with it is multiple,
Multiple load block 6-1-1 are so connected, convenient for changing the quality of load 6-1 by the quantity for increasing and decreasing load block 6-1-1, and
Save space.
Specific embodiment 7:
Illustrate that present embodiment, present embodiment are described further embodiment six below with reference to Fig. 1-6, the light
Displacement transducer 7 includes grating displacement sensor fixing end 7-1 and grating displacement sensor mobile terminal 7-2, and pattern displacement passes
Sensor fixing end 7-1 is fixedly connected on cast iron base 10, and grating displacement sensor mobile terminal 7-2 is fixedly connected on load installation
On platform 6-2, grating displacement sensor fixing end 7-1 and grating displacement sensor mobile terminal 7-2 are positioned at ipsilateral.
Specific embodiment 8:
Illustrate that present embodiment, present embodiment are described further embodiment seven below with reference to Fig. 1-6, the magnetic
Displacement transducer 8 includes magnetic grid displacement sensor fixing end 8-1 and magnetic grid displacement sensor mobile terminal 8-2, and magnetic grid displacement passes
Sensor fixing end 8-1 is fixedly connected on cast iron base 10, and magnetic grid displacement sensor mobile terminal 8-2 is fixedly connected on cast iron base
On 10, magnetic grid displacement sensor fixing end 8-1 and magnetic grid displacement sensor mobile terminal 8-2 are located at ipsilateral, magnetic grid displacement sensor
Mobile terminal 8-2 and drag chain 6-3 is located at ipsilateral；Load 6-1 is fastened on above load erecting bed 6-2 by hexagon socket head cap screw,
By this connection type, load blocks 6, grating displacement sensor mobile terminal 7-2 and magnetic grid displacement sensor mobile terminal 8-2 can be with
It is fixed on the sliding block 5-3 of linear mould group 5, is moved synchronously with sliding block 5-3 holding as a whole.
Specific embodiment 9:
Illustrate that present embodiment, present embodiment are described further embodiment eight below with reference to Fig. 1-6, the limit
There are three the settings of bit switch sensor 9, and three limit switch sensors 9, which are located at, is located at load erecting bed 6-2 linear motion
The both ends in path and middle-end, limit switch sensor 9 are fixedly connected on cast iron base 10, three limit switch sensors 9
It is located at magnetic grid displacement sensor fixing end 8-1 ipsilateral；When load 6 moves to the corresponding position of three limit switch sensors 9
When setting, on-off model is sent to data acquisition module 2-1 by corresponding limit switch sensor 9, then is programmed by computer 1,
It can be set when load 6 reaches the extreme position of linear mould group 5, stop direct current generator 4, direct current generator can be effectively prevented
4 stalls are burnt；The GX-F12A of Panasonic company of Matsushita Electric Industries can be used in limit switch sensor 9.
A kind of method of the linear position that content is expansible control teaching experiment system, the expansible straight line position of the content
Set control teaching experiment system method the following steps are included:
Step 1: by the weight of the quantity variation control load 6-1 of load block 6-1-1, adjustment loads erecting bed 6-2's
Load；
Step 2: changing grating displacement sensor 7 by the frequency of encoder to count module 2-3 and magnetic grid displacement passes
The detection accuracy of sensor 8；
Step 3: by designing simple interactive interface and control function, to servo control molding in a manner of discrete approximation
Block 2-2 inputs the cosinusoidal voltage control signal of identical amplitude, different frequency, and discrete time intervals are arranged to change sample frequency；
Step 4: programming encoder to count module 2-3, the sinusoidal displacement response signal of reception load 6-1, described in analysis
The amplitude and phase difference of sinusoidal displacement response signal, obtain the amplitude-frequency characteristic of system, and fitting obtains the frequency characteristic of system and opens
Ring transmission function；
Step 5: being programmed by computer 1, carries out position according to the displacement of linear position input signal and sensor feedback
PID control is set, the ratio, integral, differentiation element control parameter in the PID control can be adjusted by programming, pass through setting
These control parameters can choose the bearing calibrations such as P, PI, PD, PID；
Step 6: by 1 Programming human-computer interaction interface of computer, drawing system time-domain response curve passes through analysis
The variation of parameter in time-domain response curve, shadow of each parameter to dynamic performance and steady-state performance in analysis system pid correction
It rings；
Step 7: being programmed by computer 1, and the displacement that the lower magnetic grid displacement sensor 8 of Receiver Precision is fed back carries out
PI correction, detects systematic steady state error by the higher grating displacement sensor 7 of precision again after reaching stable state, can analyze change
The influence of system electromechanical parameters and ratio correction factor to systematic steady state error.
A kind of expansible linear position control teaching experiment system of content of the invention and method, its working principle is that:
The different direct current generator 4 of selection output torque, selection rigidity different shaft coupling when configuring mechanical part of the invention
Device controls the variation of load 6-1 mass with the variation for controlling load block 6-1-1 quantity, starts direct current generator 4, direct current generator 4
Output shaft drive lead screw 5-2 to be rotated centered on own axes by the shaft coupling of different rigidity, lead screw 5-2 passes through spiral shell
Line band movable slider 5-3 is moved on lead screw 5-2 axis direction, and lead screw 5-2 band dynamic load erecting bed 6-2 is in lead screw 5-2 axis
Line is moved on direction, and load erecting bed 6-2 band dynamic load 6-1, grating displacement sensor mobile terminal 7-2 and magnetic grid displacement pass
Sensor mobile terminal 8-2 is moved on lead screw 5-2 axis direction, and load erecting bed 6-2 moves to three limit switch sensings
When 9 corresponding position of device, on-off model is sent to data acquisition module 2-1 by corresponding limit switch sensor 9, then passes through meter
Calculation machine 1 programs, and can be set when load 6 reaches the extreme position of linear mould group 5, stops direct current generator 4, can effectively prevent
Only 4 stall of direct current generator is burnt；Change grating displacement sensor 7 and magnetic grid by the frequency of encoder to count module 2-3
The detection accuracy of displacement sensor 8；By designing simple interactive interface and control function, to servo in a manner of discrete approximation
Control module 2-2 inputs the cosinusoidal voltage control signal of identical amplitude, different frequency, and discrete time intervals are arranged to change sampling
Frequency；Encoder to count module 2-3 is programmed, the sinusoidal displacement response signal of load 6-1 is received, the sinusoidal displacement is analyzed and rings
The amplitude and phase difference of induction signal, obtain the amplitude-frequency characteristic of system, and fitting obtains the frequency characteristic and open-loop transfer function of system；
It is programmed by computer 1, position PID control is carried out according to the displacement of linear position input signal and sensor feedback, it is described
Ratio, integral, differentiation element control parameter in PID control can be adjusted by programming, can by the way that these control parameters are arranged
To select the bearing calibrations such as P, PI, PD, PID；Pass through 1 Programming human-computer interaction interface of computer, drawing system time domain response
Curve, by the variation of parameter in analysis time-domain response curve, in analysis system pid correction each parameter to dynamic performance and
The influence of steady-state performance；It is programmed by computer 1, the displacement that the lower magnetic grid displacement sensor 8 of Receiver Precision is fed back carries out
PI correction, detects systematic steady state error by the higher grating displacement sensor 7 of precision again after reaching stable state, can analyze change
The influence of system electromechanical parameters and ratio correction factor to systematic steady state error.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (10)
1. a kind of linear position that content is expansible controls teaching experiment system, including the acquisition of computer (1), data and servo control
Processor (2) processed, motor driver (3), direct current generator (4), linear mould group (5), load blocks (6), grating displacement sensor
(7), magnetic grid displacement sensor (8) and limit switch sensor (9), it is characterised in that: the computer (1) and data acquisition and
Servo control processor (2) communication connection, data acquisition and servo control processor (2) and motor driver (3) communication connection,
Motor driver (3) and direct current generator (4) communication connection, the output axis connection of linear mould group (5) and direct current generator (4), load
Module (6) is fixedly connected on linear mould group (5), and linear mould group (5) and load blocks (6) move along a straight line, and pattern displacement passes
Sensor (7), magnetic grid displacement sensor (8) and limit switch sensor (9) are respectively positioned on the path of load blocks (6) linear motion
On, grating displacement sensor (7) and magnetic grid displacement sensor (8) are located at the two sides of load blocks (6), pattern displacement sensing
Device (7), magnetic grid displacement sensor (8) and limit switch sensor (9) are and data acquire and servo control processor (2) communication
Connection.
2. a kind of expansible linear position of content according to claim 1 controls teaching experiment system, it is characterised in that:
The magnetic grid displacement sensor (8) is different from grating displacement sensor (7) precision, and grating displacement sensor (7) precision is high, magnetic grid
The precision of displacement sensor (8) is low.
3. a kind of expansible linear position of content according to claim 2 controls teaching experiment system, it is characterised in that:
The data acquisition and servo control processor (2) include data acquisition module (2-1), servo-driven module (2-2) and coding
Device counting module (2-3), data acquisition module (2-1) are connected with limit switch sensor (9) signal, servo-driven module (2-
2) connected with direct current generator (4) signal, magnetic grid displacement sensor (8) and grating displacement sensor (7) with encoder to count mould
The connection of block (2-3) signal, data acquisition module (2-1) and encoder to count module (2-3) are connect with computer (1) signal.
4. a kind of expansible linear position of content according to claim 3 controls teaching experiment system, it is characterised in that:
The expansible linear position control teaching experiment system of the content further includes cast iron base (10), baffle I (11) and baffle II
(12), the two sides of cast iron base (10) have been respectively fixedly connected with baffle I (11) and baffle II (12), and direct current generator (4) is fixed to be connected
It connects on cast iron base (10).
5. a kind of expansible linear position of content according to claim 4 controls teaching experiment system, it is characterised in that:
The linear mould group (5) includes linear mould group pedestal (5-1), lead screw (5-2) and sliding block (5-3), and lead screw (5-2) is fixedly connected on
On the output shaft of direct current generator (4), the both ends of lead screw (5-2) are rotatablely connected linear mould group pedestal (5-1), two linear moulds
Group pedestal (5-1) is fixedly connected on cast iron base (10), and lead screw (5-2) has been connected through a screw thread sliding block (5-3), sliding block
The lower end of (5-3) is contacted with cast iron base (13).
6. a kind of expansible linear position of content according to claim 5 controls teaching experiment system, it is characterised in that:
The load blocks (6) include load (6-1), load erecting bed (6-2), drag chain (6-3) and limit switch sensor baffle (6-
4), load (6-1) includes load block (6-1-1), load threaded hole (6-1-2) and dormant bolt (6-1-3), load block (6-1-
1) setting is there are four threaded hole (6-1-2) is loaded on, is connected through a screw thread that there are four dormant bolt (6- on load block (6-1-1)
1-3), load (6-1) is provided with multiple, and multiple load blocks (6-1-1) are heavy by four load threaded holes (6-1-2) and four
Hook bolt (6-1-3) is connected with each other, and load erecting bed (6-2) is fixedly connected on sliding block (5-3), and drag chain (6-3) and limit are opened
It closes sensor bezel (6-4) to be fixedly connected in the side of load erecting bed (6-2), load block (6-1-1) is fixedly connected on negative
It carries on erecting bed (6-2).
7. a kind of expansible linear position of content according to claim 6 controls teaching experiment system, it is characterised in that:
The grating displacement sensor (7) includes grating displacement sensor fixing end (7-1) and grating displacement sensor mobile terminal (7-
2), grating displacement sensor fixing end (7-1) is fixedly connected on cast iron base (10), grating displacement sensor mobile terminal (7-
2) it is fixedly connected in load erecting bed (6-2), grating displacement sensor fixing end (7-1) and grating displacement sensor mobile terminal
(7-2) is located at ipsilateral.
8. a kind of expansible linear position of content according to claim 7 controls teaching experiment system, it is characterised in that:
The magnetic grid displacement sensor (8) includes magnetic grid displacement sensor fixing end (8-1) and magnetic grid displacement sensor mobile terminal (8-
2), magnetic grid displacement sensor fixing end (8-1) is fixedly connected on cast iron base (10), magnetic grid displacement sensor mobile terminal (8-
2) it is fixedly connected on cast iron base (10), magnetic grid displacement sensor fixing end (8-1) and magnetic grid displacement sensor mobile terminal (8-
2) it is located at ipsilateral, magnetic grid displacement sensor mobile terminal (8-2) and drag chain (6-3) are positioned at ipsilateral.
9. a kind of expansible linear position of content according to claim 8 controls teaching experiment system, it is characterised in that:
There are three limit switch sensor (9) settings, and three limit switch sensors (9), which are located at, is located at load erecting bed
The both ends of (6-2) straight movement path and middle-end, limit switch sensor (9) are fixedly connected on cast iron base (10), and three
A limit switch sensor (9) is located at magnetic grid displacement sensor fixing end (8-1) ipsilateral.
10. special using a kind of method of the expansible linear position control teaching experiment system of content as claimed in claim 9
Sign is: the content it is expansible linear position control teaching experiment system method the following steps are included:
Step 1: pass through the weight of the quantity variation control load (6-1) of load block (6-1-1), adjustment load erecting bed (6-2)
Load；
Step 2: changing grating displacement sensor (7) by the frequency of encoder to count module (2-3) and magnetic grid displacement passes
The detection accuracy of sensor (8)；
Step 3: the cosinusoidal voltage of identical amplitude, different frequency is inputted to servo control module (2-2) in a manner of discrete approximation
Signal is controlled, discrete time intervals are set to change sample frequency；
Step 4: counting module (2-3) receives the sinusoidal displacement response signal of load (6-1), analyzes the sinusoidal displacement response
The amplitude and phase difference of signal, obtain the amplitude-frequency characteristic of system, and fitting obtains the frequency characteristic and open-loop transfer function of system；
Step 5: computer (1) carries out position PID control according to the displacement of linear position input signal and sensor feedback,
Ratio, integral, differentiation element control parameter in the PID control are adjusted by programming, can be selected by the way that control parameter is arranged
Select P, PI, PD, pid correction method；
Step 6: computer (1) drawing system time-domain response curve is divided by the variation of parameter in analysis time-domain response curve
The influence of ratio, integral, differentiation element control parameter to dynamic performance and steady-state performance in analysis system pid correction；
Step 7: the displacement of lower magnetic grid displacement sensor (8) feedback of computer (1) Receiver Precision carries out PI correction, reaches
Systematic steady state error, analysis change system electromechanics ginseng are detected by the higher grating displacement sensor of precision (7) again after to stable state
Several and influence of the ratio correction factor to systematic steady state error.
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