CN110097812A - A kind of DCB Specimen balance experimental provision - Google Patents
A kind of DCB Specimen balance experimental provision Download PDFInfo
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- CN110097812A CN110097812A CN201910389253.5A CN201910389253A CN110097812A CN 110097812 A CN110097812 A CN 110097812A CN 201910389253 A CN201910389253 A CN 201910389253A CN 110097812 A CN110097812 A CN 110097812A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/186—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for digital electronics; for computers, e.g. microprocessors
Abstract
The invention proposes a kind of DCB Specimen balance experimental provisions, belong to institution of higher education's experiment equipment, unmanned aerial vehicle (UAV) control technical field.Described device includes balance swing arm, center holder, bearing, balance support base, limiter, foot prop, electric machine support, brushless motor, attitude transducer, brushless electric tune, controller general purpose board, touch screen and power interface, and controller general purpose board is downloaded and is programmed using J-Link programmable device.Attitude transducer reads the current pose of balance, issues instruction by the control program in single-chip microcontroller on controller general purpose board, the brushless motor at driving balance both ends carries out real-time speed regulating, so that balance be made to keep horizontality always.
Description
Technical field
The present invention relates to a kind of DCB Specimen balance experimental provisions, belong to institution of higher education's experiment equipment, unmanned aerial vehicle (UAV) control technology
Field.
Background technique
The gesture stability of the aircrafts such as unmanned plane is related to Three Degree Of Freedom control, and basis is single-degree-of-freedom around center of mass motion
Control.Exploitation and realization UAV Flight Control System, it is necessary to first realize uniaxial stability contorting, and then in mini-derivative linearization solution
Multiaxis superposing control is realized after the measures such as coupling again.Simultaneously institution of higher education automatically control relevant speciality laboratory need it is a kind of tool as
, controllable experimental facilities, the tool and programming object of Classroom theory knowledge are used as student.DCB Specimen balance is that one kind relates to
And the gedanken experiment device of single-degree-of-freedom control, the above both sides demand can be met simultaneously.
Multi-rotor aerocraft occupies larger specific gravity in unmanned plane field now, and DCB Specimen balance be it is a kind of both reflected it is more
Rotor craft real working condition realizes the device that aircraft single shaft simplifies around center of mass motion again.It is still variable that it, which controls signal,
The PWM wave of duty ratio modulates brushless motor speed with high pulse width, and effective pulsewidth passes through about between 1ms~2ms
The revolving speed of balance both ends rotor/lift difference realizes the pose adjustment of balance.
By the flight control system of ground experiment device development unmanned plane, can with save the cost, substantially reduce unmanned plane
Damage risk in test flight, while convenient for change design of control law, adjustment control parameter etc., it is a kind of winged control of unmanned plane
The high effective way of system development.
Traditional colleges and universities automatically control Specialty Experiment device and are abstracted hard to understand, mostly build a circuit system with various elements
System is exported come the control effect of simulation system by simple signal, brings difficulty to the understanding of student.
Summary of the invention
The invention aims to solve the multi-freedom posture control problem and high of system for flight control computer research and development
The automatic control Specialty Experiment device problem of school, provides a kind of DCB Specimen balance experimental provision.The DCB Specimen day is plain
Experiment device is that a kind of specific in kind control object of image can swash in combination with the hot spot of unmanned plane research field now
The learning interest for sending out student, largely improves teaching efficiency.The technical solution taken are as follows:
A kind of DCB Specimen balance experimental provision, the experimental provision include balance swing arm 1, center holder 2, bearing 3, balance
Support base 4, limiter 5, foot prop 6, electric machine support 7, brushless motor 8, attitude transducer 9, brushless electricity adjust 10, controller general purpose board
11, touch screen 12 and power interface 13；
The balance swing arm 1 passes through center holder 2 and is mounted on the center holder 2, also, 1 phase of balance swing arm
It is identical for the both ends out-degree of center holder 2, and out-degree is fixed；
The center holder 2 is respectively corresponded with the orthogonal both ends of balance swing arm 1 to be placed in two bearings 3；
Two bearings 3 are arranged in the bearing putting hole of 4 upper end of balance support base；Under the balance support base 4
Part is the body structure of left and right side box wall expandable type；
On the upper surface for the body structure that 2 limiters 5 are fixedly mounted on balance support base 4, and it is located at center and presss from both sides
The lower section of seat 2；
4 foot props 6 are mounted on the lower surface of the balance support base 4, and 4 foot props 6 form X-type knot
Structure；
2 electric machine supports 7 respectively correspond the both ends for being installed on the balance swing arm 1；
2 brushless motors 8, which respectively correspond, to be mounted on the electric machine support 7；
The attitude transducer 9 is fixedly mounted on the upper surface of the center holder 2；
2 brushless electricity adjust 10 to be arranged in the left side tank wall of the body structure, and the brushless electricity tune 10 is in left side
When tank wall is unfolded, it is unfolded with the expansion of tank wall, expansion degree maximum is parallel to each other to it with the balance swing arm 1；
The controller general purpose board 11 is arranged in the body structure of the balance support base 4, and is located at body structure
Right side；
The touch screen 12 is fixedly mounted on the positive outer surface of the body structure；
The power interface 13 is fixedly installed in the left side tank wall of the body structure and is located at the brushless electricity
Adjust 10 side.
Further, each foot prop 6, which is all made of, can open up folding (can carry out expansion and jackknife action) formula structure.
Further, the brushless electricity of the controller general purpose board 11 adjusts control signal output described brushless with 2 respectively
Electricity adjusts 10 electricity that control signal input is adjusted to be connected；2 brushless electricity adjust 10 electricity that signal output end is adjusted to correspond respectively to 2
The electricity of the brushless motor 8 adjusts signal input part to be connected；It is described 2 it is described it is brushless electricity adjust 10 power supply signal input respectively with
The power supply signal output end of the power interface 13 is connected；The attitude signal input terminal of the controller general purpose board 11 and the appearance
The attitude signal output end of state sensor 9 is connected；The touch of the controller general purpose board 11 shows signal interaction end and the touching
2 touch display signal interaction end of screen is touched to be connected；The 11 data-signal interaction end of controller general purpose board passes through J-Link programmable device
Data interaction is established with PC machine to connect.Wherein, what controller general purpose board 11 transmitted is single-chip microcontroller operation program .hex file, also
It is to say, the SCM program in controller general purpose board can update.
Further, the brushless motor 8 uses E-MAXRS22052600kv, and the attitude transducer 9 uses
MPU6050, the brushless electricity adjust 10 to use X-Rotor20A, and the controller general purpose board 11 uses STM32F103C8T6 monolithic
Machine, the touch screen 12 use 2.4 cun of TFT screens.
Further, the controller general purpose board 11 of the experimental provision includes single-chip microcontroller 14, programmable device pin group 15, posture
Sensor pin group 16, motor driven pin group 17, touch screen pin group 18, other pin groups 19, reset button 20.
Further, the programmable device pin group 15 of the controller general purpose board 11 is programmed by tetrad Du Pont line and J-Link
Device connection, wherein 3.3V pin corresponds to the VCC pin of J-Link, and GND pin corresponds to the GND of J-Link, and TCK pin corresponds to J-
The SWCLK of Link, TMS pin correspond to the SWDIO of J-Link；
The attitude transducer pin group 16 of the controller general purpose board 11 is connected by tetrad Du Pont line and attitude transducer 9
It connects, wherein the PB10 pin of the single-chip microcontroller 14 of the controller general purpose board 11 corresponds to the SDA of attitude transducer, PB11 pin pair
The SCL of attitude transducer is answered, 3.3V pin corresponds to the VCC of attitude transducer, and GND pin corresponds to the GND of attitude transducer；
The motor driven pin group 17 of the controller general purpose board 11 is brushless with 2 of left and right respectively by duplex Du Pont line
Electricity adjusts 10 connections, wherein the white line that brushless electricity is adjusted on the left of the PA06 pin of single-chip microcontroller 14 is corresponding, the corresponding right side of PA07 pin is brushless
The white line that electricity is adjusted, GND pin correspond to the black line that the brushless electricity in the left and right sides is adjusted；
The touch screen pin group 18 of the controller general purpose board 11 is connect by tetrad Du Pont line with touch screen 12, wherein
3.3V pin corresponds to the red line of touch screen 12, and GND pin corresponds to the black line of touch screen 12, and RXD pin corresponds to the indigo plant of touch screen 12
Line, TXD pin correspond to the yellow line of touch screen 12.
Further, the swing angle range of the balance swing arm 1 is adjusted by limiter 5, the balance swing arm 1
0 °~30 ° of swing angle adjusting range.
Further, the left and right sides tank wall of the 4 lower part box structure of balance support base all has closure and opening two
Kind state, facilitates and carries out line and electrical equipment extension by 0 °~90 ° of opening angle range.
Further, 4 foot props 6 have folding and extension function, and folded length 18cm, length is after extension
30cm；4 foot props 6, which exist, collapses and is unfolded two states, and expanded angle is 0 °~45 °.
Further, 2 lockings of brushless motor 8 have the positive and negative paddle of three leaves, and band propeller protector.
Further, the attitude transducer 9 is directed toward the direction of east, south, west, north 4 and places, and is equipped with cabling hole location.
The invention has the advantages that:
The present invention replaces unmanned plane material object to carry out flight control system design and flight test using DCB Specimen balance experimental provision,
Test danger coefficient and cost are reduced, convenient for quickly repeating to test.
The present invention can automatically control the experimental teaching of profession towards institution of higher learning, be a kind of real experiment equipment for having elephant,
And using unmanned plane hot research as object, the understanding Automatic Control Theory and application of student image can be made, while exciting student
Learning interest.
The present invention uses STM32F103C8T6 single-chip microcontroller for core control element, repeats programming, can download and update use
The control law of family designed, designed has flexible upgrading space.
The present invention uses the Design of Digital Circuit using single-chip microcontroller as core element, can using the PWM output unit of timer
The maximum band for realizing the brushless motor driving signal that 50Hz~400Hz electricity tune can identify, can theoretically support any product
The brushless electricity reconciliation motor of board.
The pwm signal effective resolution of driving motor of the present invention is up to 24000, control law adjustment time < 0.5 second, overshoot
Amount < 7.8%, steady-state error < 5%.
The present invention contains angular stop means, and balance angle limits range as 0 °~30 °, can arbitrarily adjust according to demand.
The present invention contains adjustable stable leg means, and foot prop expanded angle is 0 °~45 °, and prop stand length of run is
30cm, folded length 18cm can arbitrarily adjust the stability of balance according to demand.
All electrical connecting wires of the present invention are both contained in mechanical device, exposed without any conducting wire, ensure that balance moves
Damping it is minimum, while ensure that the safe operation of equipment.
Detailed description of the invention
Fig. 1 is the functional block diagram of DCB Specimen balance experimental provision of the present invention；
Fig. 2 is the structural schematic diagram of DCB Specimen balance experimental provision of the present invention；
Fig. 3 is the controller general purpose board pinouts of DCB Specimen balance experimental provision of the present invention.
(1, balance swing arm；2, center holder；3, bearing；4, balance support base；5, limiter；6, foot prop；7, motor support
Frame；8, brushless motor；9, attitude transducer；10, brushless electricity is adjusted；11, controller general purpose board；12, touch screen；13, power interface；
14, single-chip microcontroller；15, programmable device pin group；16, attitude transducer pin group；17, motor driven pin group；18, touch screen pin
Group；19, other pin groups；20, reset button)
Specific embodiment
The present invention will be further described combined with specific embodiments below, but the present invention should not be limited by the examples.
Embodiment 1:
A kind of DCB Specimen balance experimental provision, as shown in Fig. 2, the experimental provision include balance swing arm 1, center holder 2,
Bearing 3, balance support base 4, limiter 5, foot prop 6, electric machine support 7, brushless motor 8, attitude transducer 9, brushless electricity adjust 10, control
Device general purpose board 11, touch screen 12 and power interface 13 processed；
The balance swing arm 1 passes through center holder 2 and is mounted on the center holder 2, also, 1 phase of balance swing arm
It is identical for the both ends out-degree of center holder 2, and out-degree is fixed；
The center holder 2 is respectively corresponded with the orthogonal both ends of balance swing arm 1 to be placed in two bearings 3；
Two bearings 3 are arranged in the bearing putting hole of 4 upper end of balance support base；Under the balance support base 4
Part is the body structure of left and right side box wall expandable type；
On the upper surface for the body structure that 2 limiters 5 are fixedly mounted on balance support base 4, and it is located at center and presss from both sides
The lower section of seat 2；
4 foot props 6 are mounted on the lower surface of the balance support base 4, and 4 foot props 6 form X-type knot
Structure；
2 electric machine supports 7 respectively correspond the both ends for being installed on the balance swing arm 1；
2 brushless motors 8, which respectively correspond, to be mounted on the electric machine support 7；
The attitude transducer 9 is fixedly mounted on the upper performance of the center holder 2；
2 brushless electricity adjust 10 to be arranged in the left side tank wall of the body structure, and the brushless electricity tune 10 is in left side
When tank wall is unfolded, it is unfolded with the expansion of tank wall, expansion degree maximum is parallel to each other to it with the balance swing arm 1；
The controller general purpose board 11 is arranged in the body structure of the balance support base 4, and is located at body structure
Right side；
The touch screen 12 is fixedly mounted on the positive outer surface of the body structure；
The power interface 13 is fixedly installed in the left side tank wall of the body structure and is located at the brushless electricity
Adjust 10 side.
Wherein, each foot prop 6, which is all made of, can open up folding (can carry out expansion and jackknife action) formula structure.
The swing angle range of the balance swing arm 1 is adjusted by limiter 5, the angle of oscillation of the balance swing arm 1
0 °~30 ° of adjusting range of degree.
The left and right sides tank wall of the 4 lower part box structure of balance support base all has closure and opens two states,
0 °~90 ° of angular range are opened, facilitates and carries out line and electrical equipment extension.
4 foot props 6 have folding and extension function, and folded length 18cm, length is 30cm after extension；4
Foot prop 6, which exists, collapses and is unfolded two states, and expanded angle is 0 °~45 °.2 lockings of brushless motor 8 have the positive and negative paddle of three leaves,
And with propeller protector.The attitude transducer 9 is directed toward the direction of east, south, west, north 4 and places, and is equipped with cable hole
Position.
As shown in Figure 1, the brushless electricity of the controller general purpose board 11 adjusts control signal output described brushless with 2 respectively
Electricity adjusts 10 electricity that control signal input is adjusted to be connected；2 brushless electricity adjust 10 electricity that signal output end is adjusted to correspond respectively to 2
The electricity of the brushless motor 8 adjusts signal input part to be connected；It is described 2 it is described it is brushless electricity adjust 10 power supply signal input respectively with
The power supply signal output end of the power interface 13 is connected；The attitude signal input terminal of the controller general purpose board 11 and the appearance
The attitude signal output end of state sensor 9 is connected；The touch of the controller general purpose board 11 shows signal interaction end and the touching
2 touch display signal interaction end of screen is touched to be connected；The 11 data-signal interaction end of controller general purpose board passes through J-Link programmable device
Data interaction is established with PC machine to connect.Wherein, controller general purpose board 11 transmit be single-chip microcontroller operation program, hex file, also
It is to say, the SCM program in controller general purpose board can update.
The brushless motor 8 uses E-MAXRS22052600kv, and the attitude transducer 9 uses MPU6050, the nothing
Brush electricity adjusts 10 to use X-Rotor20A, and the controller general purpose board 11 uses STM32F103C8T6 single-chip microcontroller, the touch screen 12
Using 2.4 cun of TFT screens.
The programmable device pin group 15 of the controller general purpose board 11 is connect by tetrad Du Pont line with J-Link programmable device,
In, 3.3V pin corresponds to the VCC pin of J-Link, and GND pin corresponds to the GND of J-Link, and TCK pin corresponds to J-Link's
SWCLK, TMS pin correspond to the SWDIO of J-Link；
The attitude transducer pin group 16 of the controller general purpose board 11 is connected by tetrad Du Pont line and attitude transducer 9
It connects, wherein the PB10 pin of the single-chip microcontroller 14 of the controller general purpose board 11 corresponds to the SDA of attitude transducer, PB11 pin pair
The SCL of attitude transducer is answered, 3.3V pin corresponds to the VCC of attitude transducer, and GND pin corresponds to the GND of attitude transducer；
The motor driven pin group 17 of the controller general purpose board 11 is brushless with 2 of left and right respectively by duplex Du Pont line
Electricity adjusts 10 connections, wherein the white line that brushless electricity is adjusted on the left of the PA06 pin of single-chip microcontroller 14 is corresponding, the corresponding right side of PA07 pin is brushless
The white line that electricity is adjusted, GND pin correspond to the black line that the brushless electricity in the left and right sides is adjusted；
The touch screen pin group 18 of the controller general purpose board 11 is connect by tetrad Du Pont line with touch screen 12, wherein
3.3V pin corresponds to the red line of touch screen 12, and GND pin corresponds to the black line of touch screen 12, and RXD pin corresponds to the indigo plant of touch screen 12
Line, TXD pin correspond to the yellow line of touch screen 12.
After being assembled according to the structure of above-mentioned DCB Specimen balance experimental provision, DCB Specimen balance experimental provision is adjusted
The motion range of balance is limited to required angle by the height of the limiter 5 of (Fig. 2)；Adjust DCB Specimen balance experimental provision (figure
2) expanded angle and length of foot prop 6, the stability needed for obtaining balance；
The programmable device pin group 2, J- of controller general purpose board (Fig. 3) is plugged to using the tetrad Du Pont line of J-Link programmable device
The USB joint of Link programmable device is plugged to PC machine or any USB power connector for programming；
Use the power interface of XT60 terminal insertion DCB Specimen balance experimental provision (Fig. 2) of external D.C. regulated power supply
13, the 3-phase plug of regulated power supply is inserted into power outlet；
Experimental arrangement is downloaded into controller general purpose board 11 using J-Link programmable device, touch screen 12 is reused and carries out accordingly
Menu operation, experimental arrangement include: motor driven experiment, gesture recognition experiment and balance control experiment.Below to three realities
Part is tested to be described in detail:
Illustrate motor driven experimental section below with reference to Fig. 2 and Fig. 3:
2 limiters 5 of DCB Specimen balance experimental provision (Fig. 2) are all unclamped, the length for being screwed to highest limit is locked again
Extremely, it is ensured that balance swing arm 1 can not move；
Motor driven experimental arrangement is downloaded to the control of DCB Specimen balance experimental provision (Fig. 2) using J-Link programmable device
In device general purpose board 11；
Click the " Stop " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12, it is ensured that motor drive signal is multiple
Position；
Use the power interface of XT60 terminal insertion DCB Specimen balance experimental provision (Fig. 2) of external D.C. regulated power supply
13, the 3-phase plug of regulated power supply is inserted into power outlet, and brushless electricity adjusts the 10 long sound confirmations of a sound for issuing " drop " to be powered at this time
Finish and enters normal operating conditions；
The reset button 20 of controller general purpose board (Fig. 3) is pressed, runs motor driven experimental arrangement, at this time DCB Specimen balance
The target drives motor 8 of experimental provision (Fig. 2) can be completed to operate according to programmed logic, can be with motor speed table on touch screen 12
Disk real-time display motor current rotating speed；
" switch view " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, it can be in motor speed
Display is switched between dial plate and motor speed curve；
The " Stop " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, target electricity can be stopped immediately
The operation of machine；
" recovery " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, target motor can be restored
Operation；
The PWM wave that the included motor driven experimental arrangement frequency of use of DCB Specimen balance experimental provision is 300Hz drives mesh
Motor is marked, effective high pulse width is 1ms~2ms, and corresponding timer CCRn value is 3000~6000.
Illustrate gesture recognition experimental section below with reference to Fig. 2 and Fig. 3:
2 limiters 5 of DCB Specimen balance experimental provision (Fig. 2) are all unclamped, suitable length is screwed to and locks again, really
Balance swing arm 1 is protected to move in required angular range；
Gesture recognition experimental arrangement is downloaded to the control of DCB Specimen balance experimental provision (Fig. 2) using J-Link programmable device
In device general purpose board 11；
The reset button 20 of controller general purpose board (Fig. 3) is pressed, gesture recognition experimental arrangement is run, at this time in DCB Specimen day
A balance image can be shown on the touch screen 12 of plain experiment device (Fig. 2), which works as anterior angle
Degree；
The balance swing arm 1 of DCB Specimen balance experimental provision (Fig. 2), the balance image on observable touch screen 12 are pulled with hand
Angle change, image fulcrum top display balance current inclination angle and angular speed；
" switch view " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, it can be in balance image
Display is switched between balance inclination angle/angular speed curve；
The included gesture recognition experimental arrangement of DCB Specimen balance experimental provision (Fig. 2) is completed to pass with posture using IIC communication
The final angle of the data exchange of sensor 9, obtained angular speed and acceleration original value after the resolving of quaternary number, as balance
Degree and angular speed output.Sensor attitude obtains and resolves time-consuming about 1ms, the balance image of touch screen 12 and curve refresh cycle
For 30ms.
Illustrate that balance controls experimental section below with reference to Fig. 2 and Fig. 3:
2 limiters 5 of DCB Specimen balance experimental provision (Fig. 2) are all unclamped, shortest length is screwed to and locks again, really
Balance swing arm 1 is protected to move within the scope of maximum angle；
Balance control experimental arrangement is downloaded to the control of DCB Specimen balance experimental provision (Fig. 2) using J-Link programmable device
In device general purpose board 11；
Click the " Stop " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12, it is ensured that motor drive signal is multiple
Position；
Use the power interface of XT60 terminal insertion DCB Specimen balance experimental provision (Fig. 2) of external D.C. regulated power supply
13, the 3-phase plug of regulated power supply is inserted into power outlet, and brushless electricity adjusts the 10 long sound confirmations of a sound for issuing " drop " to be powered at this time
Finish and enters normal operating conditions；
The reset button 20 of controller general purpose board (Fig. 3) is pressed, operation balance controls experimental arrangement, at this time DCB Specimen balance
2 brushless motors 8 of experimental provision (Fig. 2) can be started running in a manner of delay startup, and a balance can be shown on touch screen 12
Image, the current angular of the image Real-time Feedback balance swing arm 1；
The balance swing arm 1 of DCB Specimen balance experimental provision (Fig. 2) is stirred with hand, observable is under the action of control law, day
Flat no matter interfered by which kind of can restore rapidly horizontality, and different control laws possesses different control effects；
Outer ring (angle ring) proportionality coefficient and integral coefficient of current control law are respectively displayed on DCB Specimen balance experiment dress
Set " Kp1 ", region " Ki1 " on (Fig. 2) touch screen 12；
Inner ring (angular speed ring) proportionality coefficient, differential coefficient and integral coefficient of current control law is respectively displayed on DCB Specimen
" Kp2 ", " Kd2 " on balance experimental provision (Fig. 2) touch screen 12, the region " Ki2 "；
" Kp1 ", the down arrows on the right side of " Ki1 " on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 are clicked, it can be with
The proportionality coefficient and integral coefficient of on-line tuning outer ring (angle ring)；
The arrow up and down on the right side of " Kp2 ", " Kd2 ", " Ki2 " on click DCB Specimen balance experimental provision (Fig. 2) touch screen 12
Head, can be with proportionality coefficient, differential coefficient and the integral coefficient of on-line tuning inner ring (angular speed ring)；
" switch view " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, it can be in balance image
Display is switched between balance inclination angle/angular speed curve；
Click DCB Specimen balance experimental provision (Fig. 2) touch screen 12 on " Stop " button, can stop immediately 2 it is brushless
The operation of motor 8；
" recovery " button on DCB Specimen balance experimental provision (Fig. 2) touch screen 12 is clicked, 2 brushless motors can be restored
8 operation；
The PWM wave that the included balance control experimental arrangement frequency of use of DCB Specimen balance experimental provision is 300Hz drives 2
Brushless motor, effective high pulse width are 1ms~2ms, and corresponding timer CCRn value is 3000~6000, and control law is tandem
PID control, control period are 5ms, default control parameters Kp1=5, Ki1=0.02, Kp2=4, Kd2=0.3, Ki2=0.
The use process of DCB Specimen balance experimental provision of the present invention includes:
1, equipment connects
DCB Specimen balance experimental provision assembling of the invention is finished, and left and right limited post is adjusted to proper height；It will
4 line programming ports of J-Link programmable device are connected to balance control general purpose board, and other end USB port is connected to PC machine；Click touching
Screen " Stop " button is touched, determines that brushless motor driving signal resets；The XT60 connector of external D.C. regulated power supply is inserted into balance
The other end 3-phase plug of power inlet, regulated power supply is inserted into alternating current 220v socket, and balance issues " drop " sound long at this time
Confirmation electrical source of power has connected.
2, burning program
Using Keil5 SCM program translation and compiling environment, the experimental arrangement that needs are done (motor driven experiment, gesture recognition
Experiment, balance control experiment) burning into balance control general purpose board, can only once do a kind of experiment.During burning program, balance
The alarm sound of " drop-drop-drop-drop " can be issued, this is that brushless electricity tune loses the normal phenomenon that driving signal enters protection.Burning is complete
Cheng Hou, alarm sound stop.
3, running experiment
The reset button on balance general purpose board is pressed, experimental arrangement brings into operation.It is grasped as needed using touch screen
Make, such as switching display curve, adjustment control parameter." STOP " when exiting experiment or emergency, on point touching screen
The power electric of button cutting brushless motor.
When carrying out motor driven experiment, brushless motor is observed on the touchscreen with the revolving speed of driving rule variation.
When carrying out gesture recognition experiment, balance swing arm is stirred with hand, viewing angle and angular speed change on the touchscreen
Value and real-time curve.
When carrying out balance control experiment, balance swing arm is stirred with hand give and interfere, observe balance under the adjusting of control law
Restore horizontal control effect.
4, more new procedures
Using Keil5 SCM program translation and compiling environment, 3 included experimental arrangements of DCB Specimen balance experimental provision are loaded,
It modifies according to demand to motor driven therein, gesture recognition, balance control routine section, and goes back to step 2 reuse
Process；Pay attention to keeping 3 included experimental arrangement mother matrixs of equipment.
5, terminate to use
External D.C. regulated power supply is first pulled up to the XT60 plug of rotor balances experimental provision, then pulls up J-Link programmable device
To the tetrad Du Pont line of balance general purpose board；Buckle well the right side plate flip lid of balance；It is folded back into 4 support foots of balance；By day placing flat
In dry lee keeping.
Although the present invention has been disclosed in the preferred embodiment as above, it is not intended to limit the invention, any to be familiar with this
The people of technology can do various changes and modification, therefore protection of the invention without departing from the spirit and scope of the present invention
Range should subject to the definition of the claims.
Claims (10)
1. a kind of DCB Specimen balance experimental provision, which is characterized in that the experimental provision includes balance swing arm (1), center holder
(2), bearing (3), balance support base (4), limiter (5), foot prop (6), electric machine support (7), brushless motor (8), posture sensing
Device (9), brushless electricity adjust (10), controller general purpose board (11), touch screen (12) and power interface (13)；The balance swing arm (1)
It is mounted on the center holder (2) across center holder (2), also, the balance swing arm (1) is relative to center holder (2)
Both ends out-degree it is identical, and out-degree is fixed；
The center holder (2) and balance swing arm (1) orthogonal both ends, which respectively correspond, to be placed in two bearings (3)；
Two bearings (3) are arranged in the bearing putting hole of balance support base (4) upper end；The balance support base (4)
Lower part is divided into the body structure of left and right side box wall expandable type；
On the upper surface for the body structure that 2 limiters (5) are fixedly mounted on balance support base (4), and it is located at center and presss from both sides
The lower section of seat (2)；
4 foot props (6) are mounted on the lower surface of the balance support base (4), and 4 foot props (6) form X-type
Structure；
2 electric machine supports (7) respectively correspond the both ends for being installed on the balance swing arm (1)；
2 brushless motors (8) respectively correspond and are mounted on the electric machine support (7)；
The attitude transducer (9) is fixedly mounted on the upper surface of the center holder (2)；
2 brushless electricity adjust (10) to be arranged in the left side tank wall of the body structure, and the brushless electricity adjusts (10) in left side
When tank wall is unfolded, it is unfolded with the expansion of tank wall, expansion degree maximum is parallel to each other to it with the balance swing arm (1)；
The controller general purpose board (11) is arranged in the body structure of the balance support base (4), and is located at body structure
Right side；
The touch screen (12) is fixedly mounted on the positive outer surface of the body structure；
The power interface (13) is fixedly installed in the left side tank wall of the body structure and is located at the brushless electricity and adjusts
(10) side.
2. DCB Specimen balance experimental provision according to claim 1, which is characterized in that each foot prop (6) is all made of can
Open up folding structure.
3. DCB Specimen balance experimental provision according to claim 1, which is characterized in that the nothing of the controller general purpose board (11)
Brush electricity adjusts control signal output to adjust the electricity of (10) that control signal input is adjusted to be connected with 2 brushless electricity respectively；Described in 2
The electricity that brushless electricity adjusts the electricity of (10) that signal output end is adjusted to correspond respectively to 2 brushless motors (8) adjusts signal input part to be connected；
2 brushless electricity adjust the power supply signal input power supply signal output end with the power interface (13) respectively of (10)
It is connected；The attitude signal input terminal of the controller general purpose board (11) and the attitude signal output end of the attitude transducer (9)
It is connected；The touch of the controller general purpose board (11) shows that signal interaction end and the touch screen (2) touch display signal interaction
End is connected；Controller general purpose board (11) the data-signal interaction end is established data interaction by J-Link programmable device and PC machine and is connected
It connects；Wherein, controller general purpose board (11) transmission is single-chip microcontroller operation program, hex file.
4. according to claim 1 or the 3 DCB Specimen balance experimental provisions, which is characterized in that the brushless motor (8) uses E-
MAX RS22052600kv, the attitude transducer (9) use MPU6050, and the brushless electricity adjusts (10) to use X-Rotor20A,
The controller general purpose board (11) uses STM32F103C8T6 single-chip microcontroller, and the touch screen (12) uses 2.4 cun of TFT screens.
5. DCB Specimen balance experimental provision according to claim 4, which is characterized in that the volume of the controller general purpose board (11)
Journey device pin group (15) is connect by tetrad Du Pont line with J-Link programmable device, wherein 3.3V pin corresponds to the VCC pipe of J-Link
Foot, GND pin correspond to the GND of J-Link, and TCK pin corresponds to the SWCLK of J-Link, and TMS pin corresponds to the SWDIO of J-Link；
The attitude transducer pin group (16) of the controller general purpose board (11) is connected by tetrad Du Pont line and attitude transducer (9)
It connects, wherein the PB10 pin of the single-chip microcontroller (14) of the controller general purpose board (11) corresponds to the SDA of attitude transducer, PB11 pipe
Foot corresponds to the SCL of attitude transducer, and 3.3V pin corresponds to the VCC of attitude transducer, and GND pin corresponds to the GND of attitude transducer；
The motor driven pin group (17) of the controller general purpose board (11) is brushless with 2 of left and right respectively by duplex Du Pont line
Electricity adjusts 10 connections, wherein the white line that brushless electricity is adjusted on the left of the PA06 pin of single-chip microcontroller (14) is corresponding, the corresponding right side nothing of PA07 pin
The white line that brush electricity is adjusted, GND pin correspond to the black line that the brushless electricity in the left and right sides is adjusted；
The touch screen pin group (18) of the controller general purpose board (11) is connect by tetrad Du Pont line with touch screen (12),
In, 3.3V pin corresponds to the red line of touch screen (12), and GND pin corresponds to the black line of touch screen (12), and RXD pin corresponds to touch screen
(12) blue line, TXD pin correspond to the yellow line of touch screen (12).
6. DCB Specimen balance experimental provision according to claim 1, which is characterized in that the angle of oscillation of the balance swing arm (1)
Degree range is adjusted by limiter (5), 0 °~30 ° of the swing angle adjusting range of the balance swing arm (1).
7. DCB Specimen balance experimental provision according to claim 1, which is characterized in that balance support base (4) lower tank
The left and right sides tank wall of body structure all has closure and opens two states, 0 °~90 ° of opening angle range, facilitates carry out line
And electrical equipment extension.
8. DCB Specimen balance experimental provision according to claim 1, which is characterized in that 4 foot props (6) have fold and
Extension function, folded length 18cm, length is 30cm after extension；4 foot props (6) are there are gathering and two states are unfolded,
Its expanded angle is 0 °~45 °.
9. DCB Specimen balance experimental provision according to claim 1, which is characterized in that 2 brushless motor (8) lockings have three leaves
Positive and negative paddle, and band propeller protector.
10. DCB Specimen balance experimental provision according to claim 1, which is characterized in that the attitude transducer (9) is directed toward
The direction of east, south, west, north 4 is placed, and is equipped with cabling hole location.
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| CN201910389253.5A CN110097812B (en) | 2019-05-10 | 2019-05-10 | Double-rotor-wing balance experimental device |
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