CN110377061A - A kind of simple pendulum device and its swing fast control method - Google Patents
A kind of simple pendulum device and its swing fast control method Download PDFInfo
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- CN110377061A CN110377061A CN201910528752.8A CN201910528752A CN110377061A CN 110377061 A CN110377061 A CN 110377061A CN 201910528752 A CN201910528752 A CN 201910528752A CN 110377061 A CN110377061 A CN 110377061A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention belongs to mechanical structure weave control field more particularly to a kind of simple pendulum device and its swing fast control method.The single pendulum structure of simple pendulum device is connected with rolling bearing units by attachment device, and the angle of rotation is converted to analog signal for computer acquisition by photoelectric encoder and records.Mobile sliding block is connected and by its movement in single pendulum structure of step motor control by synchronous belt and synchronous pulley with stepper motor.The fast control method of swing includes the following steps that the angle swung to single pendulum is acquired and judged in real time；It when single pendulum swings to maximum angle, controls mobile sliding block and moves upwards, when single pendulum reaches upright position, control mobile sliding block and move downward；Design the control method of slide block movement process；The move distance that design sliding block moves every time.The simple pendulum device that is itd is proposed and control method can efficiently, steadily control swing, help to apply and quickly inhibit field in the swing of single pendulum class formation.
Description
Technical field
The invention belongs to mechanical structure weave control field, specifically a kind of simple pendulum device and its quick controlling party of swing
Method.
Background technique
Currently, single pendulum class formation is widely used in building, agricultural and the fields such as aerospace, for example, crane hoist,
It is tethered at the structures such as unmanned plane and tethered satellite.However the swing of these structures has very big adverse effect to equipment.It is existing
Single pendulum class formation swing control method generally require occupy much room and swing inhibit efficiency it is lower.
Summary of the invention
(1) technical problems to be solved
For the weave control problem of single pendulum class formation existing in the prior art, the present invention provides a kind of versatility and pendulum
The dynamic higher oscillating control device of control efficiency and its control method.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of simple pendulum device comprising support system, rolling bearing units, photoelectric encoder, shaft, attachment device, stepping electricity
Machine, single pendulum structure, mobile sliding block, control and acquisition system；
Rolling bearing units are arranged in support system by bearing block, and shaft is fixedly connected with the bearing inner race of rolling bearing units；
Single pendulum structure is fixedly connected by attachment device with shaft；
Mobile sliding block is slidably connected with single pendulum structure, and in the driving lower slider of stepper motor, by mobile sliding block in list
Movement in pendulum structure quickly to inhibit the swing of single pendulum；
The rotary shaft of photoelectric encoder is connected with shaft；
Photoelectric encoder and stepper motor and control and acquisition system communication connection.
Preferably, simple pendulum device includes the upper bracket and lower bracket being oppositely arranged；
Optical axis is fixedly installed between upper bracket and lower bracket, mobile sliding block is slidably connected with optical axis.
Preferably, it is provided with the first synchronous pulley in upper bracket, is provided with the second synchronous pulley in lower bracket, first
Synchronous belt is wound on synchronous pulley and the second synchronous pulley, mobile sliding block is fixedly connected with synchronous belt；
First synchronous pulley is fixedly connected with the output shaft of stepper motor, and stepper motor is driven same by the first synchronous pulley
Step band is mobile, and synchronous belt band movable slider moves on single pendulum.
Preferably, photoelectric encoder is connect by data collecting card with control with acquisition system；
The angle that the single pendulum structure that photoelectric encoder measures is swung, is input to control for angle signal by data collecting card
With acquisition system.
Preferably, control and acquisition system will control the rotation of stepper motor according to swing control method.
A kind of single pendulum swing fast control method, this method are used to control the operation of above-mentioned simple pendulum device.For a kind of movement
The intermittent exercise control method of sliding block.Control method is swung caused by being slided in single pendulum structure using mobile sliding block
Depression effect is come simple pendulum device disturbing near settling position when carrying out the quick control of single pendulum swing, and can be reduced practical swing
It is dynamic.The algorithm is not necessarily to establish the concrete mathematical model of structure and can realize, specifically includes the following steps:
Step 1: the angle and judgement that acquisition single pendulum is swung in real time swing to maximum angle, and (single pendulum is vertical with minimum angles
Position) at the time of；
Step 2: it when single pendulum swings to maximum angle, controls mobile sliding block and moves upwards；Minimum angle is swung in single pendulum
When spending, controls mobile sliding block and move downward；
Step 3: the move distance that mobile sliding block moves every time is determined according to autocontrol method.
Preferably, in step 1, enable simple pendulum device from a certain initial angle θ0Start to freely swing, utilizes photoelectric coding
Device acquires the angle, θ of single pendulum in real time, and judges maximum angle and minimum angles to trigger the rotation of stepper motor to drive
Mobile slide block movement.
Preferably, in step 2, when computer, which recognizes single pendulum, reaches maximum angle, stepping motor control card will be controlled
Stepper motor processed moves upwards mobile sliding block, the track that wherein sliding block moves upwards are as follows:
When computer, which recognizes single pendulum, reaches minimum angles, stepping motor control card, which will control stepper motor, makes mobile cunning
Block moves downward, the track that wherein sliding block moves downward are as follows:
Wherein, i=1,2,3 ... represent the order moved up and down.
Preferably, in step 2, Δ T is the run duration that mobile sliding block moves every time, and it is required to put less than single pendulum
The a quarter in period is moved to guarantee the quick inhibition of single pendulum swing；Δ L is each move distance of mobile sliding block.
Preferably, in step 2, it is contemplated that mobile sliding block actual motion needs that there are acceleration, deceleration processes, therefore uses
Motion profile of the cosine track as mobile sliding block.
Preferably, in step 2, it should be noted that only given the form of the motion profile of mobile sliding block, tool
The movement position of body also needs to determine the l in formula according to set sliding block initial position and each post exercise position0, often
Secondary post exercise position is just the initial position moved next time.
Preferably, in step 3, the move distance Δ L that the mobile sliding block of design moves up and down every time can be according to control
Method processed calculates, and expression formula is
Wherein, Δ LmaxFor the maximum magnitude for mobile slide block movement；E is the nature truth of a matter；θi maxFor single pendulum each cycle institute
The attainable maximum amplitude of oscillation；The speed inhibited is swung in order to measure single pendulum, sets θstaFor single pendulum swing attenuation standard, i.e., with
Single pendulum swings to θstaAt the time of as a comparison different parameters influence standard；λ and ε is control parameter to adjust motion range
Variation.
Preferably, in step 3, control parameterHow much move distance can be made it acts as no matter λ takes
It is maximum at initial pendulum angle, preferably swings inhibitory effect to generate.
Preferably, in step 3, the move distance that can predict mobile sliding block after given parameters in advance successively decreases, directly
Δ L is 0 when motionless to single pendulum, and the stability of simple pendulum device movement is ensured with this.
(3) beneficial effect
The beneficial effects of the present invention are: the present invention provides a kind of simple pendulum devices and a kind of single pendulum that is used for swing quickly control
Control method.The rotation of stepper motor is triggered by the angle signal of computer acquisition single pendulum thus to drive mobile sliding block
Movement.The single pendulum structure with mobile sliding block proposed has certain general applicability；The control method proposed without
The accurate mathematical model of device is needed, only need to judge that the maximum value of single pendulum angle and minimum value can use, have a wide range of applications
Property, while weave control is more efficient.
Detailed description of the invention
Fig. 1 is the schematic diagram of simple pendulum device；
Fig. 2 is the schematic diagram of the upper bracket of single pendulum structure；
Fig. 3 is the schematic diagram of the lower bracket of single pendulum structure；
Fig. 4 is the schematic diagram that single pendulum swings fast control method；
Fig. 5 is the angular response schematic diagram that single pendulum structure is swung.
Wherein:
1: rolling bearing units；2: shaft；3: attachment device；4: stepper motor；5: upper bracket；6: synchronous belt；7: optical axis；
8: table top；9: mobile sliding block；10: lower bracket；11: horizontal supporting plate；12: the first vertical gripper shoes；13: photoelectric encoder；
14: the second vertical gripper shoes；15: data collecting card；16: stepping motor control card；17: processor.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
As shown in Figure 1, this implementation provides a kind of simple pendulum device comprising: control and acquisition system, support system, band
Seat bearing 1, photoelectric encoder 13, shaft 2, attachment device 3, stepper motor 4, single pendulum structure and mobile sliding block 9.
Control and acquisition system include data collecting card 15, stepping motor control card 16 and processor 17, wherein processing
Device is computer.
Support system includes support construction and table top 8, and support construction includes that two vertical gripper shoes and one are horizontally-supported
Plate 11, two vertical gripper shoes are respectively the first vertical gripper shoe 12 and the second vertical gripper shoe 14.Two vertical gripper shoes are symmetrical
The upper end of vertical gripper shoe is arranged in setting, horizontal supporting plate 11, and the lower end of two vertical gripper shoes is fixed on platform by T-bolt
In T-slot on face 8, vertical gripper shoe is bolted with horizontal supporting plate.
The bearing block of rolling bearing units 1 is connected and is fixed by bolt with horizontal supporting plate 11, the bearing inner race of rolling bearing units 1
It is fixed with shaft 2 by expansion sleeve.
Attachment device 3 includes former and later two connecting plates, and one end of connecting plate is fixedly connected with shaft by expansion sleeve, separately
One end is fixedly connected with single pendulum structure, and shaft 2, the bearing inner race of attachment device 3 and rolling bearing units 1 and single pendulum structure are put jointly
It is dynamic.
Photoelectric encoder 13 use OMRON 3600P/R photoelectric encoder, be fixed in support system and with shaft 2
It is connected, photoelectric encoder 13 is connect by data collecting card 15 with computer 17, and photoelectric encoder 13 is used for real-time measurement single pendulum
The angle that structure is swung, and pass through data collecting card 15 for collected angle information transfer to computer 17.
Single pendulum structure includes two optical axises 7, upper bracket 5 and lower bracket 10.
Fig. 2 is the structural schematic diagram of upper bracket, and also the bracket as stepper motor 4, stepping are electric simultaneously for upper bracket 5
Machine 4 is fixed in upper bracket 5.Upper bracket 5 is connected by two bolts with attachment device 3 and fixation, upper bracket 5 and company
Connection device 3 can be swung jointly.The first synchronous pulley 18 is provided in upper bracket 5, upper bracket 5 passes through with two optical axises 7
Expansion sleeve is fixedly connected.
Fig. 3 is the structural schematic diagram of lower bracket, and lower bracket 10 has the second synchronous pulley 19, lower bracket 10 and two
The other end of root optical axis 7 is equally fixedly connected by expansion sleeve.
Mobile sliding block 9 is set on optical axis 7, and can be slided relative to optical axis 7.Mobile sliding block 9 and synchronous belt 6 are fixed
It is connected, the both ends of synchronous belt 6 bypass the first synchronous pulley 18 and the second synchronous pulley 19 respectively, i.e. synchronous belt 6 is set in first
On synchronous pulley 18 and the second synchronous pulley 19.
The output shaft of stepper motor 4 is connected with the first synchronous pulley 18, and stepper motor 4 is by driving the first synchronous pulley 18
Rotation, the first synchronous pulley 18 drives synchronous belt 6 mobile, and mobile sliding shoe 9 is mobile with synchronous belt 6.
Mobile sliding block 9 includes two linear bearings, and mobile sliding 9 is set on optical axis 7 by linear bearing, so, it moves
Movable slider 9 smoothly can quickly move on two optical axises 7.
The specific forms of motion of mobile sliding block 9 is determined by control method proposed by the present invention.
Specifically, providing a kind of single pendulum swing fast control method in present embodiment, being a kind of mobile sliding block
Intermittency check method.Method proposed by the invention combines active control with automatic control, to the totality of mobile sliding block
Motion process carries out active control, carries out automatically controlling to mobile slide block movement distance therein.
This method advantage is that Active Control Method proposed by the invention can be realized using the intermittent movement of mobile sliding block
The quick inhibition that single pendulum is swung, disturbance of the simple pendulum device near settling position when autocontrol method can be reduced practical swing.
And accurately mathematical model can realize the quick control of swing to algorithm proposed by the invention without establishing structure.
A kind of single pendulum swing fast control method, method includes the following steps:
Step 1: the angle and judgement that acquisition single pendulum is swung in real time swing to maximum angle and minimum angles (minimum angles
Refer to single pendulum when in the vertical position) at the time of.
Enable simple pendulum device from a certain initial angle θ0Start to freely swing, acquires the angle of single pendulum in real time using photoelectric encoder
θ is spent, the collected angle of each sampled point institute is compared by computer to judge that single pendulum swings each cycle maximum angle and most
Low-angle.When single pendulum reaches minimum and maximum angle, computer will issue an instruction to control stepper motor rotation to
Drive mobile slide block movement.
Step 2: it when single pendulum swings to maximum angle, controls mobile sliding block and moves upwards；Minimum angle is swung in single pendulum
When spending, controls mobile sliding block and move downward；
When computer, which recognizes single pendulum, reaches maximum angle, control instruction can be issued to stepping motor control card to control
Stepper motor moves upwards mobile sliding block, the track that wherein sliding block moves upwardsThe control method as shown in formula (1) is determined
It is fixed.
When computer, which recognizes single pendulum, reaches minimum angles, stepping motor control card, which will control stepper motor, makes mobile cunning
Block moves downward, the track that wherein sliding block moves downwardThe control method shown in formula (2) determines.
In formula (1) and formula (2), i=1,2,3 ... represent the order moved up and down；WithRespectively count
At the time of the single pendulum angle that calculation machine is recognized is minimum and maximum, the initial time that sliding block moves up and down is as moved；
Δ T is the run duration that mobile sliding block moves every time, and it is required to be less than a quarter of single pendulum swing period to guarantee single pendulum
The quick control swung；Δ L is the move distance of mobile sliding block, needs to be further calculated out by control method.
The present invention considers mobile sliding block actual motion and needs there are acceleration, deceleration process, therefore is made using cosine track
For the motion profile of mobile sliding block, movement velocity is just to decelerate to 0 again after accelerating since 0 to a certain speed.Simultaneously
It should be noted that also needing to determine l according to set sliding block initial position and each post exercise position0So that it is determined that
The mobile specific movement position of sliding block.Each post exercise position is just the initial position moved next time, does not need to shift to an earlier date
Regulation.
Step 3: the move distance Δ L that mobile sliding block moves every time is determined according to autocontrol method.
In view of the single pendulum stationarity that single unit system is swung when close to settling position, it is each that the present invention designs mobile sliding block
The move distance Δ L moved up and down can be calculated according to control method, and expression formula is
Wherein, Δ LmaxFor the movement maximum magnitude for mobile sliding block；E is the nature truth of a matter；θi maxFor single pendulum each cycle institute
The attainable maximum amplitude of oscillation；In order to measure the speed of single pendulum roller fading, θ is setstaFor single pendulum swing attenuation standard, i.e., with
Single pendulum swings to θstaAt the time of as a comparison different parameters influence standard；λ and ε is control parameter to adjust motion range
Variation.
Preferably, in step 3, the effect of control parameter λ is the speed for controlling mobile slide block movement range and reducing.
Preferably, in step 3, control parameterHow much move distance can be made it acts as no matter λ takes
It is maximum at initial pendulum angle, preferably swings inhibitory effect to generate.
Preferably, in step 3, can predict each move distance of mobile sliding block in advance after given parameters is to pass
Subtract, Δ L is 0 when single pendulum is motionless, and the stability of simple pendulum device movement is ensured with this.
Preferably, in step 3, single pendulum is illustrated in order to better understand move distance the Δ L, Fig. 4 of mobile sliding block
The intermittent movement of the mobile sliding block in the first two period is swung, it includes that sliding block twice is transported downwards that wherein single pendulum, which swings a cycle,
It is dynamic to be moved upwards with a sliding block, second period and each period later include mass block twice it is upward with it is downward
Movement.
It is effective to further illustrate that the present invention quickly controls single pendulum swing below with reference to the example of a specific experiment
Property and high efficiency.
Each parameter of actually measured single pendulum structure is as follows:
M=1.151kg, m=0.156kg, L=1.059m, Lc=0.3726m, I0=0.326kgm2
Set the primary condition that single pendulum is swung: θ0=0.5rad, θsta=0.05rad is, it is specified that single pendulum swings quick controlling party
Each parameter in method and mobile slide block movement track is as follows:
Δ T=0.28s, Δ Lmax=0.06m, λ=2, l0=0.8m.
When the angular response of single pendulum structure is with mobile sliding block motionless (single pendulum freely swings) under control method and control process
Angular response comparison it is as shown in Figure 5.As seen from Figure 5 single pendulum structure with mobile sliding block proposed by the invention and its
Weave control fast control method shifts to an earlier date 70.86s under selected parameter and reaches θsta, can achieve higher weave control
Efficiency.It is swung caused by swing fast control method proposed by the present invention and inhibits efficiency can be with mobile slide block movement time Δ
The reduction of T and the increase of move distance Δ L and improve.Therefore in practical applications, need according to the attainable parameter of device institute
Come the swing inhibition for setting run duration and move distance reasonably to realize more efficient.
The technical principle of the invention is described above in combination with a specific embodiment, these descriptions are intended merely to explain of the invention
Principle shall not be construed in any way as a limitation of the scope of protection of the invention.Based on explaining herein, those skilled in the art
It can associate with other specific embodiments of the invention without creative labor, these modes fall within this hair
Within bright protection scope.
Claims (10)
1. a kind of simple pendulum device, which is characterized in that including support system, rolling bearing units, photoelectric encoder, shaft, attachment device,
Stepper motor, single pendulum structure, mobile sliding block, control and acquisition system；
Rolling bearing units are arranged in support system by bearing block, and shaft is fixedly connected with the bearing inner race of rolling bearing units；
Single pendulum structure is fixedly connected by attachment device with shaft；
Mobile sliding block is slidably connected with single pendulum structure, and in the driving lower slider of stepper motor, by mobile sliding block in single pendulum knot
Movement on structure quickly to inhibit the swing of single pendulum；
The rotary shaft of photoelectric encoder is connected with shaft；
Photoelectric encoder and stepper motor and control and acquisition system communication connection.
2. simple pendulum device according to claim 1, which is characterized in that simple pendulum device include the upper bracket that is oppositely arranged and
Lower bracket；
Optical axis is fixedly installed between upper bracket and lower bracket, mobile sliding block is slidably connected with optical axis.
3. simple pendulum device according to claim 2, which is characterized in that be provided in upper bracket the first synchronous pulley, under
It is provided with the second synchronous pulley on portion's bracket, synchronous belt, mobile sliding block are wound on the first synchronous pulley and the second synchronous pulley
It is fixedly connected with synchronous belt；
First synchronous pulley is fixedly connected with the output shaft of stepper motor, and stepper motor drives synchronous belt by the first synchronous pulley
Mobile, synchronous belt band movable slider moves on single pendulum.
4. simple pendulum device according to claim 3, which is characterized in that photoelectric encoder by data collecting card and control with
Acquisition system connection；
Angle signal is input to control and adopted by the angle that the single pendulum structure that photoelectric encoder measures is swung by data collecting card
Collecting system.
5. simple pendulum device according to claim 4, which is characterized in that control will be according to swing control method with acquisition system
The rotation of stepper motor is controlled.
6. a kind of single pendulum swings fast control method, which is characterized in that this method is for controlling such as claim 1-5 any one
The operation of the simple pendulum device, the algorithm the following steps are included:
Step 1: at the time of acquiring the angle that single pendulum is swung in real time and judge to swing arrival maximum angle and minimum angles；
Step 2: it when single pendulum swings to maximum angle, controls mobile sliding block and moves upwards；Minimum angles are swung in single pendulum
When, it controls mobile sliding block and moves downward；
Step 3: the move distance that mobile sliding block moves every time is determined according to control method.
7. swing fast control method according to claim 6, which is characterized in that in step 1, enable single pendulum from a certain
Initial angle starts the angle to freely swing and acquisition single pendulum is swung in real time.
8. swing fast control method according to claim 6, which is characterized in that in step 2, when single pendulum reaches most
When wide-angle, track that sliding block moves upwards are as follows:
When single pendulum reaches minimum angles, track that sliding block moves downward are as follows:
Wherein, i=1,2,3 ... represent the order moved up and down, and Δ T is the run duration that mobile sliding block moves every time；
Δ L is each move distance of mobile sliding block.
9. swing fast control method according to claim 8, which is characterized in that when the movement that mobile sliding block moves every time
Between be less than single pendulum swing period a quarter.
10. swing fast control method according to claim 6, which is characterized in that in step 3, sliding block is upward every time
It will be obtained according to following expression with the move distance moved downward:
Wherein, Δ LmaxFor the maximum magnitude for mobile slide block movement；E is the nature truth of a matter；It can be reached for single pendulum each cycle
The maximum amplitude of oscillation arrived；The speed inhibited is swung in order to measure single pendulum, sets θstaFor single pendulum swing attenuation standard, i.e., with single pendulum
Swing to θstaAt the time of as a comparison different parameters influence standard；The variation that λ and ε is control parameter to adjust motion range.
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| CN201910528752.8A CN110377061B (en) | 2019-06-18 | 2019-06-18 | Simple pendulum device |
| PCT/CN2019/100800 WO2020252875A1 (en) | 2019-06-18 | 2019-08-15 | Simple pendulum apparatus and rapid oscillation control method thereof |
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| CN201910528752.8A CN110377061B (en) | 2019-06-18 | 2019-06-18 | Simple pendulum device |
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| WILLIAM SINGHOSE等: "Manipulation with Tower Cranes Exhibiting Double-Pendulum Oscillations", 《PROCEEDINGS 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》 * |
| 边星等: "双单摆式微推力测量系统的研究", 《真空与低温》 * |
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| Publication number | Publication date |
|---|---|
| WO2020252875A1 (en) | 2020-12-24 |
| CN110377061B (en) | 2021-12-17 |
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