CN110377061B - Simple pendulum device - Google Patents
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- CN110377061B CN110377061B CN201910528752.8A CN201910528752A CN110377061B CN 110377061 B CN110377061 B CN 110377061B CN 201910528752 A CN201910528752 A CN 201910528752A CN 110377061 B CN110377061 B CN 110377061B
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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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Abstract
The invention belongs to the field of swing control of mechanical structures, and particularly relates to a simple pendulum device. The simple pendulum structure of the simple pendulum device is connected with the bearing with a seat through a connecting device, and the rotating angle of the simple pendulum device is converted into an analog signal through a photoelectric encoder to be collected and recorded by a computer. The moving slide block is connected with the stepping motor through a synchronous belt and a synchronous belt wheel, and the stepping motor controls the moving slide block to move on the simple pendulum structure. The control and acquisition device comprises the following steps of acquiring and judging the swinging angle of the simple pendulum in real time; when the simple pendulum swings to the maximum angle, the movable sliding block is controlled to move upwards, and when the simple pendulum reaches the vertical position, the movable sliding block is controlled to move downwards; and designing the movement distance of each movement of the sliding block. The simple pendulum device can efficiently and stably control the swing and is beneficial to being applied to the field of quick swing inhibition of simple pendulum structures.
Description
Technical Field
The invention belongs to the field of swing control of mechanical structures, and particularly relates to a simple pendulum device.
Background
At present, simple pendulum structures are widely applied to the fields of buildings, agriculture, aerospace and the like, such as structures of hoisting of cranes, mooring of unmanned aerial vehicles, tethered satellites and the like. However, the swinging of these structures has a great adverse effect on the apparatus. The existing swing control device with a simple pendulum structure usually needs to occupy a large space and has low swing inhibition efficiency.
Disclosure of Invention
Technical problem to be solved
Aiming at the swing control problem of a simple-pendulum structure in the prior art, the invention provides a swing control device with higher universality and swing control efficiency.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
a simple pendulum device comprises a photoelectric encoder, a stepping motor, a simple pendulum structure, a movable sliding block and a control and acquisition system;
the simple pendulum structure comprises an optical axis, an upper bracket and a lower bracket;
the optical axis is fixedly arranged between the upper support and the lower support, and the movable sliding block is sleeved on the optical axis and can slide relative to the optical axis;
a first synchronous belt wheel is arranged on the upper support, a second synchronous belt wheel is arranged on the lower support, a synchronous belt is wound on the first synchronous belt wheel and the second synchronous belt wheel, and the movable sliding block is fixedly connected with the synchronous belt;
the first synchronous belt wheel is fixedly connected with an output shaft of the stepping motor, the stepping motor drives the synchronous belt to move through the first synchronous belt wheel, and the synchronous belt drives the movable sliding block to move on the optical axis;
rapidly inhibiting the swinging of the simple pendulum structure through the movement of the movable sliding block on the simple pendulum structure;
the photoelectric encoder and the stepping motor are in communication connection with the control and acquisition system;
the photoelectric encoder is used for measuring the swinging angle of the simple pendulum structure in real time;
the control and acquisition system determines the movement distance of each movement of the movable sliding block and controls the rotation of the stepping motor;
the moving distance of the moving slider in each upward and downward movement is obtained according to the following expression:
wherein, Δ LmaxTo be provided with said movementThe maximum range of motion of the movable slide block; e is a natural base number;
the maximum oscillation amplitude which can be reached by the simple pendulum structure in each period; thetastaDamping criteria for the pendulum structure oscillation, i.e. oscillation to theta with the pendulum structurestaThe time of the comparison is used as a standard for comparing the influences of different parameters; and lambda and epsilon are control parameters to adjust the change of the motion range.
Preferably, the simple pendulum device further comprises a support system, wherein the support system comprises a support structure and a table top;
the supporting structure comprises two vertical supporting plates and a horizontal supporting plate, the horizontal supporting plate is arranged at the upper end of each vertical supporting plate, the two vertical supporting plates are symmetrically arranged, and the lower ends of the two vertical supporting plates are fixed on the table board.
Preferably, the device also comprises a bearing with a seat, a rotating shaft and a connecting device, wherein the bearing seat of the bearing with the seat is fixed on the horizontal supporting plate, and a bearing inner ring of the bearing with the seat is fixed on the rotating shaft;
the connecting device comprises a front connecting plate and a rear connecting plate, one end of each connecting plate is fixedly connected with the rotating shaft, and the other end of each connecting plate is fixedly connected with the simple pendulum structure;
the rotating shaft, the connecting device, the bearing inner ring of the bearing with the seat and the simple pendulum structure swing together.
Preferably, the photoelectric encoder is connected with the control and acquisition system through a data acquisition card;
and the angle of the swinging of the simple pendulum structure, which is measured by the photoelectric encoder, is input to the control and acquisition system through the data acquisition card.
Preferably, the control and acquisition system also acquires the swinging angle of the simple pendulum structure in real time and judges the time when the swinging reaches the maximum angle and the minimum angle;
when the simple pendulum structure swings to the maximum angle, the movable sliding block is controlled to move upwards; and when the simple pendulum structure swings to a minimum angle, controlling the movable sliding block to move downwards.
Preferably, when the computer recognizes that the simple pendulum structure reaches the maximum angle, the stepping motor control card controls the stepping motor to move the moving slider upwards, wherein the upward movement trajectory of the moving slider is as follows:
when the computer identifies that the simple pendulum structure reaches the minimum angle, the stepping motor control card controls the stepping motor to enable the moving slide block to move downwards, wherein the downward movement track of the moving slide block is as follows:
where i-1, 2,3 … represents the sequence of upward and downward movements.
Preferably, Δ T is a movement time of each movement of the movable slider, and is required to be less than one fourth of a swing cycle of the simple pendulum structure to ensure rapid suppression of the swing of the simple pendulum structure; and deltaL is the movement distance of the moving slide block each time.
Preferably, a cosine track is adopted as the motion track of the moving slide block in consideration that the actual motion of the moving slide block needs to have an acceleration process and a deceleration process.
Preferably, the first and second liquid crystal materials are,
the moment when the single pendulum angle is maximum, namely the starting moment when the moving slide block moves upwards is shown;
the moment when the simple pendulum angle is minimum, namely the starting moment when the moving slide block moves downwards is shown; l0Indicating the initial position of the moving slide.
Preferably, it should be noted that only the form of the motion track of the moving slide is given, and the specific motion position is determined according to the set initial position of the moving slide and the position after each motion0The position after each movement is the starting position of the next movement.
Preferably, the parameters are controlled
The effect of the method is that the movement distance can be maximum at the initial swing angle no matter how much lambda is taken, so that a better swing restraining effect is generated.
Preferably, after the parameters are given, the movement distance of the moving slide block is predicted to be decreased in advance until the Δ L is 0 when the simple pendulum device is not moved, so as to ensure the stability of the movement of the simple pendulum device.
(III) advantageous effects
The invention has the beneficial effects that: the invention provides a simple pendulum device. The computer collects the angle signal of the simple pendulum to trigger the rotation of the stepping motor so as to drive the movement of the movable slide block. The proposed simple pendulum structure with the movable sliding block has certain universal applicability; the method does not need to install an accurate mathematical model, can be used only by judging the maximum value and the minimum value of the simple pendulum angle, has wide applicability, and has higher swing control efficiency.
Drawings
FIG. 1 is a schematic view of a simple pendulum device;
FIG. 2 is a schematic view of an upper support of the simple pendulum structure;
FIG. 3 is a schematic view of a lower support of the simple pendulum configuration;
FIG. 4 is a schematic diagram of a simple pendulum swing fast control method;
fig. 5 is a schematic diagram of the angular response of the swing of the simple pendulum structure.
Wherein:
1: a pedestal bearing; 2: a rotating shaft; 3: a connecting device; 4: a stepping motor; 5: an upper bracket; 6: a synchronous belt; 7: an optical axis; 8: a table top; 9: moving the slide block; 10: a lower bracket; 11: a horizontal support plate; 12: a first vertical support plate; 13: a photoelectric encoder; 14: a second vertical support plate; 15: a data acquisition card; 16: a stepping motor control card; 17: a processor.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment provides a simple pendulum device including: the device comprises a control and acquisition system, a supporting system, a bearing with a seat 1, a photoelectric encoder 13, a rotating shaft 2, a connecting device 3, a stepping motor 4, a simple pendulum structure and a movable sliding block 9.
The control and acquisition system comprises a data acquisition card 15, a stepping motor control card 16 and a processor 17, wherein the processor is a computer.
The support system comprises a support structure and a table top 8, the support structure comprises two vertical support plates and a horizontal support plate 11, the two vertical support plates are a first vertical support plate 12 and a second vertical support plate 14 respectively. The two vertical supporting plates are symmetrically arranged, the horizontal supporting plate 11 is arranged at the upper end of the vertical supporting plate, the lower ends of the two vertical supporting plates are fixed in a T-shaped groove on the table top 8 through T-shaped bolts, and the vertical supporting plates and the horizontal supporting plate are fixed through bolts.
The bearing seat of the bearing with seat 1 is connected and fixed with the horizontal supporting plate 11 by bolts, and the bearing inner ring of the bearing with seat 1 is fixed with the rotating shaft 2 by an expansion sleeve.
The connecting device 3 comprises a front connecting plate and a rear connecting plate, one end of each connecting plate is fixedly connected with the rotating shaft through the expansion sleeve, the other end of each connecting plate is fixedly connected with the simple pendulum structure, and the rotating shaft 2, the connecting device 3 and the bearing inner ring of the bearing with the seat 1 swing together with the simple pendulum structure.
The photoelectric encoder 13 is an OMRON 3600P/R photoelectric encoder, is fixed on the supporting system and is connected with the rotating shaft 2, the photoelectric encoder 13 is connected with the computer 17 through a data acquisition card 15, and the photoelectric encoder 13 is used for measuring the swinging angle of the simple pendulum structure in real time and transmitting the acquired angle information to the computer 17 through the data acquisition card 15.
The simple pendulum structure comprises two optical axes 7, an upper bracket 5 and a lower bracket 10.
Fig. 2 is a schematic structural diagram of the upper bracket, the upper bracket 5 also serves as a bracket for the stepping motor 4, and the stepping motor 4 is fixed on the upper bracket 5. The upper bracket 5 is connected and fixed with the connecting device 3 through two bolts, and the upper bracket 5 and the connecting device 3 can swing together. The upper support 5 is provided with a first synchronous belt pulley 18, and the upper support 5 is fixedly connected with the two optical shafts 7 through expansion sleeves.
Fig. 3 is a schematic structural diagram of the lower bracket, the lower bracket 10 is provided with a second synchronous pulley 19, and the lower bracket 10 is fixedly connected with the other ends of the two optical shafts 7 by an expansion sleeve.
The movable slider 9 is sleeved on the optical axis 7 and can slide relative to the optical axis 7. The movable sliding block 9 is fixedly connected with the synchronous belt 6, and two ends of the synchronous belt 6 respectively bypass the first synchronous belt pulley 18 and the second synchronous belt pulley 19, namely the synchronous belt 6 is sleeved on the first synchronous belt pulley 18 and the second synchronous belt pulley 19.
An output shaft of the stepping motor 4 is connected with the first synchronous belt pulley 18, the stepping motor 4 drives the first synchronous belt pulley 18 to rotate, the first synchronous belt pulley 18 drives the synchronous belt 6 to move, and the movable sliding block 9 moves along with the synchronous belt 6.
The movable sliding block 9 comprises two linear bearings, and the movable sliding block 9 is sleeved on the optical axis 7 through the linear bearings, so that the movable sliding block 9 can move smoothly and quickly on the two optical axes 7.
The specific movement pattern of the moving slide 9 is determined by the control method proposed by the present invention.
Specifically, in the present embodiment, a simple pendulum swing fast control method is provided, which is an intermittent control method for moving a slider. The method provided by the invention combines active control and automatic control, actively controls the overall motion process of the movable sliding block, and automatically controls the motion distance of the movable sliding block.
The method has the advantages that the active control method provided by the invention can utilize the intermittent motion of the movable slide block to realize the rapid inhibition of the simple pendulum swinging, and the automatic control method can reduce the disturbance of the simple pendulum device near a stable position during the actual swinging. The algorithm provided by the invention can realize the quick control of the swing without establishing a mathematical model with an accurate structure.
A simple pendulum swinging fast control method comprises the following steps:
the method comprises the following steps: the swinging angle of the simple pendulum is collected in real time, and the time when the simple pendulum swings to the maximum angle and the minimum angle (the minimum angle refers to the time when the simple pendulum is positioned at the vertical position) is judged.
Making the simple pendulum device from a certain initial angle theta0And starting free swing, acquiring the angle theta of the simple pendulum in real time by using a photoelectric encoder, and comparing the acquired angle of each sampling point by using a computer to judge the maximum angle and the minimum angle of the simple pendulum in each period. When the simple pendulum reaches the maximum angle and the minimum angle, the computer sends an instruction to control the rotation of the stepping motor so as to drive the movable sliding block to move.
Step two: when the simple pendulum swings to the maximum angle, the movable sliding block is controlled to move upwards; when the simple pendulum swings to a minimum angle, the movable sliding block is controlled to move downwards;
when the computer recognizes that the simple pendulum reaches the maximum angle, a control instruction is sent to the control card of the stepping motor to control the stepping motor to enable the moving slide block to move upwards, wherein the track of the upward movement of the slide block
The control method is determined by the control method shown in the formula (1).
When the computer recognizes that the simple pendulum reaches the minimum angle, the stepping motor control card controls the stepping motor to enable the moving slide block to move downwards, wherein the track of the downward movement of the slide block
The control method is determined by the control method shown in the formula (2).
In formula (1) and formula (2), i ═ 1,2,3 … represents the order of upward and downward movements;
and
respectively the time when the single pendulum angle recognized by the computer is maximum and minimum, namely the starting time when the movable slide block moves upwards and downwards; delta T is the movement time of each movement of the movable sliding block, and is required to be less than one fourth of the swing period of the simple pendulum to ensure the quick control of the swing of the simple pendulum; Δ L is the movement distance of the moving slider and needs to be further calculated by the control method.
The invention considers that the actual motion of the moving slide block needs to have an acceleration process and a deceleration process, so the cosine track is adopted as the motion track of the moving slide block, and the motion speed is accelerated from 0 to a certain speed and then decelerated to 0. l0Indicating the initial position of the moving slide.
Step three: and determining the movement distance delta L of each movement of the movable slide block according to an automatic control method.
Considering the stability of the swing of the whole device when the simple pendulum is close to a stable position, the invention designs that the movement distance delta L of each upward and downward movement of the movable sliding block is calculated according to a control method, and the expression is
Wherein, Δ LmaxThe maximum range of motion of the movable slide block can be provided; e is a natural base number;
the maximum swing amplitude which can be reached by the simple pendulum in each period; to measure the damping of simple pendulum oscillationSpeed of, set θstaDamping criteria for simple pendulum oscillation, i.e. oscillating to theta with simple pendulumstaThe time of the comparison is used as a standard for comparing the influences of different parameters; both λ and ε are control parameters to adjust for changes in the range of motion.
Preferably, in step three, the control parameter λ acts to control the speed at which the range of motion of the moving slide is reduced.
Preferably, in step three, the parameters are controlled
The effect of the method is that the movement distance can be maximum at the initial swing angle no matter how much lambda is taken, so that a better swing restraining effect is generated.
Preferably, in step three, after the parameters are given, the distance of each movement of the moving slide block is foreseen to be decreased in advance until the simple pendulum is still, and the Δ L is 0, so as to ensure the stability of the movement of the simple pendulum device.
Preferably, in step three, in order to better understand the movement distance Δ L of the moving slider, fig. 4 shows the intermittent movement of the moving slider in the first two periods of the simple pendulum swinging, wherein the first period of the simple pendulum swinging includes two downward movements of the slider and one upward movement of the slider, and the second period and each period thereafter include two upward and downward movements of the moving slider.
The effectiveness and efficiency of the present invention for fast control of simple pendulum swinging will be further described with reference to a specific experimental example.
The parameters of the actual measured simple pendulum structure are as follows:
M＝1.151kg，m＝0.156kg，L＝1.059m，Lc＝0.3726m，I0＝0.326kg·m2
setting the initial conditions of the simple pendulum swing: theta0＝0.5rad，θstaThe parameters in the simple pendulum swing fast control method and the moving slide block movement track are specified as follows:
ΔT＝0.28s，ΔLmax＝0.06m，λ＝2，l0＝0.8m。
control methodThe comparison of the angular response of the simple pendulum structure under the method and the control process with the angular response when the moving slide block is not moved (the simple pendulum swings freely) is shown in fig. 5. As can be seen from FIG. 5, the simple pendulum structure with the movable slider and the rapid control method for the swinging control thereof provided by the invention reach theta in advance of 70.86s under the selected parametersstaHigher swing control efficiency can be achieved. The swing restraining efficiency generated by the swing quick control method provided by the invention can be improved along with the reduction of the moving time delta T and the increase of the moving distance delta L of the moving slide block. Therefore, in practical applications, it is necessary to set the movement time and the movement distance appropriately according to the parameters that can be achieved by the apparatus, so as to achieve more efficient swing suppression.
The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive efforts, which shall fall within the scope of the present invention.
Claims (7)
1. A simple pendulum device is characterized by comprising a photoelectric encoder, a stepping motor, a simple pendulum structure, a movable sliding block and a control and acquisition system;
the simple pendulum structure comprises an optical axis, an upper bracket and a lower bracket;
the optical axis is fixedly arranged between the upper support and the lower support, and the movable sliding block is sleeved on the optical axis and can slide relative to the optical axis;
a first synchronous belt wheel is arranged on the upper support, a second synchronous belt wheel is arranged on the lower support, a synchronous belt is wound on the first synchronous belt wheel and the second synchronous belt wheel, and the movable sliding block is fixedly connected with the synchronous belt;
the first synchronous belt wheel is fixedly connected with an output shaft of the stepping motor, the stepping motor drives the synchronous belt to move through the first synchronous belt wheel, and the synchronous belt drives the movable sliding block to move on the optical axis;
rapidly inhibiting the swinging of the simple pendulum structure through the movement of the movable sliding block on the simple pendulum structure;
the photoelectric encoder and the stepping motor are in communication connection with the control and acquisition system;
the photoelectric encoder is used for measuring the swinging angle of the simple pendulum structure in real time;
the control and acquisition system determines the movement distance of each movement of the movable sliding block and controls the rotation of the stepping motor;
the moving distance of each upward and downward movement of the moving slider is obtained according to the following expression:
wherein, Δ LmaxThe maximum range of the movable slide block can be moved; e is a natural base number;
the maximum oscillation amplitude which can be reached by the simple pendulum structure in each period; thetastaDamping criteria for the pendulum structure oscillation, i.e. oscillation to theta with the pendulum structurestaThe time of the comparison is used as a standard for comparing the influences of different parameters; and lambda and epsilon are control parameters to adjust the change of the motion range.
2. The simple pendulum device of claim 1 further comprising a support system comprising a support structure and a table;
the supporting structure comprises two vertical supporting plates and a horizontal supporting plate, the horizontal supporting plate is arranged at the upper end of each vertical supporting plate, the two vertical supporting plates are symmetrically arranged, and the lower ends of the two vertical supporting plates are fixed on the table board.
3. The simple pendulum device of claim 2 further comprising a bearing with a seat, a rotating shaft and a connecting device, wherein the bearing seat of the bearing with a seat is fixed on the horizontal support plate, and the inner ring of the bearing with a seat is fixed on the rotating shaft;
the connecting device comprises a front connecting plate and a rear connecting plate, one end of each connecting plate is fixedly connected with the rotating shaft, and the other end of each connecting plate is fixedly connected with the simple pendulum structure;
the rotating shaft, the connecting device, the bearing inner ring of the bearing with the seat and the simple pendulum structure swing together.
4. The simple pendulum device according to claim 1, wherein the photoelectric encoder is connected to the control and acquisition system via a data acquisition card;
and the angle of the swinging of the simple pendulum structure, which is measured by the photoelectric encoder, is input to the control and acquisition system through the data acquisition card.
5. The simple pendulum device according to any one of claims 1 to 4 wherein the control and acquisition system further acquires the angle of the simple pendulum structure in real time and determines the time when the pendulum reaches the maximum angle and the minimum angle;
when the simple pendulum structure swings to the maximum angle, the movable sliding block is controlled to move upwards; and when the simple pendulum structure swings to a minimum angle, controlling the movable sliding block to move downwards.
6. The pendulum device of claim 5 wherein the upward trajectory of the moving slider when the pendulum reaches the maximum angle is:
when the simple pendulum structure reaches the minimum angle, the downward movement track of the movable sliding block is as follows:
wherein i is 1,2,3 …, and Δ T is the moving time of each movement of the moving slider; Δ L is the movement distance of the movable slider each time;
the moment when the single pendulum angle is maximum, namely the starting moment when the moving slide block moves upwards is shown;
the moment when the simple pendulum angle is minimum, namely the starting moment when the moving slide block moves downwards is shown; l0Indicating the initial position of the moving slide.
7. The simple pendulum device of claim 6 wherein the movement time per movement of the moving slider is less than one quarter of the pendulum cycle of the simple pendulum structure.
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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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| CN110377061A (en) | 2019-10-25 |
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