CN203288160U - Four-wheel trolley inverted-pendulum system - Google Patents
Four-wheel trolley inverted-pendulum system Download PDFInfo
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- CN203288160U CN203288160U CN2013203724627U CN201320372462U CN203288160U CN 203288160 U CN203288160 U CN 203288160U CN 2013203724627 U CN2013203724627 U CN 2013203724627U CN 201320372462 U CN201320372462 U CN 201320372462U CN 203288160 U CN203288160 U CN 203288160U
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Abstract
The utility model discloses a four-wheel trolley inverted-pendulum system which comprises a trolley body, a swing mechanism, and a control mechanism. A rear-guard type is employed for the trolley body, and movement is controlled through a motor. Displacement is measured through a displacement measurement encoder and changed into a speed. The swing mechanism is disposed on the top surface of the trolley body. A swing rod in the swing mechanism is hinged on the top surface of the trolley body via a hinged frame and an angle of the swing rod is measured via an angle measurement encoder. The control mechanism is used for controlling the trolley body. A speed signal of the trolley body and an angle signal of the swing rod, which are measured by the displacement measurement encoder and the angle measurement encoder, are collected through a motion controller and respectively compared with an expectation speed signal of the trolley body and an expectation angle signal of the swing rod, wherein the expectation speed signal of the trolley body and the expectation angle signal of the swing rod are sent by an external computer. A control signal of the trolley body is obtained through control algorithm and sent to a servo driver, so as to control the trolley body. The system is advantageous in that the trolley body does not need to be attached on a guide rail to move, that the transmission error is small, and that the control is more accurate.
Description
Technical field
The utility model relates to a kind of reversible pendulum system, belongs to the automatic control technology field, specifically, is a kind of lorry reversible pendulum system.
Background technology
Control System of Inverted Pendulum is a complexity, unsettled, nonlinear system, is the gedanken experiment platform that carries out the control theory teaching and carry out various control experiments.
At present can be less for the control experiment porch of theory teaching and research, mostly common straight line reversible pendulum system is guide tracked inverted pendulum, all there is certain shortcoming in this reversible pendulum system: its hardware device structure is succinct not, can only test in fixing place; Car body can only move in the horizontal direction along guide rail, can not reach the effect of accurate model engineering reality; Motor and car body are in released state, cause driving error, affect control accuracy.
Summary of the invention
In order to address the above problem, the utility model provides a kind of lorry reversible pendulum system, comprises car body, tilting mechanism and control gear.
Wherein, car body is box body structure, and end face is by installing cover plate for sealing; Between the biside plate of car body, bearing is connected with front axle and back axle; The two ends of front axle and back axle are the coaxial wheel that is connected all; Car body inside is equipped with direct current generator and displacement measurement scrambler.Described direct current generator is fixedly mounted on hull bottom plate, the coaxial gear A that is installed with on the output shaft of direct current generator; Gear A and the coaxial gear B engagement that is fixedly mounted on back axle.Described displacement measurement scrambler is fixedly mounted on back axle; On the cover plate end face of car body, tilting mechanism is installed.
Described tilting mechanism comprises single pendulum bearing, fork, measurement of angle scrambler.Wherein, the single pendulum bearing is fixedly mounted on car bonnet end face center, and the jointed shaft by level on the single pendulum bearing is hinged with fork, and the axis of fork is perpendicular to the jointed shaft axis.One end of jointed shaft is connected with the measurement of angle scrambler by shaft coupling.
Described control gear is arranged on the bottom surface of getting off, and comprising: comprise servo-driver, terminal block, motion controller and electric power generating composition.Wherein, motion controller is connected with displacement measurement scrambler, measurement of angle scrambler, direct current generator by terminal block, gathers body speed of vehicle signal and fork pendulum angle signal that displacement measurement scrambler and measurement of angle scrambler record; Motion controller is connected with outer computer, and the body speed of vehicle signal, the fork pendulum angle signal that receive are sent in outer computer, by outer computer, realizes Real-Time Monitoring to body speed of vehicle and fork swing state.Simultaneously, outer computer also sends car body desired speed signal and fork expectation pendulum angle signal in motion controller, compare with car body desired speed signal, fork expectation pendulum angle signal respectively according to body speed of vehicle signal and fork pendulum angle signal by motion controller thus, send to servo-driver by the controlled signal of control algolithm, finally by servo-driver, control direct current generator and drive body movement, realize the real-time control of the utility model reversible pendulum system.Power supply is connected with servo-driver, terminal block, motion controller, displacement measurement scrambler, measurement of angle scrambler, direct current generator, powers.
The utility model has the advantage of:
1, the utility model lorry reversible pendulum system, needn't depend on guide rail movement, can freely walk on level land and slope;
2, the utility model lorry reversible pendulum system, overcome traditional inverted pendulum for the demand of implementing space, and due to its compactness simple for structure, overall weight is light, can test in any little space;
3, the utility model lorry reversible pendulum system, be embedded in motor in car body, reduced driving error, makes control more accurate;
4, the utility model lorry car body reversible pendulum system, adopt the embedded controller of Intelligent servo module as car body, can be directly downloaded in controller after algorithm is completed and realize autonomous and balance, can test easily the various control scheme, more be suitable for carrying out and various control experiment of control theory teaching.
Description of drawings
Fig. 1 is lorry inverted pendulum structural representation of the present utility model.
Fig. 2 be Fig. 1 overlook the direction schematic diagram.
Fig. 3 is control circuit figure of the present utility model.
Fig. 4 is the control circuit figure of a kind of embodiment of the present utility model.
Omitted the miscellaneous part irrelevant with utility model design main points of the present invention in figure.
In figure:
1-car body 2-tilting mechanism 3-control gear 101-cover plate
102-front axle 103-back axle 104-wheel 105-direct current generator
106-displacement measurement scrambler 107-gear A 108-gear B 201-single pendulum bearing
202-fork 203-measurement of angle scrambler
Embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
The utility model lorry reversible pendulum system, comprise car body 1, tilting mechanism 2 and control gear 3, as shown in Figure 1 and Figure 2.
Wherein, car body 1 is box body structure, and end face is by installing cover plate 101 sealings; Between the biside plate of car body 1, bearing is connected with front axle 101 and back axle 101, lays respectively at car body 1 front portion and rear portion; Front axle 102 axis are parallel with back axle 103 axis; The two ends of front axle 102 and back axle 103 are the coaxial wheel 104 that is connected all; Each wheel 104 minimum points are positioned on same level.Car body inside is equipped with direct current generator 105 and displacement measurement scrambler 106; Described direct current generator 105 is fixedly mounted on hull bottom plate, the coaxial gear A 107 that is installed with on the output shaft of direct current generator 105; Gear A 108 and coaxial gear B 108 engagements that are fixedly mounted on back axle 103; Thus, 105 driven wheel A107 driven gear B108 rotate by direct current generator, and then drive back axle 103 rotations, form thus rear-guard form car body, can drive car body and carry out rectilinear motion.Described displacement measurement scrambler 106 is fixedly mounted on back axle 103, is used for measuring the displacement signal of car body, and obtains the rate signal of car body through difference.Tilting mechanism 2 is installed on cover plate 101 end faces of car body 1.
Described tilting mechanism 2 comprises single pendulum bearing 201, fork 202, measurement of angle scrambler 203; Wherein, single pendulum bearing 201 is fixedly mounted on car bonnet 102 end face centers, and the jointed shaft by level on single pendulum bearing 201 is hinged with fork 202, and the axis of fork 202 is perpendicular to the jointed shaft axis; One end of jointed shaft is connected with measurement of angle scrambler 203 by shaft coupling, is used for measuring oscillating bar pendulum angle signal.
Described control gear 3 comprises that servo-driver 301, terminal block 302, motion controller 303 form with power supply 304, all are installed on vehicle body 101 inner bottom surface.As shown in Figure 3, wherein, motion controller 303 is connected with displacement measurement scrambler 104, measurement of angle scrambler 203, direct current generator 105 by terminal block 302, gathers car body 1 rate signal and fork 202 pendulum angle signals that displacement measurement scrambler 104 and measurement of angle scrambler 203 record.Motion controller 303 is connected with outer computer 305, car body 1 rate signal, the fork 202 pendulum angle signals that receive are sent in outer computer 305, by the Real-Time Monitoring of outer computer 305 realizations to car body 1 speed and fork 202 swing states; Simultaneously, outer computer 305 also sends car body 1 desired speed signal and fork 202 expectation pendulum angle signals in motion controller 303, compare with car body 1 desired speed signal, fork 202 expectation pendulum angle signals respectively according to car body 1 rate signal and fork 202 pendulum angle signals by motion controller 303 thus, send to servo-driver 301 by the controlled signal of control algolithm, final by servo-driver 301 control direct current generators 105 driving car bodies 1 motions, realize the real-time control of the utility model reversible pendulum system.Described power supply 304 is connected with servo-driver 301, terminal block 302, motion controller 303, displacement measurement scrambler 104, measurement of angle scrambler 203, direct current generator 105, powers.
In the utility model, adopt IPM100 Intelligent servo module to control car body and tilting mechanism; Integrated servo-driver, terminal block, motion controller in IPM100 Intelligent servo module, can be used to replace servo-driver 301, terminal block 302, motion controller 303 in control gear.IPM100 is the 36V of a DSP-based control device technology, and 3A all-digital intelligent servo drive unit, have the TML instruction set, is used for definition and carries out motor program, embedded high-caliber Technosoft motion language.The IPM Motion Studio that develops software of Technosoft is an integrating and developing platform for the digital motion control application system, utilizes it to drive and be configured, adjust and programme the IPM100 Intelligent servo very like a cork.Needed to install on computers IPM Motion Studio before using IPM100; Use IPM Motion Studio that relevant content and parameter are generated the TML code, download to the IPM driver, then carry out, direct current generator will be by the movement instruction operation of input.
Claims (3)
1. a lorry reversible pendulum system, is characterized in that: comprise car body, tilting mechanism and control gear;
Wherein, car body is box body structure, and end face is by installing cover plate for sealing; Between the biside plate of car body, bearing is connected with front axle and back axle; The two ends of front axle and back axle are the coaxial wheel that is connected all; Car body inside is equipped with direct current generator and displacement measurement scrambler; Described direct current generator is fixedly mounted on hull bottom plate, the coaxial gear A that is installed with on the output shaft of direct current generator; Gear A and the coaxial gear B engagement that is fixedly mounted on back axle; Described displacement measurement scrambler is fixedly mounted on back axle; On the cover plate end face of car body, tilting mechanism is installed;
Described tilting mechanism comprises single pendulum bearing, fork, measurement of angle scrambler; Wherein, the single pendulum bearing is fixedly mounted on car bonnet end face center, and the jointed shaft by level on the single pendulum bearing is hinged with fork, and the axis of fork is perpendicular to the jointed shaft axis; One end of jointed shaft is connected with the measurement of angle scrambler by shaft coupling;
Described control gear is arranged on the bottom surface of getting off, and comprises servo-driver, terminal block, motion controller and electric power generating composition; Wherein, motion controller is connected with displacement measurement scrambler, measurement of angle scrambler, direct current generator by terminal block, gathers body speed of vehicle signal and fork pendulum angle signal that displacement measurement scrambler and measurement of angle scrambler record; Motion controller is connected with outer computer, and the body speed of vehicle signal, the fork pendulum angle signal that receive are sent in outer computer, by outer computer, realizes Real-Time Monitoring to body speed of vehicle and fork swing state; Simultaneously, outer computer also sends car body desired speed signal and fork expectation pendulum angle signal in motion controller, compare with car body desired speed signal, fork expectation pendulum angle signal respectively according to body speed of vehicle signal and fork pendulum angle signal by motion controller thus, send to servo-driver by the controlled signal of control algolithm, finally by servo-driver, control direct current generator and drive body movement, realize the real-time control of the utility model reversible pendulum system; Power supply is connected with servo-driver, terminal block, motion controller, displacement measurement scrambler, measurement of angle scrambler, direct current generator, powers.
2. a kind of lorry reversible pendulum system as claimed in claim 1, it is characterized in that: described front axle axis is parallel with the back axle axis.
3. a kind of lorry reversible pendulum system as claimed in claim 1, it is characterized in that: control gear adopts IPM100 Intelligent servo module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203724627U CN203288160U (en) | 2013-06-26 | 2013-06-26 | Four-wheel trolley inverted-pendulum system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203724627U CN203288160U (en) | 2013-06-26 | 2013-06-26 | Four-wheel trolley inverted-pendulum system |
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| Publication Number | Publication Date |
|---|---|
| CN203288160U true CN203288160U (en) | 2013-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203724627U Expired - Fee Related CN203288160U (en) | 2013-06-26 | 2013-06-26 | Four-wheel trolley inverted-pendulum system |
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| CN (1) | CN203288160U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104035450A (en) * | 2014-06-12 | 2014-09-10 | 杭州电子科技大学 | Rotary inverted pendulum control experiment system and control method |
| CN107067912A (en) * | 2017-05-02 | 2017-08-18 | 北京信息科技大学 | It is a kind of to perceive the inverted pendulum Mechatronic Systems of vibration |
-
2013
- 2013-06-26 CN CN2013203724627U patent/CN203288160U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104035450A (en) * | 2014-06-12 | 2014-09-10 | 杭州电子科技大学 | Rotary inverted pendulum control experiment system and control method |
| CN107067912A (en) * | 2017-05-02 | 2017-08-18 | 北京信息科技大学 | It is a kind of to perceive the inverted pendulum Mechatronic Systems of vibration |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131113 Termination date: 20140626 |
|
| EXPY | Termination of patent right or utility model |