CN203616656U - Air floating ball control experimental system - Google Patents
Air floating ball control experimental system Download PDFInfo
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- CN203616656U CN203616656U CN201320802387.3U CN201320802387U CN203616656U CN 203616656 U CN203616656 U CN 203616656U CN 201320802387 U CN201320802387 U CN 201320802387U CN 203616656 U CN203616656 U CN 203616656U
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Abstract
The utility model discloses an air floating ball control experimental system based on a PID control technology. The air floating ball control experimental system comprises an ultrasonic ranging module, a control driving module and a position monitoring module, wherein the ultrasonic ranging module is used for measuring position of an air floating ball and transmitting position information to the control driving module; the control driving module comprises a serial port communication circuit, an MCU control circuit and a power amplifying circuit; the position monitoring module comprises a position display unit and a position setting unit; and the position setting unit sets the position of the air floating ball, obtains the current position information through a serial port, the position information is displayed on the position display unit, the ultrasonic ranging module transmits the position information of the air floating ball to the position display unit through the control driving module, and the control driving module controls the motion of the air floating ball through a PID algorithm and the power amplifying circuit arranged in the control driving module, so that the air floating ball carries out corresponding motion according to the requirement of target position information. The air floating ball control experimental system in simple to control, is more intuitive, and solves the problem that the traditional experimental platforms are independent of one another.
Description
Technical field
The utility model relates to automation field, is mainly a kind of air supporting ball control experimental system based on PID control technology.
Background technology
The automation-control experiment of current automation major is generally realized based on MATLAB emulation platform, fails to combine with control object well.Test with several classes that control object combines, it is all Specialty Experiment, such as process control experiment, Electric Machine Control experiment, inverted pendulum experiment etc., because referent is more complicated and need more other professional knowledges, student is difficult to participate in from the beginning to the end whole experiment link, be unfavorable for understanding and grasp to basic control principle, experiment effect is unsatisfactory.By literature search, the similar system that is applied at present experiment, research mostly both at home and abroad is magnetic ball float experimental system, and air supporting ball experimental system does not have ripe product.This problem, using air supporting ball as experimental subjects, is more suitable for undergraduate's course teaching experiment, and research has certain novelty.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, proposes a kind of air supporting ball control experimental system based on PID control technology.
Air supporting ball control experimental system, comprises ultrasound measurement module, controls driver module, monitoring position module; Described ultrasound measurement module is used for measuring the position of air supporting ball, and sends positional information to control driver module; Described control driver module comprises serial communication circuit, MCU control circuit and power amplification circuit; Described monitoring position module comprises position display unit and set positions unit;
Described control driver module receives the ball float positional information from ultrasound measurement module, then by serial communication circuit, ball float positional information is sent to the position display unit in monitoring position module; Control driver module simultaneously and receive the ball float target position information from the input of monitoring position situated setup unit, and the ball float positional information of this information and ultrasound measurement module is compared, and regulate the realization of fan wind-force that ball float is controlled to target location after calculating current fans drive amount by pid algorithm;
Set positions unit input ball float target position information in monitoring position module, monitoring position module sends to the target position information of input the MCU control circuit of controlling in driver module, MCU control circuit calculates the dutycycle of PWM ripple according to ball float target location and current location and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control fan wind speed; Position display unit receives from the ball float information of controlling driver module, for showing position or the movement locus of ball float;
Described serial communication circuit comprises the first chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4; The 6th pin of the first chip U1 is connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The 7th pin of the first chip U1 is connected with the 3rd pin of USB interface, and the 8th pin is connected with the second pin of USB interface; The 9th pin of the first chip U1 is connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected with the 19 pin of the first chip U1, and while ground connection; The tenth pin of the first chip U1 is connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; The 13 pin of the first chip U1 is connected with the 20 pin of the first chip U1, one end of the second capacitor C 2 simultaneously, and connects 5V voltage simultaneously; The 11 pin of the first chip U1 is connected with the 12 pin of the first chip U1, the other end of the second capacitor C 2 simultaneously, and while ground connection; The first pin of USB interface connects 5V voltage, and the 5th pin connects the 6th pin, the 4th pin ground connection;
Described MCU control circuit 2-2, comprises the second chip U2, and the 68 pin of the second described chip U2 is connected with the 3rd pin with the 4th pin of the first chip U1 respectively with the 69 pin; The 31 pin of the second chip U2 is connected with one end of the 3rd resistance R 3; The 6th pin, the 11 pin, the 21 pin, the 22 pin, the 28 pin, the 50 pin, the 75 pin and the 100 pin of the second chip U2 connect 3.3V voltage; The tenth pin, the 19 pin, the 20 pin, the 27 pin, the 49 pin, the 74 pin and the equal ground connection of the 99 pin of the second chip U2;
Described power amplification circuit 2-3, the motor drive ic U3 comprising, NPN triode Q1, light emitting diode D1, the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the 5th capacitor C 5, the 6th capacitor C 6, first interface device J1 and the second interface unit J2;
The first pin ground connection of motor drive ic U3, the second pin is connected with one end of the second resistance R 2, the collector of NPN triode Q1 simultaneously, another termination 5V voltage of the second resistance R 2, the base stage of NPN triode Q1 is connected with the other end of the 3rd resistance R 3, the grounded emitter of NPN triode Q1; The 3rd pin of motor drive ic U3 is connected with one end of the 4th resistance R 4, another termination 5V voltage of the 4th resistance R 4; The 5th pin, the 6th pin of motor drive ic U3 are connected with one end of the 5th resistance R 5, the 6th resistance R 6 respectively, the other end ground connection of the 5th resistance R 5, the 6th resistance R 6; The 7th pin of motor drive ic U3 is connected with one end of the 5th capacitor C 5, one end of the 6th capacitor C 6, the second pin of the second interface unit J2 simultaneously, the other end of the 5th capacitor C 5 and the 6th capacitor C 6, the equal ground connection of the first pin of the second interface unit J2; The 8th pin of motor drive ic U3 is connected with the positive pole of light emitting diode D1, the second pin of first interface device J1 simultaneously, the negative pole of light emitting diode D1 is connected with one end of the first resistance R 1, the other end of the first resistance R 1, the equal ground connection of the first pin of first interface device J1.
Described ultrasound measurement module 1 uses the range finder module that model is HC-SR04.
The model of the first described chip U1 is CH341; The first crystal oscillator Y1 is 12M; The first capacitor C 1 is 0.01 uF, and the second capacitor C 2 is 0.1uF, and the 3rd capacitor C 3 and the 4th capacitor C 4 are 20pF; The model of the second described chip U2 is the ARM Cortex-M3 processor STM32F103VBT6 based on 32; Described motor drive ic U3 model is BTS7960.
The beneficial effect that the utility model has:
(1) traditional experience is recognized magnetic ball float control algolithm complexity, as Undergraduate Experimental Teaching improper.This problem is with reference to magnetic ball float experimental system, and using table tennis as ball float control object, system control is simple, more directly perceived, is more suitable for the education experiment in undergraduate.
(2) this platform effective integration the knowledge such as Automatic Control Theory, single-chip microcomputer, embedded system, solved traditional experiment platform separate problem separately.By this experiment porch, effectively how guiding student association digests knowledge mutually, is conducive to students ' actual situation problem resolving ability and cultivates.
Accompanying drawing explanation
Fig. 1 is that hardware of the present utility model connects block diagram;
Fig. 2 is serial communication circuit figure of the present utility model;
Fig. 3 is MCU control circuit figure of the present utility model;
Fig. 4 is power amplification circuit figure of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further illustrated.
As shown in Figure 1, a kind of air supporting ball control experimental system, comprises ultrasound measurement module 1, controls driver module 2, monitoring position module 3.
Set positions unit 3-2 input ball float target position information in monitoring position module 3, monitoring position module 3 sends to the target position information of input the MCU control circuit 2-2 controlling in driver module 2, MCU control circuit 2-2 calculates the dutycycle of PWM ripple according to ball float target location and current location and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control fan wind speed; Position display unit 3-1 receives from the ball float information of controlling driver module 2, for showing position or the movement locus of ball float;
As shown in Figure 2, serial communication circuit 2-1 comprises the first chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4.The 6th pin of the first chip U1 is connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The 7th pin of the first chip U1 is connected with the 3rd pin of USB interface, and the 8th pin is connected with the second pin of USB interface; The 9th pin of the first chip U1 is connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected with the 19 pin of the first chip U1, and while ground connection; The tenth pin of the first chip U1 is connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; The 13 pin of the first chip U1 is connected with the 20 pin of the first chip U1, one end of the second capacitor C 2 simultaneously, and connects 5V voltage simultaneously; The 11 pin of the first chip U1 is connected with the 12 pin of the first chip U1, the other end of the second capacitor C 2 simultaneously, and while ground connection; The first pin of USB interface connects 5V voltage, and the 5th pin connects the 6th pin, the 4th pin ground connection.
The model of the first described chip U1 is CH341; The first crystal oscillator Y1 is 12M; The first capacitor C 1 is 0.01 uF, and the second capacitor C 2 is 0.1uF, and the 3rd capacitor C 3 and the 4th capacitor C 4 are 20pF;
Fig. 3 is MCU control circuit 2-2, comprises the second chip U2, and the 68 pin of the second described chip U2 is connected with the 3rd pin with the 4th pin of the first chip U1 respectively with the 69 pin; The 31 pin of the second chip U2 is connected with one end of the 3rd resistance R 3; The 6th pin, the 11 pin, the 21 pin, the 22 pin, the 28 pin, the 50 pin, the 75 pin and the 100 pin of the second chip U2 connect 3.3V voltage; The tenth pin, the 19 pin, the 20 pin, the 27 pin, the 49 pin, the 74 pin and the equal ground connection of the 99 pin of the second chip U2;
The second described chip U2 is the kernel control chip of whole control driver module, the ARM Cortex-M3 processor STM32F103VBT6 based on 32, be responsible for coordinating the work of whole system, comprise the output of fans drive signal, realization and the signal acquisition process etc. of serial communication.
Power amplification circuit 2-3 as shown in Figure 4, the motor drive ic U3, NPN triode Q1, light emitting diode D1, the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the 5th capacitor C 5, the 6th capacitor C 6, first interface device J1 and the second interface unit J2 that comprise.
The first pin ground connection of motor drive ic U3, the second pin is connected with one end of the second resistance R 2, the collector of NPN triode Q1 simultaneously, another termination 5V voltage of the second resistance R 2, the base stage of NPN triode Q1 is connected with the other end of the 3rd resistance R 3, the grounded emitter of NPN triode Q1; The 3rd pin of motor drive ic U3 is connected with one end of the 4th resistance R 4, another termination 5V voltage of the 4th resistance R 4; The 5th pin, the 6th pin of motor drive ic U3 are connected with one end of the 5th resistance R 5, the 6th resistance R 6 respectively, the other end ground connection of the 5th resistance R 5, the 6th resistance R 6; The 7th pin of motor drive ic U3 is connected with one end of the 5th capacitor C 5, one end of the 6th capacitor C 6, the second pin of the second interface unit J2 simultaneously, the other end of the 5th capacitor C 5 and the 6th capacitor C 6, the equal ground connection of the first pin of the second interface unit J2; The 8th pin of motor drive ic U3 is connected with the positive pole of light emitting diode D1, the second pin of first interface device J1 simultaneously, the negative pole of light emitting diode D1 is connected with one end of the first resistance R 1, the other end of the first resistance R 1, the equal ground connection of the first pin of first interface device J1.
Described motor drive ic U3 model is BTS7960, is half-bridge driven, can realize with single-chip microcomputer by the object of pwm signal control rotation speed of the fan;
Described NPN triode Q1 model is 9013; Light emitting diode D1 model is that LED light emitting diode is pasted in bridge field 0805; The resistance size of the first resistance R 1 is 10K ohm; The resistance size of the second resistance R 2 and the 4th resistance R 4 is 4.7K ohm; The resistance size of the 3rd resistance R 3 is 100 ohm; The resistance size of the 5th resistance R 5 and the 6th resistance R 6 is 1K ohm; The 5th capacitor C 5 sizes are 10uF; The 6th capacitor C 6 sizes are 0.1uF; First interface device J1 and the second interface unit J2 model are 301-2P connection terminal.
The utility model is mainly the position that ball float is set in set positions unit, is obtained its current location information and is presented at position display unit by serial ports.Ultrasonic distance measuring module 1 is passed to position display unit 3-1 by the positional information of ball float by controlling driver module 2, control driver module 2 by the motion of the power amplification circuit control ball float in pid algorithm and its module, make its according to target positional information regulation move accordingly.
Claims (3)
1. an air supporting ball control experimental system, is characterized in that comprising ultrasound measurement module, controls driver module, monitoring position module; Described ultrasound measurement module is used for measuring the position of air supporting ball, and sends positional information to control driver module; Described control driver module comprises serial communication circuit, MCU control circuit and power amplification circuit; Described monitoring position module comprises position display unit and set positions unit;
Described control driver module receives the ball float positional information from ultrasound measurement module, then by serial communication circuit, ball float positional information is sent to the position display unit in monitoring position module; Control driver module simultaneously and receive the ball float target position information from the input of monitoring position situated setup unit, and the ball float positional information of this information and ultrasound measurement module is compared, and regulate the realization of fan wind-force that ball float is controlled to target location after calculating current fans drive amount by pid algorithm;
Set positions unit input ball float target position information in monitoring position module, monitoring position module sends to the target position information of input the MCU control circuit of controlling in driver module, MCU control circuit calculates the dutycycle of PWM ripple according to ball float target location and current location and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control fan wind speed; Position display unit receives from the ball float information of controlling driver module, for showing position or the movement locus of ball float;
Described serial communication circuit comprises the first chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4; The 6th pin of the first chip U1 is connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The 7th pin of the first chip U1 is connected with the 3rd pin of USB interface, and the 8th pin is connected with the second pin of USB interface; The 9th pin of the first chip U1 is connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected with the 19 pin of the first chip U1, and while ground connection; The tenth pin of the first chip U1 is connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; The 13 pin of the first chip U1 is connected with the 20 pin of the first chip U1, one end of the second capacitor C 2 simultaneously, and connects 5V voltage simultaneously; The 11 pin of the first chip U1 is connected with the 12 pin of the first chip U1, the other end of the second capacitor C 2 simultaneously, and while ground connection; The first pin of USB interface connects 5V voltage, and the 5th pin connects the 6th pin, the 4th pin ground connection;
Described MCU control circuit, comprises the second chip U2, and the 68 pin of the second described chip U2 is connected with the 3rd pin with the 4th pin of the first chip U1 respectively with the 69 pin; The 31 pin of the second chip U2 is connected with one end of the 3rd resistance R 3; The 6th pin, the 11 pin, the 21 pin, the 22 pin, the 28 pin, the 50 pin, the 75 pin and the 100 pin of the second chip U2 connect 3.3V voltage; The tenth pin, the 19 pin, the 20 pin, the 27 pin, the 49 pin, the 74 pin and the equal ground connection of the 99 pin of the second chip U2;
Described power amplification circuit, the motor drive ic U3 comprising, NPN triode Q1, light emitting diode D1, the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the 5th capacitor C 5, the 6th capacitor C 6, first interface device J1 and the second interface unit J2;
The first pin ground connection of motor drive ic U3, the second pin is connected with one end of the second resistance R 2, the collector of NPN triode Q1 simultaneously, another termination 5V voltage of the second resistance R 2, the base stage of NPN triode Q1 is connected with the other end of the 3rd resistance R 3, the grounded emitter of NPN triode Q1; The 3rd pin of motor drive ic U3 is connected with one end of the 4th resistance R 4, another termination 5V voltage of the 4th resistance R 4; The 5th pin, the 6th pin of motor drive ic U3 are connected with one end of the 5th resistance R 5, the 6th resistance R 6 respectively, the other end ground connection of the 5th resistance R 5, the 6th resistance R 6; The 7th pin of motor drive ic U3 is connected with one end of the 5th capacitor C 5, one end of the 6th capacitor C 6, the second pin of the second interface unit J2 simultaneously, the other end of the 5th capacitor C 5 and the 6th capacitor C 6, the equal ground connection of the first pin of the second interface unit J2; The 8th pin of motor drive ic U3 is connected with the positive pole of light emitting diode D1, the second pin of first interface device J1 simultaneously, the negative pole of light emitting diode D1 is connected with one end of the first resistance R 1, the other end of the first resistance R 1, the equal ground connection of the first pin of first interface device J1.
2. a kind of air supporting ball control experimental system as claimed in claim 1, its feature is used at ultrasound measurement module 1 range finder module that model is HC-SR04.
3. a kind of air supporting ball control experimental system as claimed in claim 1, is characterized in that the model of the first described chip U1 is CH341; The first crystal oscillator Y1 is 12M; The first capacitor C 1 is 0.01 uF, and the second capacitor C 2 is 0.1uF, and the 3rd capacitor C 3 and the 4th capacitor C 4 are 20pF;
The model of the second described chip U2 is the ARM Cortex-M3 processor STM32F103VBT6 based on 32;
described motor drive ic U3 model is BTS7960; NPN triode Q1 model is 9013; Light emitting diode D1 model is that LED light emitting diode is pasted in bridge field 0805; The resistance size of the first resistance R 1 is 10K ohm; The resistance size of the second resistance R 2 and the 4th resistance R 4 is 4.7K ohm; The resistance size of the 3rd resistance R 3 is 100 ohm; The resistance size of the 5th resistance R 5 and the 6th resistance R 6 is 1K ohm; The 5th capacitor C 5 sizes are 10uF; The 6th capacitor C 6 sizes are 0.1uF; First interface device J1 and the second interface unit J2 model are 301-2P connection terminal.
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| CN201320802387.3U CN203616656U (en) | 2013-12-06 | 2013-12-06 | Air floating ball control experimental system |
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| CN201320802387.3U CN203616656U (en) | 2013-12-06 | 2013-12-06 | Air floating ball control experimental system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103713653A (en) * | 2013-12-06 | 2014-04-09 | 杭州电子科技大学 | Air floatation ball control experimental system and measuring method |
| CN107941452A (en) * | 2017-12-21 | 2018-04-20 | 华南理工大学广州学院 | A kind of wind-force measure and control device and its control method |
-
2013
- 2013-12-06 CN CN201320802387.3U patent/CN203616656U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103713653A (en) * | 2013-12-06 | 2014-04-09 | 杭州电子科技大学 | Air floatation ball control experimental system and measuring method |
| CN103713653B (en) * | 2013-12-06 | 2017-02-08 | 杭州电子科技大学 | Air floatation ball control experimental system and measuring method |
| CN107941452A (en) * | 2017-12-21 | 2018-04-20 | 华南理工大学广州学院 | A kind of wind-force measure and control device and its control method |
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Granted publication date: 20140528 Termination date: 20211206 |