CN204288665U - Based on the inverted pendulum experimental provision of four-wheel mobile platform - Google Patents
Based on the inverted pendulum experimental provision of four-wheel mobile platform Download PDFInfo
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- CN204288665U CN204288665U CN201420726679.8U CN201420726679U CN204288665U CN 204288665 U CN204288665 U CN 204288665U CN 201420726679 U CN201420726679 U CN 201420726679U CN 204288665 U CN204288665 U CN 204288665U
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- scrambler
- control panel
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- fork
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Abstract
The utility model belongs to control technology field, disclose a kind of inverted pendulum experimental provision based on four-wheel mobile platform, comprise chassis and circuit board support mounted thereto, control panel, the first scrambler, motor, lithium battery, the second scrambler, scrambler bracing frame, fork and wireless module; Chassis is the wheel chassis that can move forward and backward; Control panel is fixed on circuit board support; First scrambler is for measuring the rotating speed of current motor; Wireless module is used for control panel and communicates with remote computer; Lithium battery is used for drive motor, and powers to control panel and wireless module; Fork is fixed in the rotating shaft of the second scrambler, and the amplitude of fluctuation of fork is converted into angle information by the second scrambler and is sent to control panel; Second scrambler is fixed on chassis front portion by scrambler bracing frame.The utility model stability is strong, is easy to dismounting; Integrated model is simply light, without the need to fixed installation, is easy to move and carries, reduce installation cost.
Description
Technical field
The utility model belongs to control technology field, relates to a kind of inverted pendulum experimental provision based on four-wheel mobile platform.
Background technology
Inverted pendulum experiment porch is complicated, instability a, nonlinear system, is the gedanken experiment platform carrying out control theory teaching and carry out various Control release.The many typical problems in control effectively can be reflected: as nonlinear problem, robustness problem, Stabilization, servo-actuated problem and tracking problem etc. to the research of reversible pendulum system.By the control to inverted pendulum, be used for checking new control method whether to have the ability of the non-linear and instability problem of stronger process.
Inverted pendulum control problem is exactly the motion by swing rod chain connection mechanism, makes fork be stabilized to vertical state of standing upside down as early as possible.Simultaneously can the impact of disturbance cancelling, keep fork to stablize at desired locations.Current inverted pendulum experimental system mainly contains orthoscopic and rotary, and the two is all that the moving of car controlled on fixed rack reaches the object controlling fork.
Current inverted pendulum experimental system, mechanism is generally comparatively complicated, and price is higher, inconvenient maintenance; Because the dolly carrying fork is all move on certain track, therefore Whole Equipment needs to be fixed in operating table surface, needs to carry out certain adjustment and installs, be not easy to dismounting and move before experiment; And the collection of experimental data, the power supply of equipment, is all needed to be undertaken by cable, limits the field of employment of platform; Cable easily produces extra motion artifacts to fork, affects experimental result; And current two-wheeled, three wheeler inverted pendulum are when seesawing, easily changing direction of motion, affecting experimental result, the stability of system is not good.
Utility model content
(1) technical matters that will solve
The technical problems to be solved in the utility model is: propose a kind of without the need to external cable, without the need to fixed installation, be easy to move dismounting, be applicable to the low cost inverted pendulum experimental provision in various place.
(2) technical scheme
In order to solve the problems of the technologies described above, the utility model provides a kind of inverted pendulum experimental provision based on four-wheel mobile platform, and it comprises chassis 1 and circuit board support 2 mounted thereto, control panel 3, first scrambler 4, motor 5, lithium battery 6, second scrambler 7, scrambler bracing frame 8, fork 9 and wireless module 10; Described chassis 1 is the wheel chassis that can move forward and backward; Circuit board support 2 is fixed on chassis 1 rear portion; Control panel 3 is fixed on circuit board support 2; Motor 5 by gear driven rear wheel, thus makes dolly move forward and backward; First scrambler 4 is for measuring the rotating speed of current motor 5; Wireless module 10 communicates with remote computer for control panel 3; Lithium battery 6 for drive motor 5, and powers to control panel 3 and wireless module 10; Fork 9 is fixed in the rotating shaft of the second scrambler 7, and the amplitude of fluctuation of fork 9 is converted into angle information by the second scrambler 7 and is sent to control panel 3; It is anterior that second scrambler 7 is fixed on chassis 1 by scrambler bracing frame 8.
Preferably, described control panel 3 is the controller that control fork 9 balances, and it take programmable logic controller (PLC) as core, and expansion 512K × 16 FLASH is used for program and data store, and expands 256K × 16 SRAM for working procedure.
Preferably, described control panel is provided with startup button, user was by starting or stoping by experimental provision described in key control; Control panel is also provided with JTAG mouth, downloads for user.
Preferably, described circuit board support 2 is fixed on chassis 1 by four pillars.
(3) beneficial effect
The inverted pendulum experimental provision based on four-wheel mobile platform that technique scheme provides, by using four-wheel mobile platform, improve platform stabilization, eliminate when two-wheeled or three-wheel mobile platform move forward and backward and easily change direction of motion, thus affect the problem of control effects; Fork is directly fixed on scrambler bearing, and transmission mechanism-free simplifies the structure of experimental provision, and is easy to dismounting; Integrated model is simply light, without the need to fixed installation, is easy to move and carries, reduce installation cost.
Accompanying drawing explanation
Fig. 1 is the side view of the utility model embodiment based on the inverted pendulum experimental provision of four-wheel mobile platform;
Fig. 2 is the rear view of the utility model embodiment based on the inverted pendulum experimental provision of four-wheel mobile platform;
Fig. 3 is the control principle block diagram of the utility model embodiment based on the inverted pendulum experimental provision of four-wheel mobile platform.
In figure, 1-chassis, 2-circuit board support, 3-control panel, 4-first scrambler, 5-motor, 6-lithium battery, 7-second scrambler, 8-scrambler bracing frame, 9-fork, 10-wireless module.
Embodiment
For making the purpose of this utility model, content and advantage clearly, below in conjunction with drawings and Examples, embodiment of the present utility model is described in further detail.
In description of the present utility model, it should be noted that, term " on ", D score, "left", "right", " top ", " end ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
In description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be direct connection, also can be indirectly connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood depending on concrete condition.
In addition, in description of the present utility model, except as otherwise noted, the implication of " multiple " is two or more.
As shown in Figure 1, the present embodiment comprises chassis 1, circuit board support 2, control panel 3, first scrambler 4, motor 5, lithium battery 6, second scrambler 7, scrambler bracing frame 8, fork 9 and wireless module 10 based on the inverted pendulum experimental provision of four-wheel mobile platform; Particularly, chassis 1 is long 30cm, wide 20cm and the wheel chassis that can move forward and backward, and above-mentioned each parts are all installed on chassis 1; Circuit board support 2 is fixed on chassis 1 rear portion by four pillars; Control panel 3 is fixed on circuit board support 2; Motor 5 by gear driven rear wheel, thus makes dolly move forward and backward; First scrambler 4 uses 500 line scramblers, for measuring the rotating speed of current motor 5; Wireless module 10 communicates with remote computer for control panel 3; Lithium battery 6 for drive motor 5, and powers to control panel 3 and wireless module 10; Fork 9 is control objects of this device, keeps vertical direction by the movable fork 9 that makes controlling dolly; Second scrambler 7 uses 1000 line scramblers, and fork 9 is fixed in the rotating shaft of the second scrambler 7, and the amplitude of fluctuation of fork 9 can be converted into angle information by the second scrambler 7 and be sent to control panel 3; It is anterior that second scrambler 7 is fixed on chassis 1 by scrambler bracing frame 8.
In the present embodiment, control panel 3 is the controllers controlling inverted pendulum balance, with TMS320F2812dsp (programmable logic controller (PLC)) for core, expansion 512K × 16 FLASH is used for program and data store, and expands 256K × 16 SRAM for working procedure.When fork 9 swings, second scrambler 7 can export the different two-way pulse of phase place, and send into the other chip ST288A of bearing circle, ST288A judges being flapped toward of fork 9 according to the phase place of A, B pulse, if fork 9 forward rocking motion, the direction pin of ST288A exports high level, if fork 9 swings backward, and output low level.
I/O mouth due to DSP is 3.3v voltage, and ST288A is 5v voltage, therefore needs to consider the flat coupling of point.It is that open-drain exports that the pwm of two scramblers that the utility model uses exports, and therefore controls output level by pull-up resistor.First scrambler 4 is pulled to 3.3v by the utility model, can mate dsp interface voltage; Second scrambler 7 is pulled to 5v, can ST288A be mated.Now, the direction signal that pulse A and ST288A that scrambler exports exports is 5v, therefore needs to be converted into 3.3v by 74FCT164245 and sends into dsp.DSP by the output voltage of pwm signal control motor driving chip VNHSP30, thus controls the rotating speed of motor.The utility model is by one piece of 7.2v lithium battery power supply, and 7.2v power supply is converted into 5v, 3.3v and 1.8v by the power management module on control panel.Control panel leaves startup button, and user starts or stops by key control inverted pendulum device by this; Also leave JTAG mouth, download for user.Wireless module is used for communicating with remote computer, and wireless module is communicated with dsp by serial line interface.
As can be seen from technique scheme, the utility model has following remarkable advantage:
(1) the present embodiment uses 7.2v lithium battery power supply, data are transmitted by wireless module, thus provide a kind of without the need to connecting the inverted pendulum experimental provision that any external cable can be tested, greatly reduce field of employment restriction, eliminate the interference that cable causes experimental result simultaneously.
(2) the present embodiment uses four-wheel mobile platform, improves platform stabilization, eliminates when two-wheeled or three-wheel mobile platform move forward and backward and easily changes direction of motion, thus affect the problem of control effects; By dsp controller minimum system, motor drive module and speed, fork angle acquisition module integration on one piece of control panel, reduce complicacy and the cost of experimental provision circuit.
(3) the present embodiment inverted pendulum is directly fixed on scrambler bearing, and transmission mechanism-free simplifies the structure of experimental provision, and is easy to dismounting; Integrated model is simply light, without the need to fixed installation, is easy to move and carries, reduce installation cost.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvement and distortion, these improve and distortion also should be considered as protection domain of the present utility model.
Claims (4)
1. the inverted pendulum experimental provision based on four-wheel mobile platform, it is characterized in that, comprise chassis (1) and circuit board support mounted thereto (2), control panel (3), the first scrambler (4), motor (5), lithium battery (6), the second scrambler (7), scrambler bracing frame (8), fork (9) and wireless module (10); Described chassis (1) is the wheel chassis that can move forward and backward; Circuit board support (2) is fixed on chassis (1) rear portion; Control panel (3) is fixed on circuit board support (2); Motor (5) by gear driven rear wheel, thus makes dolly move forward and backward; First scrambler (4) is for measuring the rotating speed of current motor (5); Wireless module (10) communicates with remote computer for control panel (3); Lithium battery (6) for drive motor (5), and gives control panel (3) and wireless module (10) power supply; Fork (9) is fixed in the rotating shaft of the second scrambler (7), and the amplitude of fluctuation of fork (9) is converted into angle information by the second scrambler (7) and is sent to control panel (3); It is anterior that second scrambler (7) is fixed on chassis (1) by scrambler bracing frame (8).
2. as claimed in claim 1 based on the inverted pendulum experimental provision of four-wheel mobile platform, it is characterized in that, described control panel (3) is the controller that control fork (9) balances, it take programmable logic controller (PLC) as core, expansion 512K × 16 FLASH is used for program and data store, and expands 256K × 16 SRAM for working procedure.
3. as claimed in claim 1 based on the inverted pendulum experimental provision of four-wheel mobile platform, it is characterized in that, (3) are provided with startup button to described control panel, and user was by starting or stoping by experimental provision described in key control; (3) are also provided with JTAG mouth to control panel, download for user.
4. the inverted pendulum experimental provision based on four-wheel mobile platform according to any one of claim 1-3, is characterized in that, described circuit board support (2) is fixed on chassis (1) by four pillars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420726679.8U CN204288665U (en) | 2014-11-26 | 2014-11-26 | Based on the inverted pendulum experimental provision of four-wheel mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420726679.8U CN204288665U (en) | 2014-11-26 | 2014-11-26 | Based on the inverted pendulum experimental provision of four-wheel mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204288665U true CN204288665U (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420726679.8U Expired - Fee Related CN204288665U (en) | 2014-11-26 | 2014-11-26 | Based on the inverted pendulum experimental provision of four-wheel mobile platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249765A (en) * | 2016-09-10 | 2016-12-21 | 上海大学 | A kind of networking inverted pendulum control method merging compression image information |
| CN108572590A (en) * | 2018-04-18 | 2018-09-25 | 陕西理工大学 | One kind controlling inverted pendulum experimental provision based on bluetooth self-balancing trolley |
-
2014
- 2014-11-26 CN CN201420726679.8U patent/CN204288665U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249765A (en) * | 2016-09-10 | 2016-12-21 | 上海大学 | A kind of networking inverted pendulum control method merging compression image information |
| CN108572590A (en) * | 2018-04-18 | 2018-09-25 | 陕西理工大学 | One kind controlling inverted pendulum experimental provision based on bluetooth self-balancing trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20191126 |
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| CF01 | Termination of patent right due to non-payment of annual fee |