CN205164153U - Multi freedom motion platform control system - Google Patents
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- CN205164153U CN205164153U CN201520946745.7U CN201520946745U CN205164153U CN 205164153 U CN205164153 U CN 205164153U CN 201520946745 U CN201520946745 U CN 201520946745U CN 205164153 U CN205164153 U CN 205164153U
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- 230000003321 amplification Effects 0.000 claims description 21
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 21
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- 230000010354 integration Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
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- 239000008358 core component Substances 0.000 description 2
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- 230000008054 signal transmission Effects 0.000 description 2
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Abstract
The utility model provides a multi freedom motion platform control system, include: a host computer. A plurality of motion platform, every motion platform among a plurality of motion platform includes the control unit and servo drive unit, will through ethernet bus the control unit with the host computer links to each other, will through the controller area network bus the control unit with servo drive unit links to each other, the control unit is used for receiving and comes from the control incoming signal of host computer is right control incoming signal analyzes and obtains controlling output signal, and will controlling output signal send to servo drive unit is with right servo drive unit controls. Through the technical scheme of the utility model, can promote multi freedom motion platform control system's reliability effectively.
Description
Technical field
The utility model relates to vivid platform technical field, in particular to a kind of multi-degree of freedom dynamic platform control system.
Background technology
At present, multi-degree of freedom dynamic platform control system is the indispensable equipment of dynamic amusement platform such as dynamic cinema, recreation facility, stage, simulator.But, external product price is very expensive, domestic product mainly adopts the technology path based on pulse direction, and carry out integration realization with generic servo driver, there is cost high, the problems such as reliability is low, Consumer's Experience weak effect (as vivid platform motion and the poor synchronization of plot), cause Consumer's Experience extreme difference.
Therefore, how to reduce the cost of multi-degree of freedom dynamic platform control system, and promote the integration of multi-degree of freedom dynamic platform control system and reliability becomes current problem demanding prompt solution.
Utility model content
The utility model is just based on the problems referred to above, propose a kind of new technical scheme, effectively can reduce the cost of multi-degree of freedom dynamic platform control system, promote integration and the reliability of multi-degree of freedom dynamic platform control system simultaneously, thus improve Consumer's Experience.
In view of this, first aspect of the present utility model proposes a kind of multi-degree of freedom dynamic platform control system, comprising: host computer, multiple vivid platform, each vivid platform in described multiple vivid platform comprises control unit and servo drive unit, by industry ethernet, described control unit is connected with described host computer, by Controller Area Network BUS, described control unit is connected with described servo drive unit, described control unit is for receiving the control inputs signal from described host computer, carry out parsing to described control inputs signal to obtain controlling output signal, and described control output signal is sent to described servo drive unit, to control described servo drive unit.
In this technical scheme, be connected with host computer by the control unit of industry ethernet by each vivid platform, to receive the control inputs signal from host computer, and by Controller Area Network BUS (i.e. CAN, ControllerAreaNetwork) control unit of each vivid platform is connected with servo-driver unit, output signal is controlled to send to servo drive unit, wherein, control inputs signal is carried out parsing to obtain controlling output signal by control unit, such as, the action command (i.e. control inputs signal) of the vivid platform from host computer received is carried out to the shift action of resolving the vivid platform that can temporally be carried out, after 30 minutes, rock back and forth seat (namely controlling output signal), therefore, pass through technique scheme, achieve the real-Time Signal Transfer between host computer and control unit by industry ethernet and achieve the real-Time Signal Transfer between servo drive unit and control unit by Controller Area Network BUS, avoid the problem passing through the multi-degree of freedom dynamic platform control system poor reliability realized based on the technology path of pulse in correlation technique, effectively improve integration and the reliability of multi-degree of freedom dynamic platform control system, thus improve Consumer's Experience.
In technique scheme, preferably, described status information also for receiving the status information from described servo drive unit, and is sent to described host computer by described control unit.
In this technical scheme, by receiving the status information from servo drive unit, wherein, status information can be the warning message of the absolute position of motor in servo drive unit, load factor and servo drive unit, and status information is sent to host computer, so, host computer can be made to get the state of servo drive unit in real time, and send control inputs signal according to the state of servo drive unit to control unit, improve integration and the reliability of multi-degree of freedom dynamic platform control system further.
In technique scheme, preferably, also comprise: Ethernet switch, by described Ethernet switch, described host computer is connected with described multiple vivid platform.
In this technical scheme, by Ethernet switch, host computer is connected with multiple vivid platform, so, not only can improve the speed that host computer and multiple vivid platform carry out Signal transmissions, simultaneously, because Ethernet switch cost is lower, thus effectively can reduce the cost of multi-degree of freedom dynamic platform control system.
In technique scheme, preferably, described control unit is digital signal processor.
In this technical scheme, control unit is digital signal processor (DSP, DigitalSignalProcessing), wherein, digital signal processor is the core component in control unit, the control inputs signal from host computer received can be resolved by digital signal processor, to realize control inputs signal being converted to the object controlling output signal.
In technique scheme, preferably, described each vivid platform also comprises: the first optical coupling isolation circuit, and one end of described first optical coupling isolation circuit is connected to the first input/output port of described digital signal processor, and the other end is connected to environmental effects switch; Second optical coupling isolation circuit, one end of described second optical coupling isolation circuit is connected to the second input/output port of described digital signal processor, and the other end is connected to environment scene device.
In this technical scheme; by the first optical coupling isolation circuit be connected with first input/output port (i.e. I/O port) of digital signal processor is connected to environmental effects switch; thus can complete and such as stop in emergency, locking safety belt, unmanned detect the actions such as autostop, effectively improve the experience sense of user.On the other hand, the second optical coupling isolation circuit be connected with the second input/output port of digital signal processor can be connected to environment scene device, thus can control environment scene device, such as, can realize lightning by carrying out control to environment scene device, blow, disclose the back of the body, blow, snow, sweep and move back, blow bubbles, put the special efficacy actions such as smog, thus it is more true to nature that the scene of user is experienced.
In technique scheme, preferably, described each vivid platform also comprises: the first operational amplification circuit, and one end of described first operational amplification circuit is connected to an AD port of described digital signal processor, and the other end is connected to user input apparatus; Second operational amplification circuit, one end of described second operational amplification circuit is connected to the 2nd AD port of described digital signal processor, and the other end is connected to environmental effects motor.
In this technical scheme, by the first operational amplification circuit be connected with an AD port of digital signal processor is connected to user input apparatus, so that user can control the amplitude size of the action of vivid platform, such as, the degree of rocking controlling the seat of vivid platform is soft, so, the demand according to user controls vivid platform, makes user have best experience.In addition, the second operational amplification circuit be connected with the 2nd AD port of digital signal processor is connected to environmental effects motor, and such as, environmental effects motor can be the eccentric motor realizing shake control effect, and the voltage of eccentric motor is 0 volt to 12 volts.
In technique scheme, preferably, described each vivid platform also comprises: RS232 driving isolation circuit, and one end of described RS232 driving isolation circuit is connected to the serial communication interface of described digital signal processor, and the other end is connected to terminal.
In this technical scheme, by one end of RS232 driving isolation circuit is connected with the serial communication interface of digital signal processor, the other end is connected with terminal, thus can be controlled by terminal log word signal processor, be convenient to user and multi-degree of freedom dynamic platform control system is monitored and debugged.
In technique scheme, preferably, the serial communication network interface of described digital signal processor is connected to keyboard interface and/or display interface device.
In this technical scheme, by the serial communication network interface of digital signal processor is connected to keyboard interface, also just illustrate that user can be controlled multi-degree of freedom dynamic platform control system by the keyboard be connected with keyboard interface, in addition, the serial communication network interface of digital signal processor is connected to display interface device, then user can be monitored multi-degree of freedom dynamic platform control system by the display be connected with display interface device.
In technique scheme, preferably, described each vivid platform also comprises: ferroelectric memory, for storing the service data of described digital signal processor.
In this technical scheme, stored the service data of digital signal processor by ferroelectric memory, the running status of digital signal processor can be got at any time.
In technique scheme, preferably, described control inputs signal is sent to described control unit according to User Data Protocol by described host computer.
In this technical scheme, control inputs signal is sent to control unit according to User Data Protocol by host computer, because User Data Protocol has the characteristic of fast transport, thus make host computer rapidly control inputs signal can be sent to control unit.
By the technical solution of the utility model, effectively can reduce the cost of multi-degree of freedom dynamic platform control system, promote integration and the reliability of multi-degree of freedom dynamic platform control system simultaneously, thus improve Consumer's Experience.
Accompanying drawing explanation
Fig. 1 shows the structural representation of the multi-degree of freedom dynamic platform control system according to an embodiment of the present utility model.
Wherein, the corresponding relation in Fig. 1 between the mark of accompanying drawing and component names is:
100 multi-degree of freedom dynamic platform control systems, 102 host computers, 104 vivid platforms, 1042 control units, 1044 servo drive units, 1,046 first optical coupling isolation circuits, 1048 first external-connected ports, 1050 second optical coupling isolation circuits, 1,052 second external-connected ports, 1,054 first operational amplification circuits, 1056 the 3rd external-connected ports, 1058 second operational amplification circuits, 1060 the 4th external-connected ports, 1062RS232 driving isolation circuit, 1064 keyboard interfaces, 1066 ferroelectric memorys, 108 other vivid platforms, 110 Ethernet switches.
Detailed description of the invention
In order to more clearly understand above-mentioned purpose of the present utility model, feature and advantage, below in conjunction with the drawings and specific embodiments, the utility model is further described in detail.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.
Set forth a lot of detail in the following description so that fully understand the utility model; but; the utility model can also adopt other to be different from other modes described here and implement, and therefore, protection domain of the present utility model is not by the restriction of following public specific embodiment.
Fig. 1 shows the structural representation of the multi-degree of freedom dynamic platform control system according to an embodiment of the present utility model.
As shown in Figure 1, according to the multi-degree of freedom dynamic platform control system 100 of an embodiment of the present utility model, comprising: host computer 102, multiple vivid platform, each vivid platform 104 in described multiple vivid platform comprises control unit 1042 and servo drive unit 1044, by industry ethernet, described control unit 1042 is connected with described host computer 102, by Controller Area Network BUS, described control unit 1042 is connected with described servo drive unit 1044, described control unit 1042 is for receiving the control inputs signal from described host computer 102, carry out parsing to described control inputs signal to obtain controlling output signal, and described control output signal is sent to described servo drive unit 1044, to control described servo drive unit 1044.
In this technical scheme, be connected with host computer 102 by the control unit 1042 of industry ethernet by vivid platform 104, to receive the control inputs signal from host computer 102, and by Controller Area Network BUS (i.e. CAN, ControllerAreaNetwork) control unit 1042 of each vivid platform 104 is connected with servo-driver unit, output signal is controlled to send to servo drive unit 1044, wherein, control inputs signal is carried out parsing to obtain controlling output signal by control unit 1042, such as, the action command (i.e. control inputs signal) of the vivid platform 104 from host computer 102 received is carried out to the shift action of resolving the vivid platform 104 that can temporally be carried out, after 30 minutes, rock back and forth seat (namely controlling output signal), therefore, pass through technique scheme, achieve the real-Time Signal Transfer between host computer 102 and control unit 1042 by industry ethernet and achieve the real-Time Signal Transfer between servo drive unit 1044 and control unit 1042 by Controller Area Network BUS, avoid the problem passing through multi-degree of freedom dynamic platform control system 100 poor reliability realized based on the technology path of pulse in correlation technique, effectively improve integration and the reliability of multi-degree of freedom dynamic platform control system 100, thus improve Consumer's Experience.
In addition, distribute one No. ID can to the control unit 1042 of vivid platform 104, this No. ID represents with the IP address of Ethernet, such as: 192.168.1.100.Because the connecting line that multi-degree of freedom dynamic platform control system 1001 is external only needs the power line of 1 220V and the grid line of an Ethernet, greatly simplify on-the-spot wiring installation.Meanwhile, industry ethernet adopts 10M/100M adaptive mode to realize, have data transmission at a high speed, reliable and Large Copacity etc. is specific.
In technique scheme, preferably, described status information also for receiving the status information from described servo drive unit 1044, and is sent to described host computer 102 by described control unit 1042.
In this technical scheme, by receiving the status information from servo drive unit 1044, wherein, status information can be the absolute position of motor in servo drive unit 1044, the warning message of load factor and servo drive unit 1044, and status information is sent to host computer 102, so, host computer 102 can be made to get the state of servo drive unit 1044 in real time, and send control inputs signal according to the state of servo drive unit 1044 to control unit 1042, improve integration and the reliability of multi-degree of freedom dynamic platform control system 100 further.
In technique scheme, preferably, also comprise: Ethernet switch 110, by described Ethernet switch 110, described host computer 102 is connected with described multiple vivid platform.
In this technical scheme, by Ethernet switch 110, host computer 102 and multiple vivid platform are carried out being connected (being be connected with other vivid platforms 108 with vivid platform 104 by host computer 102 by Ethernet switch 110 in Fig. 1), so, not only can improve the speed that host computer 102 and multiple vivid platform carry out Signal transmissions, simultaneously, because Ethernet switch 110 cost is lower, thus effectively can reduce the cost of multi-degree of freedom dynamic platform control system 100.
Concrete, computer network interface (model of computer network interface can be HR91105A) can be passed through host computer 102 and Ethernet switch 110 are linked together, and by ethernet module (model of ethernet module can be ENC424J600) and the serial peripheral port of control unit 1042, Ethernet switch 110 and control unit 1042 are linked together, and, when the port of an Ethernet switch 110 is inadequate, can be expanded by another Ethernet switch 110.
In technique scheme, preferably, described control unit 1042 is digital signal processor.
In this technical scheme, control unit 1042 is digital signal processor (DSP, DigitalSignalProcessing), wherein, digital signal processor is the core component in vivid platform 104, the control inputs signal from host computer 102 received can be resolved by digital signal processor, to realize control inputs signal being converted to the object controlling output signal.
In technique scheme, preferably, described each vivid platform 104 also comprises: the first optical coupling isolation circuit 1046, and one end of described first optical coupling isolation circuit 1046 is connected to the first input/output port of described digital signal processor, and the other end is connected to environmental effects switch; Second optical coupling isolation circuit 1050, one end of described second optical coupling isolation circuit 1050 is connected to the second input/output port of described digital signal processor, and the other end is connected to environment scene device.
In this technical scheme; first input/output port (i.e. I/O port) of digital signal processor is connected to first optical coupling isolation circuit one end; the other end of the first optical coupling isolation circuit is connected to environmental effects switch; particularly; by the first external-connected port 1048, first optical coupling isolation circuit is connected with environmental effects switch; thus can complete and such as stop in emergency, locking safety belt, unmanned detect the actions such as autostop, effectively improve the experience sense of user.On the other hand, second input/output port (i.e. I/O port) of digital signal processor is connected to second optical coupling isolation circuit 1050 one end, the other end of the second optical coupling isolation circuit 1050 is connected to environment scene device, particularly, by the second external-connected port 1052, second optical coupling isolation circuit 1050 is connected with environment scene device, thus can control environment scene device, such as, lightning can be realized by carrying out control to environment scene device, blow, disclose the back of the body, blow, snow, sweep and move back, blow bubbles, put the special efficacy actions such as smog, thus it is more true to nature to make the scene of user experience.
In technique scheme, preferably, described each vivid platform 104 also comprises: the first operational amplification circuit 1054, and one end of described first operational amplification circuit 1054 is connected to an AD port of described digital signal processor, and the other end is connected to user input apparatus; Second operational amplification circuit 1058, one end of described second operational amplification circuit 1058 is connected to the 2nd AD port of described digital signal processor, and the other end is connected to environmental effects motor.
In this technical scheme, one AD port of digital signal processor is connected with one end of the first operational amplification circuit 1054, the other end of the first operational amplification circuit 1054 is connected to user input apparatus, particularly, by the 3rd external-connected port 1056, first operational amplification circuit 1054 is connected with user input apparatus, so that user can control the amplitude size of the action of vivid platform 104, such as, the degree of rocking controlling the seat of vivid platform 104 is soft, so, demand according to user controls vivid platform 104, user is made to have best experience.In addition, the 2nd AD port of digital signal processor is connected with one end of the second operational amplification circuit 1058, and the other end of the second operational amplification circuit 1058 is connected to environmental effects motor by the 4th external port one 060.Such as, environmental effects motor can be the eccentric motor realizing shake control effect, and the voltage of eccentric motor is 0 volt to 12 volts.
In technique scheme, preferably, described each vivid platform 104 also comprises: RS232 driving isolation circuit 1062, and one end of described RS232 driving isolation circuit 1062 is connected to the serial communication interface of described digital signal processor, and the other end is connected to terminal.
In this technical scheme, by by one end of RS232 driving isolation circuit 1062 and the serial communication interface (SCI of digital signal processor, SerialCommunicationInterface) be connected, the other end is connected with terminal, thus can be controlled by terminal log word signal processor, be convenient to user and multi-degree of freedom dynamic platform control system 100 is monitored and debugged.
In technique scheme, preferably, the serial communication network interface of described digital signal processor is connected to keyboard interface 1064 and/or display interface device.
In this technical scheme, by the serial communication network interface (LIN by digital signal processor, LocalInterconnectNetwork) keyboard interface 1064 is connected to, also just illustrate that user can be controlled multi-degree of freedom dynamic platform control system 100 by the keyboard be connected with keyboard interface, in addition, the serial communication network interface of digital signal processor also can be connected to display interface device, then user can be monitored multi-degree of freedom dynamic platform control system 100 by the display be connected with display interface device.
In technique scheme, preferably, described each vivid platform 104 also comprises: ferroelectric memory 1066, for storing the service data of described digital signal processor.
In this technical scheme, stored the service data of digital signal processor by ferroelectric memory 1066, the running status of digital signal processor can be got at any time.
In technique scheme, preferably, described control inputs signal is sent to described control unit 1042 according to User Data Protocol by described host computer 102.
In this technical scheme, host computer 102 is according to User Data Protocol (UDP, UserDatagramProtocol) control inputs signal is sent to control unit 1042, because User Data Protocol has the characteristic of fast transport, thus make host computer 102 rapidly control inputs signal can be sent to control unit 1042.
Other vivid platforms 108 are identical with the device that vivid platform 103 has, and this is no longer going to repeat them.
More than be described with reference to the accompanying drawings the technical solution of the utility model, effectively can have reduced the cost of multi-degree of freedom dynamic platform control system, promoted integration and the reliability of multi-degree of freedom dynamic platform control system simultaneously, thus improve Consumer's Experience.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a multi-degree of freedom dynamic platform control system, is characterized in that, comprising:
Host computer;
Multiple vivid platform, each vivid platform in described multiple vivid platform comprises control unit and servo drive unit, by industry ethernet, described control unit is connected with described host computer, by Controller Area Network BUS, described control unit is connected with described servo drive unit, described control unit is for receiving the control inputs signal from described host computer, carry out parsing to described control inputs signal to obtain controlling output signal, and described control output signal is sent to described servo drive unit, to control described servo drive unit.
2. multi-degree of freedom dynamic platform control system according to claim 1, is characterized in that,
Described status information also for receiving the status information from described servo drive unit, and is sent to described host computer by described control unit.
3. multi-degree of freedom dynamic platform control system according to claim 1, is characterized in that, also comprise:
Ethernet switch, is connected described host computer with described multiple vivid platform by described Ethernet switch.
4. multi-degree of freedom dynamic platform control system according to claim 1, is characterized in that, described control unit is digital signal processor.
5. multi-degree of freedom dynamic platform control system according to claim 4, is characterized in that, described each vivid platform also comprises:
First optical coupling isolation circuit, one end of described first optical coupling isolation circuit is connected to the first input/output port of described digital signal processor, and the other end is connected to environmental effects switch;
Second optical coupling isolation circuit, one end of described second optical coupling isolation circuit is connected to the second input/output port of described digital signal processor, and the other end is connected to environment scene device.
6. multi-degree of freedom dynamic platform control system according to claim 4, is characterized in that, described each vivid platform also comprises:
First operational amplification circuit, one end of described first operational amplification circuit is connected to an AD port of described digital signal processor, and the other end is connected to user input apparatus;
Second operational amplification circuit, one end of described second operational amplification circuit is connected to the 2nd AD port of described digital signal processor, and the other end is connected to environmental effects motor.
7. multi-degree of freedom dynamic platform control system according to claim 4, is characterized in that, described each vivid platform also comprises:
RS232 driving isolation circuit, one end of described RS232 driving isolation circuit is connected to the serial communication interface of described digital signal processor, and the other end is connected to terminal.
8. multi-degree of freedom dynamic platform control system according to claim 4, is characterized in that,
The serial communication network interface of described digital signal processor is connected to keyboard interface and/or display interface device.
9. multi-degree of freedom dynamic platform control system according to claim 4, is characterized in that, described each vivid platform also comprises:
Ferroelectric memory, for storing the service data of described digital signal processor.
10. multi-degree of freedom dynamic platform control system according to any one of claim 1 to 9, is characterized in that,
Described control inputs signal is sent to described control unit according to User Data Protocol by described host computer.
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| CN201520946745.7U CN205164153U (en) | 2015-11-24 | 2015-11-24 | Multi freedom motion platform control system |
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| CN201520946745.7U CN205164153U (en) | 2015-11-24 | 2015-11-24 | Multi freedom motion platform control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656442A (en) * | 2017-09-15 | 2018-02-02 | 重庆环漫科技有限公司 | A kind of extended mode of dynamic cinema function |
| CN110308670A (en) * | 2019-08-21 | 2019-10-08 | 广州卓远虚拟现实科技有限公司 | Vivid platform control system and vivid platform |
-
2015
- 2015-11-24 CN CN201520946745.7U patent/CN205164153U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656442A (en) * | 2017-09-15 | 2018-02-02 | 重庆环漫科技有限公司 | A kind of extended mode of dynamic cinema function |
| CN110308670A (en) * | 2019-08-21 | 2019-10-08 | 广州卓远虚拟现实科技有限公司 | Vivid platform control system and vivid platform |
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