CN205451648U - Rotatory inverted pendulum experiment teaching platform - Google Patents
Rotatory inverted pendulum experiment teaching platform Download PDFInfo
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- CN205451648U CN205451648U CN201620146837.1U CN201620146837U CN205451648U CN 205451648 U CN205451648 U CN 205451648U CN 201620146837 U CN201620146837 U CN 201620146837U CN 205451648 U CN205451648 U CN 205451648U
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- cpu
- inverted pendulum
- host computer
- direct current
- drive circuit
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Abstract
The utility model belongs to experiment teaching platform field especially relates to a rotatory inverted pendulum experiment teaching platform. This platform includes: the host computer, including a CPU, display screen manipulation, wherein a display screen manipulation CPU connects, the controller, including the 2nd CPU and angle encoder, wherein the angle encoder is connected with the 2nd CPU, the controller with host computer communication connection, drive unit, including direct current motor and motor -drive circuit, motor -drive circuit with the 2nd CPU's output is connected, motor -drive circuit connects the swing that direct current motor is used for driving the inverted pendulum. The utility model discloses a structure measurement pendulum rod angle, measure more accurately, be favorable to the student to observe minor angle and change the yardstick.
Description
Technical field
This utility model belongs to Platform of Experimental Teaching field, particularly relates to a kind of Single-Rotational Inverted Pendulum Platform of Experimental Teaching.
Background technology
Generally there is teacher lays particular stress on office coaching at present, only does replication experiment, and experimental facilities concentrates on instrument and meter, cause experiment effect unsatisfactory.Student's simply existing conclusion of preliminary identification the most abstractively, lacks put into practice for processing in actual TT&C system easily produced problem and important step debugging.Using Single-Rotational Inverted Pendulum as Platform of Experimental Teaching, be conducive to allowing student during continuous analytical calculation with actual debugging, deeply understand control theory, it is achieved that effective conversion of theory into action.
But the overwhelming majority is used as the arm-driven inverted pendulum system of experimental teaching at present, it is difficult to the deep understanding meeting student for whole control process, as: CN204189370U discloses one " Single-Rotational Inverted Pendulum experimental provision ", constitute and include base support, it is provided with DC speed-reducing through electric machine support on base support, DC speed-reducing is provided with the spiral arm of horizontally set through the first shaft coupling, first shaft coupling is fixed on base support through thrust ball bearing, one end of described spiral arm is provided with the first aluminum corner brace frame through bolt, it is provided with couple axle through deep groove ball bearing on first aluminum corner brace frame, the outer end of couple axle is provided with the 3rd shaft coupling, 3rd shaft coupling is provided with longitudinally disposed fork, the inner of couple axle is provided with the second shaft coupling, second shaft coupling connects angled encoder, angular encoder is fixed on spiral arm through the second aluminum corner brace frame.There is the feature that simple in construction, volume are little, lightweight, easy for installation, beneficially student understand and quickly grasp content.But lacking corresponding debugging module, student is difficult in debugging learning, summing up experience.
CN203930517U discloses one " a kind of Single-Rotational Inverted Pendulum Control release system ", including potentiometer measuring angle module, controls to drive module, angle monitoring module.Here surveying fork angle and use potentiometer, precision is inadequate, is unfavorable for that student obtains optimized parameter in small angle change yardstick.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Single-Rotational Inverted Pendulum Platform of Experimental Teaching, solves intuitive in Single-Rotational Inverted Pendulum teaching not strong, the problem that control accuracy is low.
This utility model is achieved in that a kind of Single-Rotational Inverted Pendulum Platform of Experimental Teaching, and this platform includes:
Host computer, including a CPU, operating display, wherein operating display the oneth CPU connects；
Controller, including the 2nd CPU and angular encoder, wherein angular encoder and the 2nd CPU connect, and described controller communicates to connect with described host computer；
Driver element, including direct current generator and motor-drive circuit, described motor-drive circuit is connected with the outfan of described 2nd CPU, and described motor-drive circuit connects direct current generator for driving the swing of inverted pendulum.
Further, described host computer also includes the wireless transmitter module being connected with a CPU；Described controller also includes the wireless receiving module being connected with the 2nd CPU, host computer by wireless transmitter module launch signal, wireless receiving module receive signal with controller communication.
Further, described host computer is connected by data wire with described controller.
Further, described direct current generator connection angle graduated tile, angle index buttress swings corresponding scale for showing the pendulum angle of inverted pendulum according to the output of direct current generator.
This utility model compared with prior art, has the beneficial effects that: the structure measurement fork angle that this utility model uses, and measures more accurate, and beneficially student obtains optimal control parameter in small angle change yardstick.In conjunction with host computer, reversible pendulum system is carried out pilot scale study, beneficially student in debugging learning, summing up experience.
Accompanying drawing explanation
Fig. 1 is the console module block diagram that this utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Seeing Fig. 1, Single-Rotational Inverted Pendulum Platform of Experimental Teaching, this platform includes: host computer, for long-range monitoring, connects including a CPU, operating display, operating display and a CPU, and operating display is touch screen, can carry out input and the display of data.Arranging controller on inverted pendulum, this controller, for controlling the swing of inverted pendulum, includes the 2nd CPU and angular encoder, and wherein angular encoder and the 2nd CPU connect；The fork angle that angular encoder records, is uploaded to a CPU by the second host computer and passes through operating display display waveform, and wherein, host computer also includes the wireless transmitter module being connected with a CPU；Controller also includes the wireless receiving module being connected with the 2nd CPU, host computer by wireless transmitter module launch signal, wireless receiving module receive signal with controller communication.In another embodiment, host computer is connected by data wire with described controller.
Also including that driver element includes direct current generator and motor-drive circuit, the outfan of motor-drive circuit and the 2nd CPU connects, and motor-drive circuit connects direct current generator for driving the swing of inverted pendulum.Direct current generator connection angle graduated tile, angle index buttress swings corresponding scale for showing the pendulum angle of inverted pendulum according to the output of direct current generator.
The fork angle waveform that in work process, all undetermined parameters and angular encoder record shows the most in real time in operating display, and parameter information is transmitted to the wireless receiving module of controller by a CPU by wireless transmitter module.
Wireless receiving module receives control parameter information, passes to the 2nd CPU, and the 2nd CPU exports control signal, and electric machine rotation signal is put on the direct current generator of inverted pendulum by motor-drive circuit after receiving this control signal, complete to control.Motor-drive circuit is powered by 12V D.C. regulated power supply, the angle of angle index plate instruction fork.
During use, it is first turned on host computer, input selected angle and the input target of position, inputs tri-parameter values of P, I, D respectively, observe the angle oscillogram that host computer is drawn, and viewing angle, angular velocity oscillogram, adjusted by continuation.Eventually through observing inverted pendulum fork kinestate.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (4)
1. a Single-Rotational Inverted Pendulum Platform of Experimental Teaching, it is characterised in that this platform includes:
Host computer, including a CPU, operating display, wherein operating display and a CPU connect；
Controller, including the 2nd CPU and angular encoder, wherein angular encoder and the 2nd CPU connect, and described controller communicates to connect with described host computer；
Driver element, including direct current generator and motor-drive circuit, described motor-drive circuit is connected with the outfan of described 2nd CPU, and described motor-drive circuit connects direct current generator for driving the swing of inverted pendulum.
2. Single-Rotational Inverted Pendulum Platform of Experimental Teaching as claimed in claim 1, it is characterised in that described host computer also includes the wireless transmitter module being connected with a CPU；Described controller also includes the wireless receiving module being connected with the 2nd CPU, and host computer launches signal by wireless transmitter module, wireless receiving module receives signal and controller communication.
3. Single-Rotational Inverted Pendulum Platform of Experimental Teaching as claimed in claim 1, it is characterised in that described host computer is connected by data wire with described controller.
4. Single-Rotational Inverted Pendulum Platform of Experimental Teaching as claimed in claim 1, it is characterised in that described direct current generator connection angle graduated tile, angle index buttress swings corresponding scale for showing the pendulum angle of inverted pendulum according to the output of direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620146837.1U CN205451648U (en) | 2016-02-26 | 2016-02-26 | Rotatory inverted pendulum experiment teaching platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620146837.1U CN205451648U (en) | 2016-02-26 | 2016-02-26 | Rotatory inverted pendulum experiment teaching platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205451648U true CN205451648U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620146837.1U Expired - Fee Related CN205451648U (en) | 2016-02-26 | 2016-02-26 | Rotatory inverted pendulum experiment teaching platform |
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| CN (1) | CN205451648U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109785726A (en) * | 2019-03-28 | 2019-05-21 | 上海图菱新能源科技有限公司 | The double inverted pendulum remote experimental system of artificial intelligence |
| CN112150894A (en) * | 2020-08-12 | 2020-12-29 | 广西华南通信股份有限公司 | Inertia wheel inverted pendulum platform based on 5G communication isolation physical wiring |
-
2016
- 2016-02-26 CN CN201620146837.1U patent/CN205451648U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109785726A (en) * | 2019-03-28 | 2019-05-21 | 上海图菱新能源科技有限公司 | The double inverted pendulum remote experimental system of artificial intelligence |
| CN112150894A (en) * | 2020-08-12 | 2020-12-29 | 广西华南通信股份有限公司 | Inertia wheel inverted pendulum platform based on 5G communication isolation physical wiring |
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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: 20160810 Termination date: 20180226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |