CN206946696U - Split type control system for motion platform - Google Patents
Split type control system for motion platform Download PDFInfo
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- CN206946696U CN206946696U CN201720898619.8U CN201720898619U CN206946696U CN 206946696 U CN206946696 U CN 206946696U CN 201720898619 U CN201720898619 U CN 201720898619U CN 206946696 U CN206946696 U CN 206946696U
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- attitude
- motion platform
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Abstract
The utility model refers to a kind of split type control system for motion platform, including Posture acquisition device, attitude-control device, transformer, the first power module；Posture acquisition device is arranged at the barycenter of upper mounting plate, and Posture acquisition device includes shell, sensor assembly, first processing units, wireless sending module, second source module；Sensor assembly is by the attitude parameter Real-time Feedback collected to first processing units；First processing units are by the attitude parameter received by wireless sending module to send to attitude-control device；Attitude-control device includes wireless receiving module, second processing unit, servo drive control unit；Wireless receiving module transmits the attitude parameter received to second processing unit.Posture acquisition device and attitude-control device have been done separating treatment by the utility model, and both realize data communication based on Radio Transmission Technology, reduce the complex circuit of whole control system, improve the reliability of control system, while easy to maintenance.
Description
Technical field
Analog motion platform field is the utility model is related to, in particular to a kind of split type control for motion platform
System processed.
Background technology
With the development of social economy and science and technology, data Posture acquisition has highly important for industrial automation production
Function and significance, but traditional data Posture acquisition form is excessively outmoded, expends a large amount of manpower and materials, does not adapt to the modern times
Industrial production, it is impossible to really play the effect of industrial automation production.
The transmission of data is substantially based on cable network, such as RS485, CAN etc. at present, and these wired networks typically have
Have the shortcomings that cost is high, it is inconvenient to safeguard.
In addition, with the maturation of analog motion platform technology, this technology has been applied to the scenes such as various amusements, training
In, if still realizing data transfer using foregoing cable network, the circuit of whole analog motion platform will become very multiple
Miscellaneous, under some special applications scenes, accident rate can also uprise therewith.
Utility model content
The utility model purpose is to provide a kind of split type control system for motion platform, by Posture acquisition device
Separating treatment is done with attitude-control device, both realize data communication based on Radio Transmission Technology, reduce whole control system
Complex circuit, improve the reliability of control system, while easy to maintenance.
To reach above-mentioned purpose, the utility model proposes a kind of split type control system for motion platform, the motion
Platform includes lower platform, the upper mounting plate above lower platform fixed on the ground, and is connected to upper mounting plate and lower platform
Between servo-actuating device, the fixing end of servo-actuating device is arranged on lower platform, the telescopic end peace of servo-actuating device
On upper mounting plate, the control system includes Posture acquisition device, attitude-control device, transformer, the first power module；
The Posture acquisition device is arranged at the barycenter of upper mounting plate, and Posture acquisition device includes shell, and is arranged on
Sensor assembly, first processing units, wireless sending module in shell, second source module；
The sensor assembly electrically connects with first processing units, is configured to detect the attitude parameter of upper mounting plate, and will
The attitude parameter Real-time Feedback collected is to first processing units；
The first processing units electrically connect with wireless sending module, are configured to feed back the sensor assembly received
Attitude parameter by wireless sending module to send to attitude-control device；
The second source module electrically connects with sensor assembly, first processing units, wireless sending module, to biography
Sensor module, first processing units, wireless sending module power supply；
The attitude-control device includes wireless receiving module, second processing unit, servo drive control unit；
The second processing unit electrically connects with servo drive control unit, is electrically connected with wireless receiving module, at second
Reason unit is configured to the control instruction for receiving a host computer by wireless receiving module and sending, and according to control instruction to adjust
The output signal of servo drive control unit；
The wireless receiving module is further configured to the attitude parameter of real-time reception wireless sending module transmission, and will receive
To attitude parameter transmit to second processing unit；
First power module electrically connects with servo-actuating device；
The input of the transformer electrically connects with the first power module, the output end of transformer respectively with second processing list
Member, wireless receiving module, the electrical connection of servo drive control unit.
Further, the sensor assembly includes three axis accelerometer, three-axis gyroscope and three axle magnetometer.
Further, the sensor assembly uses MPU-9250 chips.
Further, the attitude-control device has a protection module, and protection module electrically connects with second processing unit.
Further, the protection module includes TLE7230R chips.
Further, the Posture acquisition device has the first wire communication interface, and attitude-control device has second to have
Line communication interface；
The first wire communication interface electrically connects with first processing units；
The second wire communication interface electrically connects with second processing unit；
The first wire communication interface and the second wire communication interface are by network to realize data interaction.
Further, the first wire communication interface uses any one in RS232 interface and RS485 interfaces；
The second wire communication interface uses any one in RS232 interface and RS485 interfaces.
Further, the output voltage of first power module is 220V.
Further, the output voltage of the transformer is 24V.
Further, the second source module uses lithium battery.
By above the technical solution of the utility model, compared with existing, its significant beneficial effect is, by Posture acquisition
Device and attitude-control device have done separating treatment, and both realize data communication based on Radio Transmission Technology, reduce whole control
The complex circuit of system, the reliability of control system is improved, at the same it is easy to maintenance.
It should be appreciated that as long as all combinations of aforementioned concepts and the extra design described in greater detail below are at this
Sample design it is not conflicting in the case of can be viewed as the disclosure utility model theme a part.In addition, want
Ask the theme of protection all combinations be considered as the disclosure utility model theme a part.
The foregoing and other side of the utility model teaching can be more fully appreciated from the following description with reference to accompanying drawing
Face, embodiment and feature.The feature and/or beneficial effect of other additional aspects such as illustrative embodiments of the present utility model
To be obvious in the following description, or learnt in the practice by the embodiment instructed according to the utility model.
Brief description of the drawings
Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform group shown in each figure
It can be indicated by the same numeral into part.For clarity, in each figure, not each part is labeled.
Now, by example and the embodiment of various aspects of the present utility model will be described in reference to the drawings, wherein：
Fig. 1 is the structural representation of the split type control system of the present utility model for motion platform.
Embodiment
In order to know more about technology contents of the present utility model, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
Each side of the present utility model is described with reference in the disclosure, shown in the drawings of the implementation of many explanations
Example.It is not intended to cover all aspects of the present utility model for embodiment of the disclosure.It should be appreciated that a variety of structures presented hereinbefore
Think and embodiment, and describe in more detail below those design and embodiment can in many ways in any one
To implement, because design disclosed in the utility model and embodiment are not limited to any embodiment.In addition, this practicality
New disclosed some aspects can be used alone, or with the utility model disclosed in it is otherwise it is any it is appropriately combined come
Use.
With reference to Fig. 1, the utility model proposes a kind of split type control system for motion platform, it is therefore an objective to will be adopting
Collect the Posture acquisition device 10 of motion platform attitude parameter and the posture control of designated movement posture is realized to powered motion platform
Device 20 processed does separating treatment, and Posture acquisition device 10 and attitude-control device 20 realize that data are led to based on Radio Transmission Technology
News, such as 2.4G Radio Transmission Technologys etc..
Aforementioned movement platform, including lower platform 60, the upper mounting plate 50 above lower platform 60 fixed on the ground, with
And the servo-actuating device 70 between upper mounting plate 50 and lower platform 60 is connected to, the fixing end of servo-actuating device 70 is arranged on down
On platform 60, the telescopic end of servo-actuating device 70 is arranged on upper mounting plate 50.
Servo-actuating device 70 includes several pushing meanss, and pushing meanss are included in electric cylinder, liquid cylinder, pneumatic linear actuator
Any one, the quantity of pushing meanss is set depending on real needs, such as by 6 pushing meanss to realize six degree of freedom
Platform etc..
On the architecture basics of aforementioned movement platform, the utility model proposes a kind of split type control system, below by
One specific embodiment elaborates the structure of this split type control system and operation principle.
The split type control system includes Posture acquisition device 10, attitude-control device 20, the power supply of transformer 40 and first
Module 30.
Posture acquisition device 10 is to gather motion platform gesture parameter, and attitude-control device 20 is to powered motion platform
Realize designated movement posture.
Posture acquisition device 10 by the motion platform gesture parameter collected by Radio Transmission Technology with Real-time Feedback extremely
Attitude-control device 20, complete control loop is on the one hand realized, on the other hand, Posture acquisition device 10 and gesture stability dress
Putting the data interaction between 20 is realized by Radio Transmission Technology, while simplifying connection, by Posture acquisition device
The 10 data acquisition device applications independent as one, add the stability of equipment, have also widened the application of equipment, drop
The low maintenance difficulties of equipment.
In order to more accurately gather attitude parameter (angular speed, acceleration etc.), Posture acquisition device 10 is installed in
At the barycenter of platform 50, Posture acquisition device 10 includes shell, and the processing of sensor assembly 11, first in shell
Unit 12, wireless sending module 13, second source module 14.
Shell is used for protecting sensor assembly 11, first processing units 12, wireless sending module 13, second source module 14
Not by external environmental interference, steady operation, when from some making with magnetic shield functional material, the external world can also be reduced
Interference of the electromagnetism to sensor assembly 11, to collect more accurate data.
Second source module 14 electrically connects with sensor assembly 11, first processing units 12, wireless sending module 13 respectively,
To be powered to foregoing three structural members.
In view of the split type setting of the control system, it is preferred that second source module 14 uses battery structure, such as lithium
Battery, optionally, voltage select 3.3V, to meet the power demands of foregoing three structural members.
The operation principle of the Posture acquisition device 10 is as follows：
Sensor assembly 11 electrically connects with first processing units 12, is configured to detect the attitude parameter of upper mounting plate 50, and
By the attitude parameter Real-time Feedback collected to first processing units 12.First processing units 12 are electrically connected with wireless sending module 13
Connect, by the attitude parameter that the sensor assembly 11 received feeds back by wireless sending module 13 to send to attitude-control device
20。
Optionally, sensor assembly 11 includes three axis accelerometer, three-axis gyroscope and three axle magnetometer, can also use
Other sensors, such as position sensor, displacement transducer etc., the species selection of sensor assembly 11 are determined according to real needs
It is fixed.
Preferably, sensor assembly 11 use MPU-9250 chips, the chip by three axis accelerometer, three-axis gyroscope and
Three axle magnetometer integrates, stable work in work.
Optionally, wireless sending module 13 can use 2.4G radio transmitters.
By above job step, Posture acquisition device 10 gathers the attitude parameter of motion platform in real time, and by the posture
Parameter is sent to attitude-control device 20 by wireless sending module 13.
Attitude-control device 20 includes wireless receiving module 21, second processing unit 22, servo drive control unit 23.
Second processing unit 22 is the core processing unit of the control system, and it is configured to receive what a host computer was sent
Control instruction, and according to control instruction to adjust the output signal of servo drive control unit 23, and then drive servo-drive machine
Structure 70 moves, to drive upper mounting plate 50 to realize the athletic posture specified.
Second processing unit 22 can directly invoke built-in control instruction to servo-drive with internal portion control instruction
The output signal of control unit 23 is adjusted.
The mode that second processing unit 22 receives the control instruction that host computer is sent has a variety of, can use traditional wired
Communication interface, it is furthermore preferred that second processing unit 22 electrically connects with wireless receiving module 21, received by wireless receiving module 21
The instruction that host computer is sent, to simplify connection.
The wireless receiving module 21 and foregoing wireless sending module 13 is are correspondingly arranged, and wireless receiving module 21 is except receiving
Outside the instruction that host computer is sent, moreover it is possible to receive the attitude parameter of the transmission of wireless sending module 13, and it is transmitted at second
Unit 22 is managed, second processing unit 22 compares the attitude parameter received with the attitude parameter that control instruction is specified, with reality
Now complete control loop.
First power module 30 is electrically connected with servo-actuating device 70, and the first power module 30 is preferred using voltage-stabilized power supply,
Optionally, the output voltage of the first power module 30 uses 220V, to meet the voltage requirements of most of pushing meanss.
Generally, about tens volts of the power supply requirement of attitude-control device 20, the output voltage of the first power module 30 is to posture
It is too high for the power supply requirement of control device 20.
In this case, we can select individually to configure the power supply of appropriate voltage value to attitude-control device 20,
Can be in the following way：
One transformer 40 is set, and the input of transformer 40 electrically connects with the first power module 30, the output of transformer 40
End electrically connected respectively with second processing unit 22, wireless receiving module 21, servo drive control unit 23, by transformer 40 with
Adjust the voltage supply of attitude-control device 20.
Optionally, the output voltage of transformer 40 is 24V.
As a kind of embodiment therein, attitude-control device 20 is additionally provided with a protection module 24, protection module 24 with
Second processing unit 22 electrically connects, and the failure such as burns to avoid second processing unit 22 from short circuit occur.
The protection module 24 includes TLE7230R chips.
As another embodiment, it is contemplated that radio communication can not meet the application under some special occasions, such as wirelessly
Situations such as signal interference is serious, synchronization volume of transmitted data is big, it is wired that we are also provided with one outside wireless communication mode
Communication modes, to meet the needs of different situations.
The concrete structure and working method of wire communication mode are as follows：
The first wire communication interface is provided with Posture acquisition device 10, it is wired to be provided with second on attitude-control device 20
Communication interface.
First wire communication interface electrically connects with first processing units 12, the second wire communication interface and second processing unit
22 electrical connections.
First wire communication interface and the second wire communication interface by network to realize data interaction, so as to realize first
Data interaction between processing unit 12 and second processing unit 22.
First wire communication interface and the second wire communication interface use any one in RS232 and RS485.
So as to, the utility model refers to a kind of split type control system for motion platform, by Posture acquisition device with
Attitude-control device has done separating treatment, and both realize data communication based on Radio Transmission Technology, reduces whole control system
Complex circuit, the reliability of control system is improved, at the same it is easy to maintenance.
Although the utility model is disclosed above with preferred embodiment, so it is not limited to the utility model.This reality
With new those of ordinary skill in the art, do not departing from spirit and scope of the present utility model, it is each when that can make
The change and retouching of kind.Therefore, the scope of protection of the utility model is worked as and is defined depending on those as defined in claim.
Claims (10)
1. a kind of split type control system for motion platform, the motion platform includes the lower platform fixed on the ground
(60), the upper mounting plate (50) above lower platform (60), and it is connected to watching between upper mounting plate (50) and lower platform (60)
Drive mechanism (70) is taken, the fixing end of servo-actuating device (70) is arranged on lower platform (60), servo-actuating device (70)
Telescopic end is arranged on upper mounting plate (50), it is characterised in that the control system includes Posture acquisition device (10), gesture stability
Device (20), transformer (40), the first power module (30)；
The Posture acquisition device (10) is arranged at the barycenter of upper mounting plate (50), and Posture acquisition device (10) includes shell, with
And sensor assembly (11) in shell, first processing units (12), wireless sending module (13), second source module
(14)；
The sensor assembly (11) electrically connects with first processing units (12), is configured to detect the posture ginseng of upper mounting plate (50)
Number, and by the attitude parameter Real-time Feedback collected to first processing units (12)；
The first processing units (12) electrically connect with wireless sending module (13), are configured to the sensor assembly that will be received
(11) attitude parameter of feedback by wireless sending module (13) to send to attitude-control device (20)；
The second source module (14) and sensor assembly (11), first processing units (12), wireless sending module (13) electricity
Connection, to sensor assembly (11), first processing units (12), wireless sending module (13) power supply；
The attitude-control device (20) includes wireless receiving module (21), second processing unit (22), servo drive control list
First (23)；
The second processing unit (22) electrically connects with servo drive control unit (23), is electrically connected with wireless receiving module (21)
Connecing, second processing unit (22) is configured to the control instruction for receiving a host computer by wireless receiving module (21) and sending, and
According to control instruction to adjust the output signal of servo drive control unit (23)；
The wireless receiving module (21) is further configured to the attitude parameter of real-time reception wireless sending module (13) transmission, and will
The attitude parameter received is transmitted to second processing unit (22)；
First power module (30) electrically connects with servo-actuating device (70)；
The input of the transformer (40) electrically connects with the first power module (30), and the output end of transformer (40) is respectively with
Two processing units (22), wireless receiving module (21), servo drive control unit (23) electrical connection.
2. the split type control system according to claim 1 for motion platform, it is characterised in that the sensor die
Block (11) includes three axis accelerometer, three-axis gyroscope and three axle magnetometer.
3. the split type control system according to claim 1 for motion platform, it is characterised in that the sensor die
Block (11) uses MPU-9250 chips.
4. the split type control system according to claim 1 for motion platform, it is characterised in that the gesture stability
Device (20) has a protection module (24), and protection module (24) electrically connects with second processing unit (22).
5. the split type control system according to claim 4 for motion platform, it is characterised in that the protection module
(24) TLE7230R chips are included.
6. the split type control system according to claim 1 for motion platform, it is characterised in that the Posture acquisition
Device (10) has the first wire communication interface, and attitude-control device (20) has the second wire communication interface；
The first wire communication interface electrically connects with first processing units (12)；
The second wire communication interface electrically connects with second processing unit (22)；
The first wire communication interface and the second wire communication interface are by network to realize data interaction.
7. the split type control system according to claim 6 for motion platform, it is characterised in that described first is wired
Communication interface uses any one in RS232 interface and RS485 interfaces；
The second wire communication interface uses any one in RS232 interface and RS485 interfaces.
8. the split type control system according to claim 1 for motion platform, it is characterised in that first power supply
The output voltage of module (30) is 220V.
9. the split type control system according to claim 1 for motion platform, it is characterised in that the transformer
(40) output voltage is 24V.
10. the split type control system according to claim 1 for motion platform, it is characterised in that second electricity
Source module (14) uses lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898619.8U CN206946696U (en) | 2017-07-24 | 2017-07-24 | Split type control system for motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898619.8U CN206946696U (en) | 2017-07-24 | 2017-07-24 | Split type control system for motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206946696U true CN206946696U (en) | 2018-01-30 |
Family
ID=61371486
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720898619.8U Expired - Fee Related CN206946696U (en) | 2017-07-24 | 2017-07-24 | Split type control system for motion platform |
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| Country | Link |
|---|---|
| CN (1) | CN206946696U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486190A (en) * | 2020-10-16 | 2021-03-12 | 北京电子工程总体研究所 | Comprehensive test system for realizing attitude control |
-
2017
- 2017-07-24 CN CN201720898619.8U patent/CN206946696U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486190A (en) * | 2020-10-16 | 2021-03-12 | 北京电子工程总体研究所 | Comprehensive test system for realizing attitude control |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20200724 |
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| CF01 | Termination of patent right due to non-payment of annual fee |