CN207004994U - Control system for motion platform - Google Patents
Control system for motion platform Download PDFInfo
- Publication number
- CN207004994U CN207004994U CN201720818266.6U CN201720818266U CN207004994U CN 207004994 U CN207004994 U CN 207004994U CN 201720818266 U CN201720818266 U CN 201720818266U CN 207004994 U CN207004994 U CN 207004994U
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- Prior art keywords
- oil
- control
- module
- hydraulic cylinder
- motion platform
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Abstract
The utility model provides a kind of control system for motion platform, including hydraulic station, oil path block, N number of linear displacement transducer, 2N magnetic valve, control device；Hydraulic station is connected with oil path block；There is 2N bar oil circuits, correspondingly connected to N number of hydraulic cylinder inside oil path block；Magnetic valve distributing installation is on oil circuit, according to the instruction of control device with the break-make of oil circuit belonging to controlling；Control device includes microprocessor module, A/D change-over circuits, solenoid valve control module, communication module；Microprocessor module according to control instruction to adjust the output signal of solenoid valve control module, so as to control the working condition of magnetic valve；N number of linear displacement transducer is accordingly fixed on N number of hydraulic cylinder, the stroke at the affiliated hydraulic cylinder extension end of real-time detection, result of detection is fed back into microprocessor module.The utility model forms control loop using structures such as linear displacement transducer, magnetic valve, control devices, can realize and remote accurate control is carried out to motion platform.
Description
Technical field
Analog motion platform field is the utility model is related to, in particular to a kind of control system for motion platform
System.
Background technology
The hydraulic control valve of traditional form can only carry out setting control to hydraulic pressure, such as：Pressure valve is in some setting pressure
Lower motion, flow valve keep the flow by setting, switching of the direction valve for flow of pressurized direction on/off.Therefore these controls
Valve group into systemic-function it is all somewhat limited, with advances in technology, many hydraulic systems require that flows and pressure energy are held
Continue or change pari passu with the change of control valve input signal, but for most industry, they simultaneously should not
Ask system to have so high quality, and wish under conditions of certain control performance is ensured, at the same it is cheap, safeguard it is simple,
Reliable operation, so hydraulic proportion valve is exactly to grow up in this case.
With the development of hydraulic industry, general engineering system is to closed-loop control requirement gradually heating, and proportioning valve can not be very
The position often run near zero-bit, power control closed loop are used on, even if being provided with step generator in the amplifier,
It is total not as good as the servo valve without zero-bit dead band in performance.Meanwhile the defects of originally servo valve requirement on machining accuracy is high and require system
The high contradiction of oil filtrating precision is gradually desalinated；For electric controller, the technical merit for handling high current greatly improves, and is
Precondition is improved using the proportion electro-magnet of high current, high reliability.
Under such technical background, between general proportion technology and servo art, occur absorbing two in new aspect
Person's advantage and the more higher leveled proportioning valve formed, also commonly known as hydraulic servo proportioning valve.This hydraulic proportion valve is a kind of
New valve kind of the performance between platform hydraulic valve and electrohydraulic servo valve, it both can be according to the electric signal size of input continuously
Far distance controlled and computer, which control, to be realized to the parameter of hydraulic system pari passu, and in manufacturing cost, antipollution etc.
Better than electrohydraulic servo valve, therefore it is widely used in general industry department.
Utility model content
The utility model purpose is to provide a kind of control system for motion platform, and motion platform relies on N number of hydraulic pressure
Cylinder realizes various athletic postures, the utility model proposes control system using linear displacement transducer, magnetic valve, control device
Control loop is formed etc. structure, can realize and remote accurate control is carried out to motion platform.
To reach above-mentioned purpose, the utility model proposes a kind of control system for motion platform, the motion platform bag
Include：The upper mounting plate and lower platform being parallel to each other, and the N number of hydraulic cylinder being connected between upper mounting plate and lower platform, hydraulic cylinder
Fixing end is arranged on lower platform, and the telescopic end of hydraulic cylinder is arranged on upper mounting plate, and the control system includes hydraulic station, oil circuit
Block, N number of linear displacement transducer, 2N magnetic valve, control device；
The hydraulic station has the first oil inlet and the first oil-out；
The oil path block has the second oil inlet and the second oil-out, and the second oil inlet is connected with the first oil-out, and second
Oil-out is connected with the first oil inlet；
The hydraulic cylinder has the 3rd oil inlet and the 3rd oil-out；
Also there is 2N bar oil circuits, N articles of oil circuit has one the 4th oil inlet, and N articles of oil circuit has one the inside the oil path block
Four oil-outs, wherein, N number of 4th oil inlet is connected to the 3rd oil-out of N number of hydraulic cylinder correspondingly, and the N number of 4th is fuel-displaced
Mouth is connected to the 3rd oil inlet of N number of hydraulic cylinder correspondingly；
Distributing installation on 2N bar oil circuits, is electrically connected, is set the 2N magnetic valve with control device correspondingly
Into the instruction according to control device with the break-make of oil circuit belonging to controlling；
The control device includes microprocessor module, A/D change-over circuits, solenoid valve control module, communication module, and
To the power module powered to microprocessor module, solenoid valve control module, communication module；
The solenoid valve control module electrically connects with the control terminal of 2N magnetic valve, to control the work shape of magnetic valve
State；
The microprocessor module electrically connects with solenoid valve control module, is electrically connected with communication module, is configured to pass through
Communication module receives the control instruction that a host computer is sent, and is believed according to control instruction with adjusting the output of solenoid valve control module
Number；
N number of linear displacement transducer is fixed on N number of hydraulic cylinder correspondingly, is electrically connected with A/D change-over circuits,
A/D change-over circuits are connected with microprocessor module；
The linear displacement transducer is configured to the stroke of the telescopic end of the affiliated hydraulic cylinder of real-time detection, and will detection
As a result A/D change-over circuits are fed back to, result of detection is sent to microprocessor module after the conversion of A/D change-over circuits；
The N is the positive integer more than zero.
Further, the control system also includes a star triangle switch board 80, the star triangle switch board 80 and hydraulic station
Electrical connection.
Further, the hydraulic station has an overflow valve.
Further, the microprocessor module includes LPC176X series Cortex-M3 control chips.
Further, the solenoid valve control module includes N number of L9352B control chips, each L9352B control chips with
Two magnetic valve connections.
Further, two magnetic valves corresponding to each L9352B control chips, to control same liquid respectively
3rd oil inlet of cylinder pressure and the 3rd oil-out.
Further, the control device also has a protection module.
Further, the protection module includes TLE7230R chips.
Further, the communication module includes RS232 interface and/or RS485 interfaces.
Further, the power module includes TLE6368 chips.
By above the technical solution of the utility model, compared with existing, its significant beneficial effect is, using straight line position
The structures such as displacement sensor, magnetic valve, control device form control loop, can realize and remote accurate control is carried out to motion platform
System.
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 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 control system for motion platform, illustrates this place first
The motion platform referred to.
Motion platform includes the upper mounting plate 70 and lower platform being parallel to each other, and is connected between upper mounting plate 70 and lower platform
N number of hydraulic cylinder 60, the fixing end of hydraulic cylinder 60 is arranged on lower platform, and the telescopic end of hydraulic cylinder 60 is arranged on upper mounting plate 70
On, lower platform fixes on the ground, and N is the positive integer more than zero.
N quantity and installation site is determined that a usual six degree of freedom platform needs six hydraulic cylinders 60, i.e., by demand
N is equal to 6, and this six hydraulic cylinders 60, to carry out stretching motion, promote upper mounting plate 70 to realize various athletic postures according to control instruction.
The control system for motion platform that the utility model refers to, it is therefore an objective to drive this six hydraulic cylinders 60 by instruction
Stretching motion is carried out, as with the hydraulic cylinder 60 on other industrial equipments, hydraulic cylinder 60 herein is also to turn hydraulic energy
It is changed into mechanical energy, does the hydraulic actuator of straight reciprocating motion.
Hydraulic cylinder 60 has the 3rd oil inlet and the 3rd oil-out, by oil-feed or oil return, realizes the two-way fortune of telescopic end
Dynamic, therefore, we are by adjusting the disengaging oil pressure of hydraulic cylinder 60 come the motion of the telescopic end of driving hydraulic cylinder 60.
Therefore, the application proposes following structure, this control system include hydraulic station 10, oil path block 20,2N magnetic valve 30,
Control device 40.
Hydraulic station 10 is the hydraulic pressure being made up of hydraulic pump, drive motor, fuel tank, direction valve, choke valve, overflow valve etc.
Source device or the hydraulic means including control valve, to N number of hydraulic cylinder 60 by the flow direction of control instruction requirement, pressure and
Flow fuel feeding.
Hydraulic station 10 has the first oil inlet and the first oil-out, makes as the total oil inlet and total oil-out of hydraulic station 10
With.
Optionally, hydraulic station 10 also electrically connects with a star triangle switch board 80, and the purpose for setting star triangle switch board 80 is
In order to realize the soft start of hydraulic station 10, it is ensured that hydraulic station 10 can provide enough oil pressure.
But each hydraulic cylinder 60 is respectively provided with the 3rd oil inlet and the 3rd oil-out, is put down with six-freedom motion
Exemplified by platform, a motion platform has 6 hydraulic cylinders 60, i.e., with 6 the 3rd oil inlets and 6 the 3rd oil-outs, if merely
Hydraulic station 10 and hydraulic cylinder 60 are connected with oil pipe, pipeline is complicated, difficult in maintenance.
Therefore, the application proposes to set an oil path block 20 between hydraulic station 10 and hydraulic cylinder 60, and oil path block 20 has the
Two oil inlets and the second oil-out, used as the total oil inlet and total oil-out of oil path block 20, the second oil inlet and hydraulic station
10 the first oil-out connection, the second oil-out are connected with the first imported oil of hydraulic station 10.
It is additionally provided with 2N oil circuit in oil path block 20, N number of oil circuit has the 4th oil inlet, and N articles of oil circuit has the 4th fuel-displaced
Mouthful, the 4th oil inlet and the 4th oil-out are arranged at the surface of oil path block 20, wherein, N number of 4th oil inlet connects correspondingly
The 3rd oil-out of N number of hydraulic cylinder 60 is connected to, N number of 4th oil-out is connected to the 3rd of N number of hydraulic cylinder 60 and entered correspondingly
Hydraulic fluid port.
When hydraulic cylinder 60 needs hydraulic pressure to increase, the fluid in the fluid cylinder of hydraulic station 10 is by the first oil-out and the second oil inlet
Into oil path block 20, then oil circuit corresponding to passing through reaches its affiliated 4th oil-out, and most the 3rd oil inlet through hydraulic cylinder 60 enters afterwards
Enter hydraulic cylinder 60, there is provided the enough hydraulic pressure of hydraulic cylinder 60.
Likewise, when allowing the hydraulic cylinder 60 to need the hydraulic pressure to reduce, fluid in hydraulic cylinder 60 through its affiliated 3rd oil-out, with
4th oil inlet of its corresponding oil circuit enters the oil circuit, then the second oil-out through oil path block 20, hydraulic station 10 first enter
Hydraulic fluid port enters the fluid cylinder of hydraulic station 10, and the hydraulic pressure of hydraulic cylinder 60 is reduced.
From the foregoing it will be appreciated that hydraulic station 10 has an overflow valve, there are two effects, first, it is that control hydraulic station 10 passes in and out
The switch of oil, second, it can adjust the disengaging oil pressure of hydraulic station 10.
And oil pressure, flow direction, the flow that N number of hydraulic cylinder 60 needs in synchronization are different, on this problem, this Shen
It please propose solve with magnetic valve 30, concrete structure and operation principle are as follows.
One magnetic valve 30 is set on each oil circuit, that is, 2N magnetic valve 30, magnetic valve 30 and control device 40 are set
Electrical connection, according to the instruction of control device 40 with the break-make of oil circuit belonging to controlling.
By taking one of hydraulic cylinder 60 as an example, its 3rd oil inlet and the 3rd oil-out for having, the oil circuit being attached thereto
Oil circuit a and oil circuit b are respectively defined as, separately there are two magnetic valves 30 respectively on oil circuit a and oil circuit b, wherein installed in oil circuit a
On magnetic valve 30 be defined as magnetic valve 30a, the magnetic valve 30 on oil circuit b is defined as magnetic valve 30b.
When magnetic valve 30a and magnetic valve 30b are turned off, hydraulic cylinder 60 changes without hydraulic pressure；When magnetic valve 30a open,
When magnetic valve 30b is closed, there is oil stream through the 3rd oil inlet, the increase of the hydraulic pressure of hydraulic cylinder 60；On the contrary, when magnetic valve 30a closings, electromagnetism
When valve 30b is opened, there is oil stream to reduce through the 3rd oil-out, the hydraulic pressure of hydraulic cylinder 60.
As for the control of flow, the application is realized by controlling the switching frequency of magnetic valve 30, i.e., by controlling fluid
Flow time under same oil pressure conditions is realized.
In same time phase, the time that magnetic valve 30 is opened is longer, because oil pressure is identical, via where the magnetic valve 30
The fluid flow of oil circuit is bigger.
On the other hand, the accurate control to hydraulic cylinder 60 is realized, a detection feedback device, real-time detection should be also set
The displacement of the telescopic end of hydraulic cylinder 60, and it is fed back into control device 40, control device 40 receives result of detection, by it and control
Instruction processed compares, to realize a complete control loop, so as to realize accurate control that control device 40 moves to hydraulic cylinder 60
System.
The application is realized by the way that a linear displacement transducer 50 is fixedly mounted on each hydraulic cylinder 60.
Linear displacement transducer 50 equally has a fixing end and a telescopic end, the fixing end of linear displacement transducer 50 and
The fixing end of affiliated hydraulic cylinder 60 is fixed together, the telescopic end of the telescopic end of linear displacement transducer 50 and affiliated hydraulic cylinder 60
Connection, the telescopic end of linear displacement transducer 50 follow the motion of the telescopic end of hydraulic cylinder 60 and moved, so as to accurately know institute
Belong to hydraulic cylinder 60 telescopic end displacement change, and by Real-time Feedback to control device 40, to realize control loop.
On aforementioned base, the application proposes a kind of frame mode of control device 40.
The control device 40 includes microprocessor module 41, A/D change-over circuits 45, solenoid valve control module 42, communication mould
Block 43, and the power module 44 to be powered to whole control device 40.
A/D change-over circuits 45 are connected with aforesaid rectilinear displacement transducer 50, to by the detection of linear displacement transducer 50
As a result the data signal that microprocessor module 41 can handle is converted into through A/D, is then forwarded to microprocessor module 41.
Solenoid valve control module 42 electrically connects with the control terminal of 2N magnetic valve 30, to control the work shape of magnetic valve 30
State, as one of which embodiment, the solenoid valve control module 42 that the application refers to includes L9235B control chips, L9235B controls
Coremaking piece is as the special chip of magnetic valve 30, and it can control two-way proportion electro-magnet and double switch electromagnet, in this technology
In scheme, every 2 magnetic valves 30 are connected on a L9235B control chip, and the break-make shape of itself is adjusted according to its output signal
State.
Microprocessor module 41 electrically connects with solenoid valve control module 42, is electrically connected with communication module 43, passes through the mould that communicates
Block 43 receives the control instruction that a host computer is sent, and is believed according to control instruction with adjusting the output of solenoid valve control module 42
Number.
Certainly, control instruction can also be generated by microprocessor module 41 itself.
As one of which embodiment, microprocessor module 41 includes LPC176X series Cortex-M3 control chips.
In order to further protect whole control device 40, the application is also provided with a protection module on control device 40,
As one of which embodiment, the protection module includes TLE7230R chips, and there is the chip overload, short circuit, overheat, overvoltage to protect
Protective function.
On the communication module 43 of hydraulic station 10, using RS232 interface and/or RS485 interfaces, wherein, RS232 interface is complete
Duplex transmission, transmission range are nearer, and RS484 interfaces are half-duplex transmission, and transmission range is farther out.
Set on same control device 40 which kind of communication interface or whether at the same set two kinds of communication interfaces, according to
It is actually needed decision.
For example, we can set RS232 interface and RS485 interfaces simultaneously on same control device 40, wherein
RS232 interface is only used for calibration of camera, and RS485 interfaces are used for motion file, the transmission of athletic posture instruction, Liang Zhejie
Close to realize faster more stable working method.
So as to which the utility model refers to a kind of control system for motion platform, and motion platform relies on N number of hydraulic cylinder 60
Realize various athletic postures, the utility model proposes control system using linear displacement transducer 50, magnetic valve 30, control dress
Put the structures such as 40 and form control loop, can realize and remote accurate control is carried out to motion platform.
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 control system for motion platform, the motion platform includes：The upper mounting plate (70) and lower platform being parallel to each other,
And N number of hydraulic cylinder (60) of the upper mounting plate (70) between lower platform is connected to, the fixing end of hydraulic cylinder (60) is arranged on lower put down
On platform, the telescopic end of hydraulic cylinder (60) is arranged on upper mounting plate, it is characterised in that the control system includes hydraulic station (10), oil
Road block (20), N number of linear displacement transducer (50), 2N magnetic valve (30), control device (40)；
The hydraulic station (10) has the first oil inlet and the first oil-out；
The oil path block (20) has the second oil inlet and the second oil-out, and the second oil inlet is connected with the first oil-out, and second
Oil-out is connected with the first oil inlet；
The hydraulic cylinder (60) has the 3rd oil inlet and the 3rd oil-out；
Also there is 2N bar oil circuits, N articles of oil circuit has one the 4th oil inlet, and N articles of oil circuit is with one the inside the oil path block (20)
Four oil-outs, wherein, N number of 4th oil inlet is connected to the 3rd oil-out of N number of hydraulic cylinder (60) correspondingly, and the N number of 4th
Oil-out is connected to the 3rd oil inlet of N number of hydraulic cylinder (60) correspondingly；
Distributing installation on 2N bar oil circuits, electrically connects, quilt the 2N magnetic valve (30) with control device (40) correspondingly
It is arranged to according to the instruction of control device (40) with the break-make of oil circuit belonging to controlling；
The control device (40) include microprocessor module (41), A/D change-over circuits (45), solenoid valve control module (42),
Communication module (43), and to be powered to microprocessor module (41), solenoid valve control module (42), communication module (43)
Power module (44)；
The solenoid valve control module (42) electrically connects with the control terminal of 2N magnetic valve (30), to control magnetic valve (30)
Working condition；
The microprocessor module (41) electrically connects with 44 solenoid valve control modules (42), is electrically connected with communication module (43), quilt
It is arranged to the control instruction for receiving a host computer by communication module (43) and sending, and according to control instruction to adjust magnetic valve control
The output signal of molding block (42)；
N number of linear displacement transducer (50) is fixed on N number of hydraulic cylinder (60) correspondingly, with A/D change-over circuits
(45) electrically connect, A/D change-over circuits (45) are connected with microprocessor module (41)；
The linear displacement transducer (50) is configured to the stroke of the telescopic end of the affiliated hydraulic cylinder of real-time detection (60), and will
Result of detection feeds back to A/D change-over circuits (45), and result of detection is sent to microprocessor mould after A/D change-over circuits (45) conversion
Block (41)；
The N is the positive integer more than zero.
2. the control system according to claim 1 for motion platform, it is characterised in that the control system also includes
One star triangle switch board (80), the star triangle switch board (80) electrically connect with hydraulic station (10).
3. the control system according to claim 1 for motion platform, it is characterised in that the hydraulic station (10) has
One overflow valve.
4. the control system according to claim 1 for motion platform, it is characterised in that the microprocessor module
(41) LPC176X series Cortex-M3 control chips are included.
5. the control system according to claim 1 for motion platform, it is characterised in that the solenoid valve control module
(42) N number of L9352B control chips are included, each L9352B control chips are connected with two magnetic valves (30).
6. the control system according to claim 5 for motion platform, it is characterised in that each L9352B controls
Two magnetic valves (30) corresponding to chip, to control the 3rd oil inlet of same hydraulic cylinder (60) and the 3rd fuel-displaced respectively
Mouthful.
7. the control system according to claim 1 for motion platform, it is characterised in that the control device (40) is also
With a protection module.
8. the control system according to claim 7 for motion platform, it is characterised in that the protection module includes
TLE7230R chips.
9. the control system according to claim 1 for motion platform, it is characterised in that communication module (43) bag
Include RS232 interface and/or RS485 interfaces.
10. the control system according to claim 1 for motion platform, it is characterised in that the power module (44)
Including TLE6368 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818266.6U CN207004994U (en) | 2017-07-07 | 2017-07-07 | Control system for motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818266.6U CN207004994U (en) | 2017-07-07 | 2017-07-07 | Control system for motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207004994U true CN207004994U (en) | 2018-02-13 |
Family
ID=61452115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720818266.6U Expired - Fee Related CN207004994U (en) | 2017-07-07 | 2017-07-07 | Control system for motion platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207004994U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108897257A (en) * | 2018-07-20 | 2018-11-27 | 金寨县真自然农场 | A kind of more control mode farms pushrod control device |
-
2017
- 2017-07-07 CN CN201720818266.6U patent/CN207004994U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108897257A (en) * | 2018-07-20 | 2018-11-27 | 金寨县真自然农场 | A kind of more control mode farms pushrod control device |
| CN108897257B (en) * | 2018-07-20 | 2020-12-25 | 重庆市潼南区梓铖特种养殖有限公司 | Farm push rod control device with multiple control modes |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 Termination date: 20200707 |
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| CF01 | Termination of patent right due to non-payment of annual fee |