CN207182101U - A kind of Servo simulation following control system - Google Patents
A kind of Servo simulation following control system Download PDFInfo
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- CN207182101U CN207182101U CN201720906688.9U CN201720906688U CN207182101U CN 207182101 U CN207182101 U CN 207182101U CN 201720906688 U CN201720906688 U CN 201720906688U CN 207182101 U CN207182101 U CN 207182101U
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Abstract
The utility model discloses a kind of Servo simulation following control system, including embedded real-time unit, the embedded output end of the input of unit and trap setting in real time connects, and embedded unit in real time is realized with other mechanisms and platform mechanism respectively to be bi-directionally connected, the embedded input of the output end of unit and position control in real time connects, and the output end of position control and the input of speed regulator connect, the output end of speed regulator and the input of current regulator connect, and the utility model is related to servo-actuated model- following control technical field.The Servo simulation following control system, solves the relatively low situation of existing servomechanism integration capability, servomechanism performance parameter can better meet the requirement of the performance indications such as high reliability, high speed, high acceleration, the practicality followed is ensure that, highly reliable energy, high speed, high acceleration, high accuracy, height is met and responds realization and target is followed.
Description
Technical field
Servo-actuated model- following control technical field is the utility model is related to, specially a kind of Servo simulation following control system.
Background technology
Servomechanism is a kind of feedback control system.In such systems, output quantity is mechanical displacement, speed or acceleration
Degree.Therefore servomechanism this term, and position or speed, or acceleration control system is synonym.In servomechanism, have
One kind, its reference input are not the analytical functions of time, how to change and are not aware that in advance (any change over time).Control
The task of system processed is to ensure output so that certain precision followed by the change of reference input and change in all cases.Microcomputer position
Put servo-drive system to be summarized in automatic control system, output quantity can be followed the change of input quantity with certain degree of accuracy and changed
System be referred to as servomechanism, also known as servo-drive system.If given input signal is unknown in advance and at any time in the controls
Between change and the output quantity of system change this system with the change of input quantity and be known as servomechanism.Quick tracking and
Be accurately positioned be servomechanism two important technology indexs.
Servomechanism is the core of whole control system, servomechanism performance it is good and bad by directly affect platform with
With effect.Existing servomechanism integration capability is relatively low, and servomechanism performance parameter can not meet high reliability, high speed
The requirement of the performance indications such as degree, high acceleration, the transmission of target location capture data and the generation of control algolithm produce substantial amounts of
Delay, hysteresis, what platform occurred follows shake and follows target to occur often with situation about losing, or even meeting during mechanism kinematic
There is overshoot, shake, have impact on the practicality followed.
Utility model content
In view of the shortcomings of the prior art, the utility model provides a kind of Servo simulation following control system, solves flat
What platform occurred follows shake and follows target to occur often with situation about losing, or even overshoot occurs during mechanism kinematic, trembles
It is dynamic, it have impact on the problem of following practicality.
To realize object above, the utility model is achieved by the following technical programs：A kind of Servo simulation follows control
System processed, including embedded real-time unit, the embedded output end of the input of unit and trap setting in real time connect, and
And embedded unit in real time is realized with other mechanisms and platform mechanism and is bi-directionally connected respectively, the output of the embedded unit in real time
End is connected with the input of position control, and the input of the output end of position control and speed regulator connects, institute
State the output end of speed regulator and the input of current regulator connects, and the output end of current regulator passes through amplifying ring
Section is connected with the input of actuating motor, and the output end of the actuating motor and the input of current sensor connect, and electricity
The output end of flow sensor and the input of current regulator connect.
Preferably, the embedded unit in real time is by core communication algorithm platform, motion-control module and real-time system line
Journey dispatching algorithm module forms.
Preferably, it is described embedded to be respectively provided with real time between unit, position control, speed regulator and current regulator
There is indicator lamp.
Preferably, the output end of the actuating motor is connected by the input of rate gyro unit and speed regulator.
Preferably, the output end of the actuating motor is connected by the input of inertial navigation and position control.
Beneficial effect
The utility model provides a kind of Servo simulation following control system.Possesses following beneficial effect：The Servo simulation
Following control system, connected by the embedded output end of the input of unit and trap setting in real time, embedded real-time unit
Realize and be bi-directionally connected with other mechanisms and platform mechanism respectively, the embedded output end of unit and the input of position control in real time
End connection, the output end of position control and the input of speed regulator are connected, and output end and the electric current of speed regulator are adjusted
The input connection of device is saved, the output end of current regulator is connected by the input of amplifying element and actuating motor, solved
The relatively low situation of existing servomechanism integration capability, servomechanism performance parameter can better meet high reliability,
At high speed, the requirement of the performance indications such as high acceleration, target detection unit realize the tenacious tracking to target, platform executing agency
Accurate tracking to specified rate, when specified rate changes at random, system controlled variable can be made to follow like clockwork and reappear to
Quantitative, under large inertia state, the responding ability of servo-drive system and target acquistion and the delay of platform executing agency are more anti-
Stopped and overshoot, shake occur during mechanism kinematic, ensure that the practicality followed, meet can it is highly reliable, at high speed, it is high
Acceleration, high accuracy, high response are realized and target are followed.
Brief description of the drawings
Fig. 1 is Tthe utility model system structural principle block diagram；
Fig. 2 is the system architecture theory diagram of the embedded unit in real time of the utility model.
In figure：1 embedded unit, 101 core communication algorithm platforms, 102 motion-control modules, 103 real-time systems in real time
Thread Scheduling Algorithms' module, 2 trap settings, 3 other mechanisms, 4 platform mechanisms, 5 position controls, 6 speed regulators, 7 electric currents
Adjuster, 8 amplifying elements, 9 actuating motors, 10 current sensors, 11 indicator lamps, 12 rate gyro units, 13 inertial navigations.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-2 is referred to, the utility model provides a kind of technical scheme：A kind of Servo simulation following control system, including
Embedded unit 1 in real time, embedded unit 1 in real time are the cores of this platform, and multiple core algorithms run on, and manage and are
Hardware, the software resource of system, the advantage of CPU multi-cores is efficiently utilized, platform high speed, highly reliable, high response, height can be met in real time
Communication need, embedded unit 1 in real time are adjusted by core communication algorithm platform 101, motion-control module 102 and real-time system thread
Degree algoritic module 103 form, the high speed processing platform stance signal of core communication algorithm platform 101, and will processing after status signal
Motion-control module 102 is fed back to, motion-control module 102 receives the data of core communication algorithm platform 101, programming movement road
Footpath, track, motion control instruction is generated, control servo-drive system does corresponding action, and (various alarms, excessively stream, overvoltage, overload etc. are believed
Breath), the collaboration of real-time system Thread Scheduling Algorithms module 103 handles the multithread scheduling inside embedded real time system, rationally place
The distribution of CPU time slice resource is managed, the hardware and software resource in management system, the embedded input of unit 1 in real time fills with catching
2 output end connection is put, and embedded unit 1 in real time is realized with other mechanisms 3 and platform mechanism 4 and is bi-directionally connected respectively, it is embedding
The output end for entering the real-time unit 1 of formula is connected with the input of position control 5, and position control 5 is adjusted using DYN dynamic position
Device is saved, and the output end of position control 5 is connected with the input of speed regulator 6, and the model of speed regulator 6 uses
SV-DRIVE2500-S, the output end of speed regulator 6 are connected with the input of current regulator 7, the model of current regulator 7
It is embedded to be provided with finger between unit 1, position control 5, speed regulator 6 and current regulator 7 in real time using A4504
Show lamp 11, and the output end of current regulator 7 is connected by amplifying element 8 with the input of actuating motor 9, actuating motor 9
Output end be connected by rate gyro unit 12 with the input of speed regulator 6, the output end and current sensor of actuating motor 9
10 input connection, and the output end of current sensor 10 is connected with the input of current regulator 7, current sensor 10
Model use HV100-4000, the output end of actuating motor 9 is connected by inertial navigation 13 with the input of position control 5.
Keep center of rotation to be overlapped with waterline in design, theoretically ensure the stability problem of servo-actuated combination, make to be servo-actuated
Posture of the combination all the time in one relative " static " and " stabilization ", because the posture of " static " and " stabilization " is guaranteed,
So that mechanism inertia and momentum substantially reduce, the energy expenditure load of mechanism will also be greatly reduced, simultaneously because center of rotation carries
It is high so that the range of movement of platform is significantly increased, the mechanical interferences not appeared in stroke range, ensures the fortune of follower
Dynamic characteristic, without any coupling phenomenon in Space Angle and in control algolithm, real time system control device is the core of whole control system
The platform stance data that the heart, high rate bioreactor inertial measurement system and dynamic inclination sensor measure in real time, calculated by control
After method calculates, control signal is provided, reaches the purpose of stabilized platform and accurate adjustment firing attitude, solves communication, signal is adopted
Collect ageing, motor driver drives electricity according to instruction action, internal drive according to control instruction, actuating motor 9 to motor
Stream carries out closed-loop control, can improve the response speed and torque stationarity of actuating motor 9.
On the basis of the operation principle and control law of servomechanism, using MATLAB dynamic simulation platform SIMULINK
The dynamic model of servomechanism is established, and real-time simulation and analysis have been carried out to it, so as to the optimal ginseng for the device that is under control
Number selection, the simulation results show system meet the requirement of given static and dynamic performance, both can instructed in real system
The adjustment of parameter, reliable reference frame can be provided for the global design of servomechanism again.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions.By sentence " including one ... the key element limited, it is not excluded that
Other identical element in the process including the key element, method, article or equipment also be present ".
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of Servo simulation following control system, including embedded unit (1) in real time, it is characterised in that：The embedded reality
Shi Danyuan (1) input is connected with the output end of trap setting (2), and it is embedded in real time unit (1) respectively with other machines
Structure (3) and platform mechanism (4), which are realized, to be bi-directionally connected, the embedded output end of unit (1) in real time and position control (5)
Input is connected, and the output end of position control (5) is connected with the input of speed regulator (6), the speed regulation
The output end of device (6) is connected with the input of current regulator (7), and the output end of current regulator (7) passes through amplifying ring
Section (8) is connected with the input of actuating motor (9), the output end of the actuating motor (9) and the input of current sensor (10)
End connection, and the output end of current sensor (10) is connected with the input of current regulator (7).
A kind of 2. Servo simulation following control system according to claim 1, it is characterised in that：It is described embedded single in real time
First (1) is by core communication algorithm platform (101), motion-control module (102) and real-time system Thread Scheduling Algorithms module (103)
Composition.
A kind of 3. Servo simulation following control system according to claim 1, it is characterised in that：It is described embedded single in real time
Indicator lamp (11) is provided between first (1), position control (5), speed regulator (6) and current regulator (7).
A kind of 4. Servo simulation following control system according to claim 1, it is characterised in that：The actuating motor (9)
Output end be connected by rate gyro unit (12) with the input of speed regulator (6).
A kind of 5. Servo simulation following control system according to claim 1, it is characterised in that：The actuating motor (9)
Output end be connected by inertial navigation (13) with the input of position control (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720906688.9U CN207182101U (en) | 2017-07-25 | 2017-07-25 | A kind of Servo simulation following control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614560A (en) * | 2018-05-31 | 2018-10-02 | 浙江工业大学 | A kind of mobile robot visual servo guaranteed cost tracking and controlling method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614560A (en) * | 2018-05-31 | 2018-10-02 | 浙江工业大学 | A kind of mobile robot visual servo guaranteed cost tracking and controlling method |
| CN108614560B (en) * | 2018-05-31 | 2021-04-06 | 浙江工业大学 | Tracking control method for visual servo performance guarantee of mobile robot |
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