CN208255724U - A kind of high-precision two-dimensional rotating platform control system - Google Patents

Abstract

The utility model discloses a high-precision two-dimensional turntable control system, including a main control machine, a motion control system, a servo system, a feedback system and a code collection system; The system transmits control instructions; the motion control system includes a motion control module, a DAC module and a motor drive module; the servo system includes a servo motor and a transmission mechanism arranged on the turntable; the feedback system uses an encoder to collect the rotation data of the turntable , the encoder is connected to the motion control module, and the collected data is fed back to the motion control module; the code collection system includes an embedded control module and a code collection module. The system has high control precision and can realize the closed-loop control of the rotary motion of the turntable in two dimensions, so that the control system has good real-time performance, synchronization and anti-interference performance; security.

Description

A high-precision two-dimensional turntable control system

technical field

The utility model relates to the technical field of automatic control, in particular to a high-precision two-dimensional turntable control system.

Background technique

The two-dimensional turntable is an important device for ground motion simulation, which can be used to simulate various attitudes and actions of the aircraft in the air; its working principle is: various high-precision sensors are installed on the turntable, and the aircraft is controlling various attitude The electrical signal is converted into the mechanical motion of the turntable. By controlling the movement of the turntable in two degrees of freedom, the attitude angle movement of the aircraft can be realized, and various dynamic characteristics and motion parameters of the aircraft can be obtained. According to these parameters, the design improvement of the aircraft can be realized . Therefore, in order to accurately simulate various motion attitudes of the aircraft, it is necessary to realize automatic, continuous and precise control of the two-dimensional turntable, which has advantages in real-time, synchronization, anti-interference, interactivity and safety of the turntable control system. high demands.

Utility model content

The utility model provides a high-precision two-dimensional turntable control system, which can realize precise control on the two-dimensional turntable, and has good real-time performance, synchronization, anti-interference performance, interactivity and safety.

For solving the problems of the technologies described above, the technical scheme that the utility model adopts is as follows:

A high-precision two-dimensional turntable control system, including a main computer, a motion control system, a servo system, a feedback system, and an encoding acquisition system;

The main control machine is connected to the motion control system, and is used to transmit control instructions to the motion control system;

The motion control system includes a motion control module, a DAC module and a motor drive module, and the motion control module is connected to the motor drive module through the DAC module;

The servo system includes a servo motor and a transmission mechanism arranged on the turntable, the servo motor drives the transmission mechanism to act, and the servo motor is connected to the motor drive module;

The feedback system adopts an encoder to collect the rotation data of the turntable, the encoder is connected to the motion control module, and the collected data is fed back to the motion control module;

The code collection system includes an embedded control module and a code collection module, the code collection module is connected to the encoder, and transmits the data collected by the coder to the embedded control module, and the embedded control module is connected to the main control machine.

In the above technical solution, further, the motion control module adopts a DMC-B140 motion controller.

In the above technical solution, further, the embedded control module adopts a PMI2 embedded board.

In the above technical solution, further, the code acquisition system further includes a display module connected to an embedded control module.

In the above technical solution, further, the display module adopts CUB5 series-8-bit small dual-channel digital counter/rate meter.

In the above technical solution, further, the turntable includes a bracket capable of 360° rotation and a pitching platform arranged on the bracket, rotating shafts are respectively arranged on both sides of the pitching platform, and the pitching platform and the bracket are connected by rotating shafts; The servo motor includes a rotating motor that drives the bracket to rotate and a pitching motor that drives the pitching platform to rotate. A transmission mechanism is arranged between the rotating motor and the bracket. The transmission mechanism adopts a gear transmission mechanism, and the pitching motor is connected to the rotating shaft of the pitching platform.

In the above technical solution, further, the support is provided with a safety limit mechanism for limiting the rotation angle of the pitching platform.

In the above technical solution, further, the safety limit mechanism includes a mechanical limit mechanism, and the mechanical limit mechanism includes a rotating disk fixed on the rotating shaft and a fixed disk fixed on the corresponding position on the bracket. An arc-shaped limiting groove is arranged on the disk, and a limiting rod is arranged on the fixed disk, and one end of the limiting rod extends into the limiting groove.

In the above technical solution, further, the safety limit mechanism further includes an electric control limit mechanism, and the electric control limit mechanism includes two touch blocks fixedly connected to the rotating disk and two touch blocks arranged on both sides of the rotating disk and The microswitches corresponding to the two touch blocks are fixedly installed on the bracket, and the microswitches are electrically connected to the motion control module.

The system has high control precision and can realize the closed-loop control of the rotary motion of the turntable in two dimensions, so that the control system has good real-time performance, synchronization and anti-interference performance; security.

Description of drawings

Fig. 1 is a structural block diagram of the utility model system.

Fig. 2 is a structural schematic diagram of the relay station of the present invention.

Fig. 3 is a structural schematic diagram of the safety limit mechanism in the utility model

In the figure: 1. Bracket, 2. Pitching platform, 3. Bracket rotating shaft, 4. Rotating shaft, 5. Rotating disc, 6. Fixed disc, 7. Limiting groove, 8. Limiting rod, 9. Touching block, 10 , Micro switch, 11, pitching motor.

Detailed ways

The two-dimensional turntable control system in the utility model is used to realize the control of the two-axis turntable. The two-axis turntable can realize the simulated motion in the two directions of the degree of freedom of the course and the degree of freedom of the pitch, and the course direction can realize 0-360° rotation , the pitch direction can achieve ±20°rotation. In order to realize the control of the horizontal rotation and pitching motion angle of the turntable and meet the accuracy requirements of the simulation test, the control system needs to have good real-time performance, synchronization and anti-interference performance; at the same time, in order to ensure the safety of the turntable during operation, There are also certain requirements for the safety performance of the turntable itself and the control system.

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further.

As shown in Fig. 1, the two-dimensional turntable control system in this embodiment includes a main control computer, a motion control system, a servo system, a feedback system and an encoding acquisition system.

The main control computer is connected to the motion control system and is used to transmit control commands to the motion control system; the main control computer is responsible for controlling the input of the motion of the turntable, and completes different motion controls according to different test requirements. In this embodiment, in order to ensure the stability and reliability of the system operation, Advantech's series industrial computer is used as the main computer.

The motion control system includes a motion control module, a DAC module and a motor drive module. The motion control module is connected to the motor drive module through the DAC module. The DAC module performs analog-to-digital conversion on the control commands output by the motion control module and transmits them to the motor drive module. In this embodiment, the motion control module adopts DMC-B140-M digital motion controller. The motion control module is a high-performance digital motion controller based on micro-processing technology, which can realize various motion forms, such as single-axis motion, multi-axis interpolation, etc. The motion control module includes a multi-channel encoder differential input and enable drive module and a limit signal feedback module, wherein the multi-channel encoder differential input and enable drive module is the input interface of the motion controller's own DB15 pin; the limit The signal feedback module is a DB37-pin multi-channel I/O input and output interface that comes with the motion controller, and receives external limit signals.

The servo system includes a servo motor and a transmission mechanism arranged on the turntable, the servo motor drives the transmission mechanism to act, and the servo motor is connected to the motor drive module. As shown in Figure 2, the turntable in this embodiment includes a support 1 that can rotate 360° around the axis of the support shaft 3 and a pitching platform 2 arranged on the support. The two sides of the pitching platform 2 are respectively provided with rotating shafts 4, The pitching platform 2 and the bracket 1 are rotatably connected by a rotating shaft. The servo motor includes a rotary motor (not shown in Fig. 2 ) that drives the bracket to rotate and a pitch motor 11 that drives the pitch platform to rotate. A transmission mechanism is arranged between the rotary motor and the bracket, and the transmission mechanism adopts a gear transmission mechanism. The gear transmission mechanism drives the support rotating shaft. The pitching motor is connected with the rotating shaft of the pitching platform, and the pitching platform is driven by the pitching motor. Specifically, in this embodiment, the support 1 is supported by tapered roller bearings, and the drive of the support uses a rotating motor, a reducer and a pair of meshing gears to transmit the power output by the rotating motor to each other, so as to realize the 360° rotation of the support. The pitching platform 2 is supported on the support by the rotating shafts at both ends, and the driving of the pitching platform adopts a pitching motor and a reducer to output power to the rotating shaft to realize the pitching motion of the rotating shaft. Here, both the rotating motor and the pitching motor use the FD80D2200-30MZ servo DC motor of Guilin Fengdekong; correspondingly, the motor drive module in the motion control system adopts the ISF5DK60M servo driver of Guilin Fengdecontrol.

The system uses an encoder to collect the rotation data of the turntable, and the encoder is connected to the motion control module, and the collected data is fed back to the motion control module. In this embodiment, two rotary encoders are respectively used to collect the rotation data of the bracket and the pitching platform, and the collected data are transmitted to the motion controller to realize real-time feedback control of the servo motor. Specifically, the encoders may use R238B-3-N-180000-05-SP-5 and R276A-3-N-180000-05-SP-5 encoders.

The code collection system includes an embedded control module and a code collection module. The code collection module is connected to the encoder, and the data collected by the coder is processed and then transmitted to the embedded control module. The embedded control module is connected to the main control computer to collect The encoder signal is transmitted to the host computer through the network for compensation of the motor position error. Among them, the code collection system also includes a display module, which is connected to an embedded control module for displaying and outputting the collected encoder signals. Specifically, the display module adopts the American Red Lion CUB5 series - 8-bit small two-way Digital counting/rate meter, which can provide a counting frequency of 20KHz, and can display the horizontal rotation angle of the support and the pitch rotation angle of the pitching platform in real time. The embedded control module here adopts PMI2 embedded board.

In order to ensure the safety during the movement of the turntable and prevent damage to the turntable or the test object caused by the overrun caused by the control system, a safety limit mechanism for limiting the rotation angle of the pitching platform is set on the turntable bracket. The pitch rotation angle is limited.

As shown in Figures 2 and 3, the safety limit mechanism in this embodiment includes a mechanical limit mechanism, and the mechanical limit mechanism includes a rotating disk 5 fixedly arranged on the rotating shaft 4 and a fixed plate fixed at a corresponding position on the bracket. disk 6, the rotating disk 5 is provided with an arc-shaped limiting groove 7, and the fixed disk 6 is provided with a limiting rod 8, and one end of the limiting rod 8 extends into the limiting groove 7. The rotation angle of the rotating shaft is mechanically limited by the arc-shaped limit groove and the limit rod to prevent the pitching rotation of the pitching platform from exceeding the limit, wherein the angle of the arc-shaped limit groove is the limited rotation angle of the pitching platform.

The safety limit mechanism also includes an electric control limit mechanism, and the electric control limit mechanism includes two touch blocks 9 fixedly connected on the rotating disk 5 and micro-touch blocks corresponding to the two touch blocks arranged on both sides of the rotating disk. The micro switch 10 is fixedly installed on the bracket 1, and the micro switch 10 is electrically connected to the motion control module. When the rotating shaft rotates, it drives the rotating disk to move, and the two touch blocks on the rotating disk rotate together with the rotating disk; when the rotating disk rotates beyond the limited rotation angle, the touching blocks on the rotating disk contact the corresponding micro switch, At this time, the micro switch transmits the signal to the motion control module, and the motion control module controls the pitch motor to rotate in reverse, thereby realizing safety limit and automatic control of the pitch angle of the pitch platform.

The specification and drawings of the utility model are considered to be illustrative rather than restrictive. On the basis of the utility model, those skilled in the art can understand some of the technical features according to the disclosed technical content without creative work. Make some replacements and deformations, all within the protection scope of the present utility model.

Claims (9)

1. a kind of high-precision two-dimensional rotating platform control system, it is characterised in that: including main controller, kinetic control system, servo-system, Feedback system and coding acquisition system；

The main controller connects kinetic control system, for transmitting control instruction to kinetic control system；

The kinetic control system includes motion-control module, DAC module and motor drive module, and the motion-control module is logical Cross DAC module connection motor drive module；

The servo-system includes the servo motor and transmission mechanism being arranged on turntable, the servo motor drive transmission device Movement, servo motor connect motor drive module；

The feedback system is using the rotation data of encoder acquisition turntable, and encoder connects motion-control module, by acquisition Data feedback is to motion-control module；

The coding acquisition system includes embedded type control module and coding acquisition module, and coding acquisition module connects encoder, The data that encoder acquires are transferred to embedded type control module, the embedded type control module is connected to main controller.

2. high-precision two-dimensional rotating platform control system according to claim 1, it is characterised in that: the motion-control module is adopted With DMC-B140 motion controller.

3. high-precision two-dimensional rotating platform control system according to claim 1, it is characterised in that: the embedded type control module Using PMI2 embedded board.

4. high-precision two-dimensional rotating platform control system according to claim 1, it is characterised in that: the coding acquisition system is also Including display module, the display module connects embedded type control module.

5. high-precision two-dimensional rotating platform control system according to claim 4, it is characterised in that: the display module uses CUB5-8 small two-way digital counting/Speedometer Drives of series.

6. high-precision two-dimensional rotating platform control system according to claim 1, it is characterised in that: the turntable includes that can do The bracket of 360 ° of rotations and the pitching platform being arranged on bracket, pitching platform two sides are respectively arranged with shaft, and pitching is flat It is rotatablely connected between platform and bracket by shaft；The servo motor includes rotating electric machine and the driving pitching of driving arm rotation The pitching motor of platform rotation, is provided with transmission mechanism between the rotating electric machine and bracket, transmission mechanism uses gear drive Mechanism, pitching motor are connect with pitching platform shaft.

7. high-precision two-dimensional rotating platform control system according to claim 6, it is characterised in that: be arranged on the bracket useful In the safety spacing mechanism for limiting pitching platform rotational angle.

8. high-precision two-dimensional rotating platform control system according to claim 7, it is characterised in that: the safety spacing mechanism packet Mechanical limiting mechanism is included, the mechanical limiting mechanism includes the rotating disc being fixed in shaft and is fixed on bracket The fixed disk of corresponding position is provided with arc limit slot on the rotating disc, gag lever post, gag lever post one end is provided in fixed disk It extend into limiting slot.

9. high-precision two-dimensional rotating platform control system according to claim 8, it is characterised in that: the safety spacing mechanism is also Including automatically controlled position-limit mechanism, the automatically controlled position-limit mechanism includes that two touching blocks being fixedly connected on rotating disc and setting are turning Moving plate two sides microswitch corresponding with two touching blocks, microswitch are fixedly mounted on bracket, and the microswitch is electrically connected It is connected to motion-control module.