CN208255724U - A kind of high-precision two-dimensional rotating platform control system - Google Patents
A kind of high-precision two-dimensional rotating platform control system Download PDFInfo
- Publication number
- CN208255724U CN208255724U CN201820715385.3U CN201820715385U CN208255724U CN 208255724 U CN208255724 U CN 208255724U CN 201820715385 U CN201820715385 U CN 201820715385U CN 208255724 U CN208255724 U CN 208255724U
- Authority
- CN
- China
- Prior art keywords
- module
- control system
- motion
- precision
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Position Or Direction (AREA)
Abstract
A kind of high-precision two-dimensional rotating platform control system, including main controller, kinetic control system, servo-system, feedback system and coding acquisition system are disclosed in the utility model；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；The servo-system includes the servo motor and transmission mechanism being arranged on turntable；The feedback system is using the rotation data of encoder acquisition turntable, and encoder connects motion-control module, by the data feedback of acquisition to motion-control module；The coding acquisition system includes embedded type control module and coding acquisition module.The system control precision it is high, it can be achieved that turntable rotary motion on two dimensions closed-loop control, make control system that there is good real-time, synchronism and interference free performance；And it can guarantee the safety during system motion by setting safety spacing mechanism.
Description
Technical field
The utility model relates to technical field of automatic control, in particular to a kind of high-precision two-dimensional rotating platform control system.
Background technique
Dimensional turntable is the important equipment of ground motion emulation, can be used for the skyborne various postures of simulated flight device and moves
Make；Its working principle is that: various high-precision sensors are mounted on turntable, at this time electricity of the aircraft in the various postures of control
Signal is converted into the mechanical movement of turntable, by control turntable in the movement of two freedom degrees, realizes attitude of flight vehicle angular movement,
The various kinetic characteristics and kinematic parameter when aircraft movement are obtained, can be realized according to these parameters and the design of aircraft is changed
Into.Therefore, it is the various athletic postures to accurate simulated flight device, needs to realize to the automatic, continuous and accurate of dimensional turntable
Control has all had the real-time of rotating platform control system, synchronism, anti-interference, interactivity and safety aspect very high
It is required that.
Utility model content
The utility model provides a kind of high-precision two-dimensional rotating platform control system, it can be achieved that accurate control to dimensional turntable,
With good real-time, synchronism, anti-interference, interactivity and safety.
In order to solve the above technical problems, the technical solution adopted in the utility model is as follows:
A kind of high-precision two-dimensional rotating platform control system, including main controller, kinetic control system, servo-system, feedback system
With 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, the motion control mould
Block connects motor drive module by DAC module；
The servo-system includes the servo motor and transmission mechanism being arranged on turntable, the servo motor driving transmission
Mechanism action, servo motor connect motor drive module；
The feedback system acquires the rotation data of turntable using encoder, and encoder connects motion-control module, will adopt
The data feedback of collection is to motion-control module；
The coding acquisition system includes embedded type control module and coding acquisition module, coding acquisition module connection coding
The data that encoder acquires are transferred to embedded type control module by device, and the embedded type control module is connected to main controller.
In above-mentioned technical proposal, further, the motion-control module uses DMC-B140 motion controller.
In above-mentioned technical proposal, further, the embedded type control module uses PMI2 embedded board.
In above-mentioned technical proposal, further, the coding acquisition system further includes display module, and the display module connects
Connect embedded type control module.
In above-mentioned technical proposal, further, the display module using serial -8 small two-way digital countings of CUB5/
Speedometer Drive.
In above-mentioned technical proposal, further, the turntable includes that can do the bracket of 360 ° of rotations and be arranged on bracket
Pitching platform, pitching platform two sides are respectively arranged with shaft, pass through shaft between pitching platform and bracket and are rotatablely connected；
The servo motor includes the rotating electric machine of driving arm rotation and the pitching motor of driving pitching platform rotation, the electric rotating
Transmission mechanism is provided between machine and bracket, transmission mechanism uses gear drive, and pitching motor and pitching platform shaft connect
It connects.
In above-mentioned technical proposal, further, the peace for limiting pitching platform rotational angle is provided on the bracket
Full position-limit mechanism.
In above-mentioned technical proposal, further, the safety spacing mechanism includes mechanical limiting mechanism, the mechanical position limitation
Mechanism includes the rotating disc being fixed in shaft and the fixed disk for being fixed at corresponding position on bracket, the rotating disc
On be provided with arc limit slot, gag lever post is provided in fixed disk, gag lever post one end is extend into limiting slot.
In above-mentioned technical proposal, further, the safety spacing mechanism further includes automatically controlled position-limit mechanism, the automatically controlled limit
Position mechanism includes that two touching blocks being fixedly connected on rotating disc and setting are corresponding with two touching blocks in rotating disc two sides
Microswitch, microswitch are fixedly mounted on bracket, and the microswitch is electrically connected to motion-control module.
The system control precision it is high, it can be achieved that turntable rotary motion on two dimensions closed-loop control, make control system
With good real-time, synchronism and interference free performance；And system motion process can guarantee by setting safety spacing mechanism
In safety.
Detailed description of the invention
Fig. 1 is Tthe utility model system structural block diagram.
Fig. 2 is the utility model intermediate station structural schematic diagram.
Fig. 3 is safety spacing mechanism structural schematic diagram in the utility model
In figure: 1, bracket, 2, pitching platform, 3, rack shaft, 4, shaft, 5, rotating disc, 6, fixed disk, 7, limiting slot,
8, gag lever post, 9, touching block, 10, microswitch, 11, pitching motor.
Specific embodiment
For dimensional turntable control system in the utility model for realizing the control to two-axle rotating table, which can be real
The skimulated motion of existing course freedom degree and pitch freedom both direction, wherein course direction can realize 0-360 ° of rotation, pitching
Direction can realize ± 20 ° of rotation.To realize the control to turntable horizontal rotation and pitching movement angle, and meet simulation test
The requirement of accuracy needs the control system to have good real-time, synchronism and interference free performance；It is simultaneously guarantee turntable
Safety in operational process also has certain requirement to the security performance of turntable itself and control system.
The utility model is further described in the following with reference to the drawings and specific embodiments.
Such as Fig. 1, dimensional turntable control system in the present embodiment, including main controller, kinetic control system, servo-system,
Feedback system and coding acquisition system.
Main controller connects kinetic control system, for transmitting control instruction to kinetic control system；Main controller be responsible for turn
The movement of platform carries out control input, is completed according to different testing requirements to different motion controls.It is guarantee in the present embodiment
The stability and reliability of system operation, using the industrial computer series of Yan Hua company as main controller.
Kinetic control system includes motion-control module, DAC module and motor drive module, and the motion-control module is logical
DAC module connection motor drive module is crossed, DAC module passes after carrying out analog-to-digital conversion to the control instruction that motion-control module exports
It is defeated to arrive motor drive module.In the present embodiment, motion-control module uses DMC-B140-M digital motion controller.The movement control
Molding block is the good digital motion controller based on microprocessing, is able to achieve multi-motion form, such as single axial movement, more
Axis interpolation etc..The motion-control module includes multiplex coding device Differential Input and enabled drive module and limit signal feedback mould
Block, wherein multiplex coding device Differential Input and enabled drive module are the input interface for the DB15 needle that motion controller carries；Limit
Position signal feedback module is the multichannel I/O input/output interface for the DB37 needle that motion controller carries, and receives external limit signal.
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.As shown in Fig. 2, the turntable in the present embodiment includes can be around 3 axis of rack shaft
The pitching platform 2 that direction is done the bracket 1 of 360 ° of rotations and is arranged on bracket, 2 two sides of pitching platform, which are respectively arranged with, to be turned
Axis 4 is rotatablely connected between pitching platform 2 and bracket 1 by shaft.The servo motor includes the electric rotating of driving arm rotation
The pitching motor 11 of machine (being not shown in Fig. 2) and driving pitching platform rotation, is provided with biography between the rotating electric machine and bracket
Motivation structure, transmission mechanism use gear drive, are driven by gear drive to rack shaft.Pitching motor with
The connection of pitching platform shaft, drives pitching platform by pitching motor.Specifically, in the present embodiment, bracket 1 is using circle
Taper roller bearing is supported, and the driving of bracket is exported rotating electric machine using rotating electric machine, retarder and a pair of engaged gears
Power transmission arrive between, realize 360 ° of bracket rotations.Pitching platform 2 passes through the rotating shaft support at both ends on bracket, pitching
The driving of platform outputs power to shaft using pitching motor, retarder, realizes the pitching movement of shaft.Here rotating electric machine
The FD80D2200-30MZ servo direct current motor that Guilin wind must be controlled is all made of with pitching motor；Correspondingly in kinetic control system
The ISF5DK60M servo-driver that motor drive module uses Guilin wind that must control.
System is using the rotation data of encoder acquisition turntable, and encoder connects motion-control module, by the data of acquisition
Feed back motion-control module.Two rotary encoders are respectively adopted in the present embodiment and are respectively used to acquisition bracket and pitching platform
Rotation data, the data of acquisition are transferred to motion controller, realize the real-time feedback control to servo motor.Specifically,
R238B-3-N-180000-05-SP-5 and R276A-3-N-180000-05-SP-5 encoder can be used in encoder.
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 after processing, the embedded type control module is connected to master control
The code device signal of acquisition is passed through compensation of the network transmission to main controller, for motor position error by machine.Wherein, coding is adopted
Collecting system further includes display module, and the display module connects embedded type control module, is used for collected code device signal
Display output is carried out, specifically, display module uses serial -8 small two-way digital counting/Speedometer Drives of American Red lion CUB5,
Its count frequency that can provide 20KHz, can real-time display support level rotation angle and pitching platform pitching rotation angle.Here
Embedded type control module use PMI2 embedded board.
To guarantee the safety in turntable motion process, turntable caused by due to rotation caused by control system is transfinited is prevented
Or tester damage, the safety spacing mechanism for limiting pitching platform rotational angle is provided on turntable support, to pitching
The pitch rotation angle of platform is limited.
As shown in Figures 2 and 3, the safety spacing mechanism in the present embodiment includes mechanical limiting mechanism, the mechanical position limitation machine
Structure includes the rotating disc 5 being fixed in shaft 4 and the fixed disk 6 for being fixed at corresponding position on bracket, the rotation
It is provided with arc limit slot 7 on disk 5, gag lever post 8 is provided in fixed disk 6,8 one end of gag lever post is extend into limiting slot 7.Pass through
Arc limit slot and gag lever post carry out mechanical position limitation to the rotational angle of shaft, prevent the pitch rotation of pitching platform from transfiniting,
The angle of middle arc limit slot is that the rotation of pitching platform limits angle.
Safety spacing mechanism further includes automatically controlled position-limit mechanism, and the automatically controlled position-limit mechanism includes being fixedly connected on rotating disc 5
On two touching blocks 9 and setting in rotating disc two sides microswitch 10 corresponding with two touching blocks, the fixation of microswitch 10
It is mounted on bracket 1, the microswitch 10 is electrically connected to motion-control module.Shaft drives rotating disc movement in rotation,
Two touching blocks on rotating disc are rotated together with rotating disc；When turn disc is beyond rotational angle is limited, on rotating disc
Touching block contacted with corresponding microswitch, microswitch transfers signals to motion-control module, motion control mould at this time
Block control pitching motor rotates backward, to realize the safe spacing to pitching platform pitch angle and automatic control.
The description and the appended drawings of the utility model be considered as it is illustrative and not restrictive, the utility model basis
On, for those skilled in the art according to disclosed technology contents, not needing creative labor can be to some of technology
Feature makes some replacements and deformation, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820715385.3U CN208255724U (en) | 2018-05-15 | 2018-05-15 | A kind of high-precision two-dimensional rotating platform control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820715385.3U CN208255724U (en) | 2018-05-15 | 2018-05-15 | A kind of high-precision two-dimensional rotating platform control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208255724U true CN208255724U (en) | 2018-12-18 |
Family
ID=64635007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820715385.3U Expired - Fee Related CN208255724U (en) | 2018-05-15 | 2018-05-15 | A kind of high-precision two-dimensional rotating platform control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208255724U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672122A (en) * | 2019-09-26 | 2020-01-10 | 中国航空工业集团公司北京航空精密机械研究所 | Electric control device of single-shaft speed double-shaft position rotary table |
| CN111258337A (en) * | 2020-02-28 | 2020-06-09 | 中国科学院西安光学精密机械研究所 | High-precision servo control system and method for pitching motion of two-dimensional turntable under load eccentricity |
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN111796606A (en) * | 2020-05-29 | 2020-10-20 | 湖北三江航天万峰科技发展有限公司 | Two-dimensional turntable follow-up control system and method based on armature direct current motor |
| CN112710198A (en) * | 2020-12-30 | 2021-04-27 | 西安航天远征流体控制股份有限公司 | 360-degree-orientation-adjustable lifting mechanism and target scoring device |
-
2018
- 2018-05-15 CN CN201820715385.3U patent/CN208255724U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672122A (en) * | 2019-09-26 | 2020-01-10 | 中国航空工业集团公司北京航空精密机械研究所 | Electric control device of single-shaft speed double-shaft position rotary table |
| CN111258337A (en) * | 2020-02-28 | 2020-06-09 | 中国科学院西安光学精密机械研究所 | High-precision servo control system and method for pitching motion of two-dimensional turntable under load eccentricity |
| CN111258337B (en) * | 2020-02-28 | 2021-07-27 | 中国科学院西安光学精密机械研究所 | High-precision servo control system and method for pitching motion of two-dimensional turntable under load eccentricity |
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN111796606A (en) * | 2020-05-29 | 2020-10-20 | 湖北三江航天万峰科技发展有限公司 | Two-dimensional turntable follow-up control system and method based on armature direct current motor |
| CN112710198A (en) * | 2020-12-30 | 2021-04-27 | 西安航天远征流体控制股份有限公司 | 360-degree-orientation-adjustable lifting mechanism and target scoring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208255724U (en) | A kind of high-precision two-dimensional rotating platform control system | |
| CN206251006U (en) | A kind of twin shaft artificial rotary table control device | |
| CN201107393Y (en) | Synchronization / coordinating controller performance test platform | |
| CN201903440U (en) | High-speed wind tunnel angle attacking control system | |
| CN202710670U (en) | Single-shaft heavy antenna testing rotary table | |
| CN102778895B (en) | Method for accurate positioning control system under overweight environment | |
| CN208635828U (en) | A kind of coder calibrating device | |
| CN109676635A (en) | A kind of Dual-encoder for the robot collision detection that cooperates | |
| CN103940342A (en) | Double-rolling type arc-surface cam machining precision detecting device | |
| CN100354078C (en) | Double ring detecting mechanism for robot joint speed reducer flexibility | |
| CN203745198U (en) | Speed reducer test equipment | |
| CN113982861A (en) | Large-scale wind turbine generator system rotation detection device | |
| CN202648946U (en) | Gear case transmission accuracy measuring device based on dual servo motor | |
| CN215749152U (en) | Six-degree-of-freedom parallel robot detection branch | |
| CN208932951U (en) | A kind of automation loading system | |
| CN202149826U (en) | Electric servo controller device test-bed | |
| CN205745900U (en) | Five revolving stages | |
| CN202747996U (en) | Apparatus for measuring angle and/or distance | |
| CN209640684U (en) | Experiment porch | |
| CN210526820U (en) | Ship control lever of full-circle-rotation propulsion device | |
| CN103604448B (en) | Absolute type encoder | |
| CN203398765U (en) | Combined velocity measuring system | |
| CN209263793U (en) | A kind of test device of high speed rotation missile guidance system | |
| CN111811541A (en) | Double-shaft rotary table system | |
| CN207300552U (en) | Standard movement device based on linear motor driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 Termination date: 20210515 |