CN211479489U

CN211479489U - Can use teaching device of PID control sailboard angle

Info

Publication number: CN211479489U
Application number: CN201922475158.5U
Authority: CN
Inventors: 吴虎; 孔勇; 王振伟; 丁伟; 李欢
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-11
Anticipated expiration: 2029-12-31

Abstract

The utility model relates to a can use teaching device of PID control sailboard angle, including frame and rack-mounted DC motor, can revolute the rotatory sailboard of rotation, microcontroller module and angle measurement module, the DC motor output shaft have the flabellum, the flabellum produces wind-force and makes the sailboard angle change, angle measurement module be connected with the pivot, angle measurement module includes WDD35D-4 accurate conductive plastic potentiometre, microcontroller module be connected with angle measurement module, DC motor respectively. Compared with the prior art, the utility model uses the WDD35D-4 precise conductive plastic potentiometer to measure the sailboard angle, simplifies the measuring circuit structure, can accurately measure the sailboard angle, and has simple extraction and programming of the sailboard angle; the serial communication module is used for communicating with an upper computer, so that the change of angle information and the change of corresponding parameters of PID can be conveniently observed, or the device can be directly programmed on line.

Description

Can use teaching device of PID control sailboard angle

Technical Field

The utility model relates to an automatic control technique teaching device especially relates to a teaching device that can use PID control sailboard angle.

Background

In the existing automatic control teaching of the university, a classical PID control algorithm is often taught, but basically only a formula of the PID control algorithm is taught, or a process experiment device is used for demonstrating, but because the system of the process experiment device is too complex, students can only see the result of PID curve change after one parameter is changed, the PID program cannot be written in person, and the related concepts of the PID are still fuzzy.

Chinese patent application No.: 201721150159.7, filing date: 2017.09.08, title of invention: the utility model provides a sailboard control experimental apparatus, a sailboard control experimental apparatus that this application was disclosed, mainly fixes in the frame by fan and control module, and display screen and keyboard are installed on the frame, and the air outlet department at the fan is established to the sailboard, and the upper portion of sailboard is equipped with the sailboard pivot, and the sailboard passes through sailboard pivot and frame swivelling joint, angle sensor fixes on the frame, and angle sensor's axis of rotation links to each other with the sailboard pivot is fixed. The control module controls the fan driving circuit to control the rotation angle of the sailboard, related data are displayed on the display screen in real time, and the control module is simple in structure, convenient to operate and low in use and maintenance cost.

Chinese patent application No.: 201510279271.x, application date: 2015.05.27, title of invention: a sailboard experiment system and a sailboard measuring method mainly comprise an angle measuring module, a control driving module and an angle monitoring module; the angle measuring module is used for measuring the angle of the sailboard and transmitting the angle value to the control driving module; the control driving module comprises a serial port communication circuit, an MCU control circuit and a power amplifying circuit; the angle monitoring module comprises an angle display unit and an angle set value unit; the angle setting unit sets the angle of the sailboard, the current angle value of the sailboard is obtained through a serial port and displayed on the angle value display unit, the angle measuring module transmits the angle value of the sailboard to the angle display unit through the control driving module, and the control driving module controls the swinging of the sailboard through a PID algorithm and a power amplifying circuit in the control driving module so that the sailboard swings correspondingly according to the specification of the target angle value. The invention has simple application and control and is more intuitive; the problem that traditional experiment platforms are independent from each other is solved, but the defect is that due to the fact that an MMA7260 triaxial acceleration angle measurement module is used, programming of angle extraction is difficult, and independent PID algorithm programming of students is not facilitated.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a teaching device that can use PID control sailboard angle in order to solve the not enough of present automatic control teaching middle school student can not carry out PID programming experiment.

The purpose of the utility model can be realized through the following technical scheme:

a teaching device capable of controlling the angle of a sailboard by using PID (proportion integration differentiation), comprises a rack, a direct current motor, the sailboard, a microcontroller module and an angle measuring module, wherein the direct current motor is mounted on the rack, the sailboard can rotate around a rotating shaft, an output shaft of the direct current motor is provided with fan blades, wind power is generated by the fan blades to enable the angle of the sailboard to change, the angle measuring module is connected with the rotating shaft, the angle measuring module comprises a WDD35D-4 precision conductive plastic potentiometer, and the microcontroller module is respectively connected with the angle measuring module and the direct current motor.

The device also comprises a serial port communication module, and the serial port communication module is connected with the microcontroller module.

The serial port communication module comprises a CH340 serial port-USB chip and is connected with an upper computer through a USB port.

The device also comprises a power supply voltage stabilizing module arranged on the rack, and the power supply voltage stabilizing module is respectively connected with the microcontroller module and the angle measuring module.

The power supply voltage stabilization module comprises an LM2596 voltage stabilization chip.

The sailboard is arranged on a transverse column of the frame through a rotating shaft, and the angle measuring module and the rotating shaft are fixed together through a bearing.

The device also comprises a direct current motor driving module arranged on the rack, wherein the direct current motor driving module comprises an L298N direct current electric appliance driving chip connected with the microcontroller module.

The microcontroller module comprises an STM32F103C8T6 singlechip.

Compared with the prior art, the utility model has the advantages of it is following:

(1) the WDD35D-4 precision conductive plastic potentiometer is used for measuring the angle of the sailboard, the structure of a measuring circuit is simplified, the angle of the sailboard can be measured accurately, and the extraction and programming of the angle of the sailboard are simple.

(2) The serial communication module is used for communicating with an upper computer, so that the change of angle information and the change of corresponding parameters of PID can be conveniently observed, or the device can be directly programmed on line.

(3) Adopt open rack construction, can be very light maintain, clear up this device to adopt the lithium cell to carry out independent power supply, make it can independent operation, convenient transport removes.

Drawings

FIG. 1 is a schematic structural diagram of a teaching device according to the present embodiment;

FIG. 2 is a general block diagram of the teaching apparatus according to the present embodiment;

FIG. 3 is a circuit diagram of a motor driving circuit of the teaching apparatus of the present embodiment;

FIG. 4 is a serial communication circuit diagram of the teaching apparatus of the present embodiment;

reference numerals:

1 is a serial port communication module; 2 is a direct current motor driving module; 3 is a microcontroller module; 4 is a power supply voltage stabilizing module; 5 is an angle measuring module; 6 is a direct current motor; 7 is a lithium battery; 8 is a bearing; 9 is a rotating shaft; 10 is a sailboard; 11 is a frame; 12 is an upper computer.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Examples

As shown in figure 1, a can use teaching device of PID control sailboard angle, contain serial communication module 1, direct current motor drive module 2, microcontroller module 3, power voltage stabilizing module 4, angle measurement module 5, take the direct current motor 6 of flabellum, lithium cell 7, bearing 8, sailboard pivot 9, sailboard 10, frame 11, microcontroller module 3's input port has accessed angle measurement module 5, direct current motor drive module 2 has been accessed to the delivery outlet, serial communication port has accessed serial communication module 1.

Microcontroller module 3 includes STM32F103C8T6 singlechip.

The circuit of the angle measurement module 5 is composed of a precision conductive plastic potentiometer of a WDD35D-4 model, the precision conductive plastic potentiometer inputs an analog signal into an analog quantity conversion channel of an STM32F103C8T6 singlechip, and an ADC function of the STM32F103C8T6 singlechip is used for converting the analog quantity into a digital quantity.

The serial port communication module 1 circuit is realized by a CH430 serial port-to-USB chip, the STM32F103C8T6 singlechip outputs angle information to the CH430 serial port-to-USB chip through a serial port, the angle signal is input to the upper computer 12 through the CH430 serial port-to-USB chip, a serial port assistant is used for receiving the angle information on the upper computer 12, real-time display of the angle information is realized, and data input to the STM32F103C8T6 singlechip by the upper computer is received through the CH430 serial port-to-USB chip, the proportional coefficient, the integral coefficient and the differential coefficient of a sailboard angle value and a PID are changed through the upper computer 12.

The direct current motor driving module 2 circuit consists of an L298N direct current motor driving chip, 4 diodes and a plurality of capacitors; the fifth pin of the L298N is connected with the PWM output pin of the STM32F103C8T6, the seventh pin of the L298N is connected with a low level, the second pin and the third pin of the L298N are respectively connected into a diode in the forward direction and then are respectively connected with the anode and the cathode of the direct current motor, and the power supply pin of the direct current motor is connected with the lithium battery, so that the control of the rotating speed of the direct current motor through the PWM wave output by the STM32F103C8T6 can be realized.

The 4 circuits of the power supply voltage stabilizing module comprise LM2596-3.3, LM2596-5 voltage stabilizing chips, a plurality of resistors, capacitors and inductors, the input end of the LM2596-3.3 is connected with a lithium battery, the output end of the LM2596-3.3 is respectively connected with an STM32F103C8T6 microcontroller module and an angle measuring module, the input end of the LM2596-5 is connected with the lithium battery, and the output end of the LM2596-5 is connected with the ninth pin of the L298N.

The sailboard 10 is installed on a cross post of the frame 11 through a sailboard rotating shaft 9, and the angle measuring module 5 and the sailboard rotating shaft 9 are fixed together through a bearing 8 and are fixed on the frame 11; the direct current motor 6 with the fan blades is fixedly arranged on a beam in the middle of the frame 11, the direct current motor driving module 2, the microcontroller module 3, the power supply voltage stabilizing module 4 and the lithium battery 7 are respectively fixedly arranged at the lowest part of the frame 11, and the serial port communication module 1 is also arranged below the frame, is not fixed with the frame 11 and can be directly connected to the upper computer 12.

Fig. 2 is a general block diagram of the teaching device according to this embodiment, the microcontroller module 3 receives an angle signal from the angle measurement module 5, provides angle information through an ADC conversion function inside the microcontroller, and outputs a PWM wave to the dc motor driving module 2 after PID calculation, so as to change the rotation speed of the dc motor 6, so as to change the wind speed, and further to make the angle of the sailboard reach a set value, the angle information is transmitted to the upper computer 12 through the serial port communication module to be displayed, the upper computer 12 and the sailboard control system are in bidirectional communication, the microcontroller can receive preset angle data sent by the upper computer, and the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd of the PID can also be programmed through serial port communication.

Fig. 3 is a motor driving circuit diagram, which is formed by using an L298N direct current electric appliance driving chip, two diodes are respectively connected IN parallel to output pins OUT1 and OUT2 of the L298N chip to protect the chip from being damaged by back electromotive force generated when the motor operates, an input pin IN1 is connected to a low level output pin of a single chip microcomputer, an input pin IN2 is connected to a PWM wave output pin of the single chip microcomputer, and an enable pin ENA is connected to a high level, so that the motor can be subjected to PWM speed regulation control.

FIG. 4 is a serial communication circuit diagram, which includes a CH430 serial-to-USB chip, a USB interface, a crystal oscillator, and a plurality of capacitors; the fourth pin of the CH340 chip is connected with a capacitor, the other end of the capacitor is grounded, a crystal oscillator is connected in parallel to the seventh pin and the eighth pin, the capacitor is connected in series to the seventh pin and the eighth pin, the other end of the capacitor is grounded, the fifth pin of the CH340 chip is connected to the third pin of the USB interface, the sixth pin of the CH340 chip is connected to the second pin of the USB interface, the second pin and the third pin of the CH340 chip are respectively connected with the TXD pin and the RXD pin of the singlechip, the sixteenth pin of the CH340 chip is connected to a power supply and is connected in parallel with a capacitor, and the rest pins which are not lifted are overhead.

Claims

1. The teaching device capable of controlling the angle of the sailboard by using the PID is characterized by comprising a rack (11), a direct current motor (6) mounted on the rack (11), the sailboard (10) capable of rotating around a rotating shaft (9), a microcontroller module (3) and an angle measuring module (5), wherein fan blades are arranged on an output shaft of the direct current motor (6), wind power is generated by the fan blades to enable the angle of the sailboard (10) to be changed, the angle measuring module (5) is connected with the rotating shaft (9), the angle measuring module (5) comprises a WDD35D-4 precision conductive plastic potentiometer, and the microcontroller module (3) is respectively connected with the angle measuring module (5) and the direct current motor (6).

2. The pedagogic apparatus for controlling the angle of a windsurfing board using PID as claimed in claim 1, characterized in that said apparatus further comprises a serial communication module (1), said serial communication module (1) being connected to the microcontroller module (3).

3. The teaching device capable of controlling the angle of a windsurfing board by using PID as claimed in claim 2, wherein the serial port communication module (1) comprises a CH340 serial port to USB chip and is connected with the upper computer (12) through a USB port.

4. The apparatus for teaching the control of windsurfing board angles using PID as claimed in claim 1, further comprising a power stabilizing module (4) mounted on the frame (11), wherein said power stabilizing module (4) is connected to the micro-controller module (3) and the angle measuring module (5), respectively.

5. The teaching device for controlling the angle of a windsurfing board using PID as claimed in claim 4, wherein said power voltage stabilizing module (4) comprises LM2596 voltage stabilizing chip.

6. The teaching device for controlling the angle of a windsurfing board using PID as claimed in claim 1, wherein said windsurfing board (10) is mounted on the cross-post of the frame (11) via a rotating shaft (9), and said angle measuring module (5) is fixed with the rotating shaft (9) via a bearing (8).

7. The pedagogic apparatus for controlling windsurfing board angle using PID as claimed in claim 1, characterized in that said apparatus further comprises a dc motor driving module (2) mounted on the frame (11), said dc motor driving module (2) comprising an L298N dc appliance driving chip connected to the microcontroller module (3).

8. The teaching device that can control the angle of a windsurfing board by using PID as claimed in claim 1, wherein the micro controller module comprises STM32F103C8T6 single chip microcomputer.