CN220895083U - Single-degree-of-freedom active vibration reduction demonstration device based on Arduino single chip microcomputer - Google Patents
Single-degree-of-freedom active vibration reduction demonstration device based on Arduino single chip microcomputer Download PDFInfo
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- CN220895083U CN220895083U CN202322529420.6U CN202322529420U CN220895083U CN 220895083 U CN220895083 U CN 220895083U CN 202322529420 U CN202322529420 U CN 202322529420U CN 220895083 U CN220895083 U CN 220895083U
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Abstract
The utility model relates to the technical field of active vibration reduction, in particular to a single-degree-of-freedom active vibration reduction demonstration device based on Ardui no single-chip microcomputer, which comprises the following components: the device comprises a vibration module, an anti-vibration module and a detection module; the main body of the device is formed by up-and-down combination of two linear sliding table modules, and the lower sliding table is controlled by a first Ardui no singlechip to generate random motion within a certain frequency range so as to simulate vibration in a real scene; the upper sliding table is controlled by a second Ardu i no single-chip microcomputer embedded with an active vibration damping algorithm, the detection device is connected with the second Ardui no single-chip microcomputer, the detection device detects the motion of a damped object to obtain an error signal, and the second Ardui no single-chip microcomputer processes the signal to obtain an anti-vibration signal and controls the upper sliding table to move so as to achieve the vibration damping effect. The device completes active vibration reduction with lower cost, adopts Ardui no single-chip microcomputer as a controller, has lower threshold, high openness and convenient operation, and is suitable for occasions such as teaching of active vibration reduction, algorithm verification and the like.
Description
Technical Field
The utility model relates to the technical field of active vibration reduction, in particular to a single-degree-of-freedom active vibration reduction demonstration device based on an Arduino single-chip microcomputer.
Background
Engineering machinery is widely used in occasions such as hydraulic engineering, road construction and mines, static design is usually adopted in the design of the engineering machinery, and the direct correlation factors of the strength, durability and the like of the engineering machinery and the working property of the engineering machinery are considered in the design concept. However, in terms of practical use, the engineering machinery generally has the problem of excessive vibration in the construction process, and vibration reduction is a main means for preventing vibration hazard in engineering. The vibration damping technology can be divided into passive vibration damping and active vibration damping, and is more traditional and mature, and the vibration damping technology consists of a spring element and a damping element, and has a simple and stable structure. However, the vibration reduction frequency range depends on parameters of the spring and the damper, so that the adjustability is poor, and the vibration reduction frequency range cannot meet the vibration reduction requirement of a wide frequency range. The active vibration reduction can better make up the defect of passive vibration reduction, and the vibration reduction precision is higher, the principle is that a sensor is arranged in a vibration reduction system, an actuator is arranged between a vibration source and a vibration reduction object, vibration signals are collected through the sensor, signals for counteracting the vibration are generated through a microprocessor, and the actuator is controlled to counteract the vibration, but the existing active vibration reduction device is more in application in precise instruments, aerospace equipment, large steam turbine generator units and high-speed rotating machinery, and has the advantages of complex structure, high cost, high integration level and low openness.
Students are often required to perform experimental operations at universities, study experimental steps and operation points, and if laboratory experience can be safely and efficiently performed through computer technology and virtual simulation technology, powerful support is provided for future development of the students, the coping capacity and innovation capacity of the students in actual work are improved, and the existing active vibration damping device is not suitable for occasions such as teaching and principle verification.
Disclosure of Invention
In view of the above, the utility model provides a single-degree-of-freedom active vibration damping demonstration device based on an Arduino single-chip microcomputer, which simulates the single-degree-of-freedom active vibration damping device in a real scene with lower cost, and solves the problems that the existing active vibration damping device is complex in structure, high in cost, high in integration level and low in openness, and is not suitable for teaching and principle verification.
The utility model provides a single-degree-of-freedom active vibration damping demonstration device based on an Arduino singlechip, which comprises a mounting plate and a power supply, wherein a vibration module, an anti-vibration module and a detection module are arranged on the mounting plate; the vibration module comprises a first Arduino single-chip microcomputer, a first stepping motor controller, a first stepping motor driver and a lower sliding table, wherein the first Arduino single-chip microcomputer is electrically connected with the first stepping motor controller, and the first stepping motor controller is electrically connected with the lower sliding table through the first stepping motor driver; the anti-vibration module comprises a second Arduino singlechip, a second stepping motor controller, a second stepping motor driver and an upper sliding table, wherein the upper sliding table is arranged on a sliding block of the lower sliding table, the second Arduino singlechip is electrically connected with the second stepping motor controller, and the second stepping motor controller is electrically connected with the upper sliding table through the second stepping motor driver; the detection module comprises a detection device; the detection device is electrically connected with the second Arduino singlechip; the power supply is electrically connected with the first Arduino single-chip microcomputer, the second Arduino single-chip microcomputer, the first stepping motor controller, the second stepping motor controller and the detection device.
Optionally, the second Arduino singlechip includes an LMS adaptive filter.
Optionally, the second Arduino singlechip includes a feedback LMS adaptive filter.
Optionally, the second Arduino singlechip is electrically connected with the second stepper motor controller through a conversion input feedback type LMS adaptive filter.
Optionally, the mounting plate is an aluminum plate, the thickness is not more than 10mm, and the length and the width are not more than 500mm.
Optionally, the lower sliding table and the lower sliding table are both slider type single-shaft electric cylinders, and comprise a stepping motor and a ball screw.
Optionally, the detection device is a laser displacement sensor, and the object to be damped and the laser emitter of the laser displacement sensor are installed on the same straight line.
Optionally, the detection device is mounted on the mounting plate by an L-shaped riser.
Optionally, the object to be damped is a metal block and is mounted on the slide block of the upper sliding table.
Compared with the prior art, the utility model has the beneficial effects that:
Firstly, the utility model comprises a vibration module, a counter-vibration module and a detection module, wherein a first Arduino singlechip of the vibration module controls a lower sliding table to generate random vibration with a certain frequency range so as to simulate single-degree-of-freedom vibration in a real scene, and a second Arduino singlechip embedded with an active vibration reduction algorithm (LMS algorithm) controls an upper sliding table to generate vibration so as to achieve a vibration reduction effect.
And secondly, the detection device is electrically connected with a second Arduino singlechip, the detection device is used for detecting the motion of a vibration-damped object to obtain an error signal and sending the error signal to the second Arduino singlechip, the second Arduino singlechip inputs the received error signal into a feedback type LMS adaptive filter through conversion, and the second Arduino singlechip is used for obtaining an inverse vibration signal processed by the feedback type LMS adaptive filter and sending the inverse vibration signal to the second stepping motor controller. The traditional LMS self-adaptive filter consists of an FIR filter and an LMS self-adaptive algorithm, and the feedback type LMS self-adaptive filter only needs to measure an error signal, and the filter only needs to measure the signal by one sensor, so that error sources are reduced, and the number of sensors is reduced, so that the assembly complexity of a vibration reduction system is reduced.
Then, the single-degree-of-freedom active vibration damper is built based on the Arduino single-chip microcomputer, the program of the Arduino single-chip microcomputer can be written in C language, MATLAB/Simulink, labVIEW and the like, the threshold is low, the cost is low, the installation, the use and the maintenance of the device are simple and convenient, and the Arduino single-chip microcomputer is suitable for being used in occasions such as active vibration damping teaching and algorithm verification.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present utility model, the drawings of the embodiments will be briefly described below.
The drawings described below are only for illustration of some embodiments of the utility model and are not intended as limitations of the utility model.
In the drawings:
FIG. 1 is a schematic illustration of a single degree of freedom active vibration damping demonstration device in accordance with an embodiment of the present utility model;
FIG. 2 is a flow chart of a first Arduino singlechip generating a random speed signal according to an embodiment of the utility model;
FIG. 3 is a block diagram of an LMS adaptive filter of an embodiment of the present utility model;
FIG. 4 is a block diagram of a feedback LMS adaptive filter of an embodiment of the present utility model;
FIG. 5 is a flow chart of the second Arduino singlechip in the embodiment of the utility model obtaining the anti-vibration signal;
In the figure:
1- -upper slipway;
2- -lower slipway;
3- -a first stepper motor driver;
4- -a second stepper motor driver;
5- -a first stepper motor controller;
6- -a second stepper motor controller;
7- -a first Arduino singlechip;
8- -a second Arduino singlechip;
9- -a detection device;
10- -a power supply;
11- -a damped object;
12- -mounting plate.
Detailed Description
The core of the utility model is that: a set of single-degree-of-freedom active vibration damper is built based on an Arduino single chip microcomputer, a lower sliding table is controlled by a first Arduino single chip microcomputer to generate random vibration in a certain frequency range so as to simulate single-degree-of-freedom vibration in a real scene, meanwhile, a detection device detects motion of a damped object to obtain an error signal, a second Arduino single chip microcomputer processes the signal to obtain a counter vibration signal, and an upper sliding table is controlled by a second Arduino single chip microcomputer to vibrate so as to achieve a vibration damping effect.
In order to make the objects, schemes and advantages of the present utility model more clear, the technical scheme of the present utility model will be clearly and completely described in conjunction with the accompanying drawings of the specific embodiments of the present utility model, it should be understood that the structures, proportions, sizes and the like shown in the accompanying drawings of the present specification are merely used for the understanding and reading of the disclosure in conjunction with the specification, and are not intended to limit the applicable limitations of the present utility model, so that the present utility model has no technical significance, and any structural modification, proportional relation change or size adjustment shall still fall within the scope of what the technical disclosure can cover without affecting the efficacy and achievement of the present utility model. Also, the terms "upper", "lower", "left", "right", "middle", "top", "side", and "one" are used herein for descriptive purposes only and are not intended to limit the scope of the utility model, but rather are intended to cover various modifications or adaptations of the utility model without materially altering the technical scope thereof.
Please refer to fig. 1, which is a schematic diagram of a single degree of freedom active vibration damping demonstration device.
The utility model provides a single-degree-of-freedom active vibration damping demonstration device based on an Arduino singlechip, which comprises a mounting plate 12 and a power supply 10, wherein a vibration module, a counter-vibration module and a detection module are arranged on the mounting plate 12; the vibration module comprises a first Arduino single-chip microcomputer 7, a first stepping motor controller 5, a first stepping motor driver 3 and a lower sliding table 2, wherein the first Arduino single-chip microcomputer 7 is electrically connected with the first stepping motor controller 5, and the first stepping motor controller 5 is electrically connected with the lower sliding table 2 through the first stepping motor driver 3; the anti-vibration module comprises a second Arduino singlechip 8, a second stepping motor controller 6, a second stepping motor driver 4 and an upper sliding table 1, wherein the upper sliding table 1 is arranged on a sliding block of a lower sliding table 2, the second Arduino singlechip 8 is electrically connected with the second stepping motor controller 6, and the second stepping motor controller 6 is electrically connected with the upper sliding table 1 through the second stepping motor driver 4; the detection module comprises a detection device 9; the detection device 9 is electrically connected with the second Arduino single-chip microcomputer 8, and the power supply 10 is electrically connected with the first Arduino single-chip microcomputer 7, the second Arduino single-chip microcomputer 8, the first stepping motor controller 5, the second stepping motor controller 6 and the detection device 9.
The mounting plate 12 in this example is an aluminum plate, 10mm thick and 500mm long and wide, and the mounting plate 12 is provided with M6 screw holes for mounting or fixing the respective modules.
The lower sliding table 2 and the lower sliding table 1 are both slider type single-shaft electric cylinders, and comprise a stepping motor and a ball screw, wherein the stepping motor is responsible for providing power, the ball screw is a transmission mechanism, and a load is connected to the stepping motor.
The lead of the lower sliding table 2 is 6mm, and the lower sliding table 2 is connected with the first stepping motor driver 3 and is used for generating random vibration to simulate single-degree-of-freedom vibration in a real scene, and the lower sliding table 2 is fixed on the mounting plate 12 through screws.
The lead of the upper sliding table 1 is 5mm, the upper sliding table 1 is connected with the second stepping motor driver 4 and used as an actuator for counteracting vibration, the upper sliding table 1 is fixed on the sliding block of the lower sliding table 2 through a screw, and the main body moves along with the lower sliding table 2.
The first stepping motor driver 3 is connected with the lower sliding table 2, A+ and A-pins of the first stepping motor driver 3 are connected with a motor A phase winding, B+ and B-pins of the first stepping motor driver are connected with a motor B phase winding, and A, B phase windings of a stepping motor of the lower sliding table 2 are electrified according to a pulse signal according to a fixed time sequence so as to drive the lower sliding table 2. The first stepper motor driver 3 is connected with the first stepper motor controller 5, various control instructions are input and output, the first stepper motor driver 3 is used for driving the lower sliding table 2, and the first stepper motor driver 3 is fixed on the mounting plate 12 through screws.
The second stepper motor driver 4 is connected with the upper sliding table 1, A+ and A-pins of the second stepper motor driver 4 are connected with a motor A phase winding, B+ and B-pins are connected with a motor B phase winding, A, B phase windings of a stepper motor of the upper sliding table 1 are electrified according to a pulse signal according to a fixed time sequence so as to drive the upper sliding table 1, the second stepper motor driver 4 is connected with the second stepper motor controller 6, various control instructions are input and output, the second stepper motor driver 4 is used for driving the upper sliding table 1, and the second stepper motor driver 4 is fixed on the mounting plate 12 through screws.
The first stepping motor controller 5 is connected with the first stepping motor driver 3, and PUL+, PUL-, DIR+ and DIR-pins of the first stepping motor controller and the first stepping motor driver are correspondingly connected to transmit voltage pulse signals. The first stepping motor controller 5 is connected with the first Arduino single chip microcomputer 7, receives an instruction of the first Arduino single chip microcomputer 7, and sends 5V voltage pulses to the first stepping motor driver 3 according to requirements, so that movement of the lower sliding table 2 is controlled, and the first stepping motor controller 5 is fixed on the mounting plate 12 through screws.
The second stepping motor controller 6 is connected with the second stepping motor driver 4, and PUL+, PUL-, DIR+ and DIR-pins of the second stepping motor controller and the second stepping motor driver are correspondingly connected to transmit voltage pulse signals. The second stepping motor controller 6 is connected with the second Arduino singlechip 8, receives an instruction of the second Arduino singlechip 8, and sends 5V voltage pulses to the second stepping motor driver 4 according to requirements, so that the movement of the upper sliding table 1 is controlled, and the second stepping motor controller 6 is fixed on the mounting plate 12 through screws.
The first Arduino singlechip 7 is connected with the first stepper motor controller 5, and is connected with the patch cords of the SDA pin and the SCL pin in series, so as to realize IIC communication between the first Arduino singlechip 7 and the first stepper motor controller 5. The first Arduino singlechip 7 is used for generating a random speed signal in a certain frequency range, and sending a speed command to the first stepping motor controller 5, so that the lower sliding table 2 generates random vibration. The first Arduino single-chip microcomputer 7 is fixed on the mounting plate 12 through screws.
Please refer to fig. 2, which is a flowchart of the first Arduino single-chip microcomputer generating a random speed signal.
The first Arduino singlechip 7 is embedded with a program for generating random signals, and the process of generating random speed signals comprises the steps of firstly generating a section of Gaussian white noise, obtaining signals in a target frequency range through a band-pass filter, setting gains to enable the size of the random speed signals to be in accordance with the performance and the movement range of the sliding table 2 below, and transmitting the random speed signals to the first stepping motor controller 5 through an IIC bus after data type conversion.
The first stepper motor controller 5 receives the instruction and sends a voltage pulse to the first stepper motor driver 3, and the first stepper motor driver 3 drives the lower sliding table 2 to vibrate randomly according to the pulse so as to simulate single-degree-of-freedom vibration in a real scene.
The object 11 to be damped in this embodiment is a metal block, and the metal block is provided with a screw hole, and is mounted on the slide block of the upper slide table 1 by a screw.
The detection device 9 is connected with the second Arduino singlechip 8, the detection device 9 in this embodiment is a laser displacement sensor, the commonly used laser displacement sensor is composed of a laser emitter, a laser detector and a measurement circuit, the working principle is that a laser beam is utilized to generate a reflected beam on the surface of a measurement target, the displacement or deformation of the target object is calculated by detecting the intensity or phase difference and other physical quantities of the reflected beam, and an analog input pin of the second Arduino singlechip 8 is connected with an analog output pin of the laser displacement sensor to read displacement data of the vibration-damped object. The laser displacement sensor emits a beam of red laser to the object 11 to be damped, so that the displacement of the object 11 to be damped is detected, the object 11 to be damped and the laser transmitter of the detection device 9 are arranged on the same straight line, and the detection device 9 sends analog voltage output to the second Arduino singlechip 8 through the IIC bus.
The detecting device 9 is mounted on the mounting plate 12 by an L-shaped riser.
In this example, the second Arduino singlechip 8 is embedded with a program including an active vibration damping algorithm, the second Arduino singlechip 8 is connected with the second stepper motor controller 6, and the patch cords of the SDA pin and the SCL pin of the second Arduino singlechip are connected in series for realizing IIC communication between the second Arduino singlechip 8 and the second stepper motor controller 6. The second Arduino singlechip 8 is connected with the detection device 9, the second Arduino singlechip 8 is an active vibration damping controller, and the displacement of the object to be damped detected by the detection device 9 is read, is input into a vibration damping algorithm for processing, and a reverse vibration signal is obtained and a speed command is sent to the second stepping motor controller 6.
The second stepping motor controller 6 receives the instruction and sends a voltage pulse to the second stepping motor driver 4, the second stepping motor driver 4 drives the upper sliding table 1 to vibrate according to the pulse to counteract random vibration, and the second Arduino single chip microcomputer 8 is fixed on the mounting plate 12 through a screw.
The power supply 10 supplies power to the first Arduino single-chip microcomputer 7, the second Arduino single-chip microcomputer 8, the first stepping motor controller 5, the second stepping motor controller 6 and the detection device 9, 5V, GND is provided for the components, and the power supply 10 is fixed on the mounting plate 12 through screws.
To describe the active damping algorithm in detail, two examples are given as follows:
embodiment one:
The signal of random vibration is processed by an LMS adaptive filter to obtain an anti-vibration signal. The LMS adaptive filter is composed of an FIR filter and an LMS adaptive algorithm, please refer to fig. 3, which is a block diagram of the LMS adaptive filter, in which x n is an input signal, and the weight coefficient w of the filter can regulate and control the signal, so that the filtered signal y n is close to the desired signal d n. If the signal deviation e n＝dn-yn＝dn-w(n)Txn is not equal to 0, it means that the accuracy of the filter weight w is insufficient. The LMS adaptive algorithm is an algorithm based on the minimum mean square value of errors, and can dynamically pair the weight coefficients of the filter according to the error value e n And (5) correcting, and iteratively updating the weight coefficient w (n) to obtain a new weight coefficient w (n+1). In fig. 3, the diagonal arrow indicates that the filter continuously adjusts the update weight coefficient according to the LMS adaptive algorithm, so as to achieve the effect of adaptive filtering.
Embodiment two:
Two signals, e n and x n, need to be measured after the iterative process of the filter weight coefficient is completed, and a sensor, a measurement reference signal x n and a measurement error signal e n need to be respectively arranged at an input end and an output end by applying a traditional LMS adaptive filter. The feedback LMS adaptive filter only needs to measure the error signal e n, knowing d n＝en+yn, and using this equation to estimate the desired signal, the desired signal estimate is denoted as d' n. For a vibration damping system, the input signal x n is a disturbance signal, the purpose of the adaptive filtering is to obtain a signal that can be cancelled by the disturbance signal, so that the disturbance signal is the desired signal, i.e. d n＝xn, and therefore the desired signal estimated value d' n can be used to replace the input signal to enter the iterative process of the filter weight coefficients. Please refer to fig. 4, which is a block diagram of a feedback LMS adaptive filter, wherein the filter only needs one sensor to measure signals, which reduces error sources, and reduces the complexity of the vibration reduction system assembly because the number of sensors is reduced.
In this embodiment, the second Arduino singlechip uses the active vibration damping algorithm of the second embodiment to obtain a flowchart of the anti-vibration signal, please refer to fig. 5.
Firstly, the second Arduino singlechip 8 receives a voltage signal of the detection device 9 through the IIC bus, converts the voltage signal into a displacement signal through a data conversion module, discrete differentiates the displacement signal to obtain a speed signal, inputs the speed signal into the feedback type LMS adaptive filter, obtains a counter vibration signal, converts the data type and sends the counter vibration signal to the second stepping motor controller 6 through the IIC bus, so that the upper sliding table 1 vibrates to offset random vibration.
While the specific embodiments of the present utility model have been described above, it should be understood that the present utility model is not limited to the above-described specific embodiments, and various changes or modifications can be made by one skilled in the art within the scope of the appended claims without affecting the essential content of the present utility model. The embodiments of the utility model and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. A single-degree-of-freedom active vibration damping demonstration device based on an Arduino singlechip is characterized by comprising a mounting plate and a power supply, wherein a vibration module, an anti-vibration module and a detection module are arranged on the mounting plate,
The vibration module comprises a first Arduino single-chip microcomputer, a first stepping motor controller, a first stepping motor driver and a lower sliding table, wherein the first Arduino single-chip microcomputer is electrically connected with the first stepping motor controller, and the first stepping motor controller is electrically connected with the lower sliding table through the first stepping motor driver;
The anti-vibration module comprises a second Arduino singlechip, a second stepping motor controller, a second stepping motor driver and an upper sliding table, wherein the upper sliding table is arranged on a sliding block of the lower sliding table, the second Arduino singlechip is electrically connected with the second stepping motor controller, and the second stepping motor controller is electrically connected with the upper sliding table through the second stepping motor driver;
the detection module comprises a detection device;
The detection device is electrically connected with the second Arduino singlechip;
The power supply is electrically connected with the first Arduino single-chip microcomputer, the second Arduino single-chip microcomputer, the first stepping motor controller, the second stepping motor controller and the detection device.
2. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the second Arduino singlechip comprises an LMS adaptive filter.
3. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the second Arduino singlechip comprises a feedback type LMS self-adaptive filter.
4. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer as claimed in claim 3, wherein: the second Arduino singlechip is electrically connected with the second stepping motor controller through a conversion input feedback type LMS self-adaptive filter.
5. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the mounting plate is made of aluminum plates, the thickness is not more than 10mm, and the length and the width are not more than 500mm.
6. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the lower sliding table and the lower sliding table are both slider type single-shaft electric cylinders and comprise a stepping motor and a ball screw.
7. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the detection device is a laser displacement sensor, and the object to be damped and a laser emitter of the laser displacement sensor are arranged on the same straight line.
8. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer as claimed in claim 7, wherein: the detection device is arranged on the mounting plate through an L-shaped vertical plate.
9. The single-degree-of-freedom active vibration damping demonstration device based on the Arduino single-chip microcomputer, as claimed in claim 1, is characterized in that: the object to be damped is a metal block and is arranged on the sliding block of the upper sliding table.
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| CN202322529420.6U CN220895083U (en) | 2023-09-18 | 2023-09-18 | Single-degree-of-freedom active vibration reduction demonstration device based on Arduino single chip microcomputer |
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| CN202322529420.6U CN220895083U (en) | 2023-09-18 | 2023-09-18 | Single-degree-of-freedom active vibration reduction demonstration device based on Arduino single chip microcomputer |
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