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Control experimental device for under-actuated suspension swing motion

A technology of motion control and experimental equipment, which is applied in the direction of educational appliances, instruments, teaching models, etc., can solve the problems of insufficient intuitive understanding of relevant theories, stay at the level of numerical simulation, and disconnection between theory and practice, and achieve compact structure and strong anti-interference ability , low cost effect

Inactive Publication Date: 2010-04-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention solves the problem that the current academic research on nonlinear control theory in colleges and universities or related scientific research institutions still stays at the level of numerical simulation, lacks corresponding physical systems, does not have an intuitive understanding of relevant theories in the actual application process, and is out of touch with theory and practice, etc. problem, provide an experimental device for underactuated pendulum motion control

Method used

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  • Control experimental device for under-actuated suspension swing motion
  • Control experimental device for under-actuated suspension swing motion
  • Control experimental device for under-actuated suspension swing motion

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specific Embodiment approach 1

[0007] Specific implementation mode one: see figure 1 , this embodiment is composed of host computer 1, two-axis motion control card 2, DC motor driver 3, DC servo motor 4, synchronous transmission mechanism 5, underactuated pendulum mechanism 6 and angle detector 7, the input and output of host computer 1 The terminal is connected to the upper input and output terminals of the two-axis motion control card 2, the drive input and output terminals of the two-axis motion control card 2 are connected to the input and output terminals of the DC motor driver 3, and the control output terminal of the DC motor driver 3 is connected to the DC servo motor 4 The control input terminal of the DC servo motor 4 is connected to the signal output terminal of the two-axis motion control card 2, and the output shaft of the DC servo motor 4 is connected to the input shaft of the underactuated pendulum mechanism 6 through the coupling 8 Connected, the input driving torque of the input shaft 6-1 o...

specific Embodiment approach 2

[0010] Specific implementation mode two: see figure 2 The difference between this embodiment and the first embodiment is that the two-axis motion control card 2 is composed of an LPC2119 control chip 2-1, an EPM7128 quadrature pulse phase detection counting board 2-2, an A / D converter 2-3, D / A converter 2-4, digital input circuit 2-5, digital output circuit 2-6, RS-232 communication interface 2-7, RS-485 communication interface 2-8 and CAN bus communication interface 2-9 Composition, EPM7128 quadrature pulse phase detection counting board 2-2 is connected with the pulse phase detection signal output port of LPC2119 control chip 2-1, A / D converter 2-3 is connected with the modulus SPI port of LPC2119 control chip 2-1 , the D / A converter 2-4 is connected to the digital-analog SPI port of the LPC2119 control chip 2-1, the digital quantity input circuit 2-5 is connected to the digital quantity input port of the LPC2119 control chip 2-1, and the digital quantity output circuit 2- ...

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Abstract

An under-actuated pendulum control experimental apparatus relates to an under-actuated control experimental apparatus applying to academic researches for control theory and control engineering discipline and electron and transmission discipline, is used for solving the problems that experimental apparatus, which is used for the academic researches of non-linear control theory in higher education institutions and scientific institutions, still stays at numerical simulation level, appropriate material system is absent and the theory is disconnected with the practice. The upper I / O terminal and drive I / O terminal on a two-shaft motion control card are respectively connected with the I / O terminal of an upper computer and the I / O terminal of a DC motor driver. The control output terminal of theDC motor driver is connected with the control input terminal of a DC servo motor. The signal output terminals of the DC servo motor and an angle detector is connected with the signal input terminal ofthe two-shaft motion control card. The output shaft of the DC servo motor is connected with the input shaft of an under-actuated pendulum system by a shaft coupling. The input drive torque of the inp ut shaft of the under-actuated pendulum system is delivered to a double-pendulum output shaft through a synchronous drive system.

Description

technical field [0001] The invention relates to an underactuated control experimental device suitable for the academic research requirements of the disciplines of control theory and control engineering as well as the disciplines of power electronics and electric transmission, and belongs to the technical field of underactuated mechanical system control. Background technique [0002] In the past 50 years, the application of spacecraft and robotic systems has continuously promoted the analysis and control of mechanical systems and nonlinear systems. All along, the development of mechanical systems and nonlinear control theory are complementary and mutually promoting. The analysis of multi-body control problems of mechanical systems and affine control problems of nonlinear systems (such as controllability, observability, etc.) and control design (such as stability, output tracking, etc.) are all theoretical products of this promotion , and the affine control problem has also b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G09B25/02G09B25/00
Inventor 张晓华赵旖旎程红太石如冬陈宏钧
Owner HARBIN INST OF TECH
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