Primary inverted pendulum experiment device

Abstract

The utility model discloses a primary inverted pendulum experiment device, which comprises a guide rail, a sliding piece, a fixed piece, a swing rod and a linear motor, and is characterized in that the sliding piece is arranged in a sliding chute of the guide rail in a sliding manner; the fixed part is provided with a fixed end connected with the sliding part and a supporting end extending upwards from the fixed end, and a connecting part is formed at the supporting end; one end of the swing rod is rotationally connected with the connecting part, and the vertical distance from the connecting part to the guide rail is greater than the length of the swing rod; the linear motor is arranged on the guide rail, and the driving end of the linear motor is connected with the sliding piece so as to control the swing rod to swing and stand upside down by driving the sliding piece to reciprocate along the sliding groove. The placement limitation caused by the fact that a swing rod fulcrum of a traditional inverted pendulum is too close to a table top is avoided through optimization, the assembly does not need to be placed on the side of a table or between two stools, and therefore the stability of a first-stage inverted pendulum experiment and the operation accuracy are greatly improved; meanwhile, the device is simple and light in structure, free of fixed installation, easy to move and carry and convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of inverted pendulum, in particular to a primary inverted pendulum experimental device. Background Art

[0002] The inverted pendulum is a typical multivariable, high-order, nonlinear, strongly coupled, and naturally unstable system. It is an ideal experimental platform for teaching control theory and conducting various control experiments. Many abstract control concepts such as the stability, controllability, system convergence speed, and system anti-interference ability of the control system can be intuitively expressed through the inverted pendulum system, so it is also a very useful experimental tool in the teaching of control theory.

[0003] Existing inverted pendulum systems are mostly driven by a rotary servo motor, which is used in conjunction with a transmission device such as a ball screw, a wire rope or a belt to convert the motor's rotary motion into a linear motion, thereby controlling the movement of the trolley on the guide rail to achieve the balance of the inverted pendulum. For example, the linear motor inverted pendulum provided by publication number CN201302780Y mainly includes a pendulum rod, a trolley and a servo motor, etc. The trolley is placed on the guide rail, and the servo motor drives the transmission belt, thereby driving the trolley to perform horizontal reciprocating linear motion on the guide rail to control the inversion of the pendulum rod.

[0004] However, when the existing inverted display is placed on a laboratory table, the fulcrum of the swing arm is too close to the table top, resulting in a placement restriction. The component can only be placed on the edge of the table or between two stools, which limits the use of the platform. Utility Model Content

[0005] The purpose of the utility model is to overcome the above technical deficiencies, propose a first-level inverted pendulum experimental device, and solve the technical problem that the fulcrum of the pendulum rod of the inverted pendulum experimental device in the prior art is too close to the desktop, which has placement restrictions and limits the use of the platform.

[0006] In order to achieve the above technical purpose, the utility model adopts the following technical solutions:

[0007] The utility model provides a first-level inverted pendulum experimental device, comprising: a guide rail, a sliding member, a fixing member, a pendulum rod and a linear motor, wherein the sliding member is slidably arranged in a slide groove of the guide rail; the fixing member has a fixed end connected to the sliding member and a supporting end extending upward from the fixed end, and a connecting portion is formed on the supporting end; one end of the pendulum rod is rotatably connected to the connecting portion, and the vertical distance from the connecting portion to the guide rail is greater than the length of the pendulum rod; the linear motor is arranged on the guide rail, and a driving end of the linear motor is connected to the sliding member, so as to control the pendulum rod to swing and invert by driving the sliding member to reciprocate along the slide groove.

[0008] In some embodiments, the two sides of the sliding member are respectively fixedly connected to the two sides of the fixed end, so that a cavity is formed in the center between the sliding member and the fixed end; the first-level inverted pendulum experimental device also includes an upper cover, which passes through the cavity and is connected to the guide rail at both ends through side covers; the top surface and the bottom surface of the upper cover are respectively slidably connected to the fixed end and the sliding member.

[0009] In some embodiments, the sliding member includes a mover seat, which is disposed in a slide groove of the guide rail, and two sides of the mover seat protrude from a notch of the slide groove and are respectively connected to two sides of the fixed end.

[0010] In some embodiments, the fixed end includes a connecting plate, which is arranged above the mover seat, and the two sides of the bottom are fixedly connected to the two sides of the mover seat so as to slide along the slide groove of the guide rail with the mover seat; the supporting end includes a heightened fixing plate, which is vertically arranged on the top surface of the connecting plate, and the top of the heightened fixing plate is rotatably connected to one end of the rocker arm through a rotating shaft that is vertical and penetrates the heightened fixing plate; the middle part of the connecting plate and the heightened fixing plate are respectively provided with a plurality of first lightweight holes and a plurality of second lightweight holes.

[0011] In some embodiments, the first-stage inverted pendulum experimental device also includes a position detection component for detecting the position of the sliding member and a swing angle detection component for detecting the angle of the pendulum rod; the position detection component includes a magnetic scale and a reader, the magnetic scale is arranged in parallel on one side of the guide rail, and its length direction is parallel to the sliding direction of the sliding member, the reader is connected to the fixed member and corresponds to the position of the magnetic scale, so as to output the position information of the sliding member through the reader; the swing angle detection component includes a photoelectric rotary encoder, the photoelectric rotary encoder is installed on the side of the elevated fixed plate away from the pendulum rod, and its detection end is connected to the rotating shaft to detect the angle of the pendulum rod; so as to obtain the position of the sliding member through the feedback of the magnetic scale, and obtain the angle of the pendulum rod through the photoelectric rotary encoder.

[0012] In some embodiments, handles are provided at both ends of the guide rail, and foot pads are provided at the four bottom corners of the guide rail.

[0013] Compared with the prior art, the first-stage inverted pendulum experimental device provided by the utility model successfully improves the position of the pendulum fulcrum by setting a guide rail, a sliding member, a fixing member, a pendulum rod and a linear motor, and by adding a heightened fixing member and a matching sliding member on the guide rail. This design optimization avoids the placement restriction caused by the pendulum rod fulcrum being too close to the desktop of the traditional inverted pendulum, and there is no need to place the component on the edge of the table or between two stools, thereby greatly improving the stability of the first-stage inverted pendulum experiment and the accuracy of operation; at the same time, the first-stage inverted pendulum experimental device has a simple and light structure, does not need to be fixed and installed, is easy to move and carry, and is convenient to use;

[0014] By directly generating linear motion through a linear motor, the complex gear, belt or screw transmission mechanism in the traditional inverted pendulum system is avoided, thereby simplifying the mechanical structure and reducing energy loss and maintenance costs. The fast response and precise positioning capability of the linear motor provide faster adjustment speed and higher balance stability for the control of the first-order inverted pendulum, greatly improving the dynamic response quality and control accuracy of the system. At the same time, the compact design of the linear motor and the low noise and low vibration characteristics during operation not only save space, but also create a quieter and more stable working environment for experimental operations, thereby improving the reliability of experimental data and the safety of the experimental process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of a first-stage inverted pendulum experimental device provided by an embodiment of the utility model;

[0016] Figure 2 It is a schematic diagram of the back three-dimensional structure of the first-stage inverted pendulum experimental device provided by the embodiment of the utility model;

[0017] Figure 3 It is a three-dimensional structural schematic diagram of the installation of the sliding part and the fixing part of the first-stage inverted pendulum experimental device provided by the embodiment of the utility model;

[0018] Figure 4 It is a system block diagram of a first-stage inverted pendulum experimental device provided by an embodiment of the utility model.

[0019] Description of reference numerals:

[0020] 1. Guide rail; 11. Upper cover; 12. Side cover; 13. Handle; 14. Foot pad; 15. Photoelectric switch; 2. Sliding part; 21. Mover seat; 3. Fixing part; 31. Connecting plate; 32. Heightening fixing plate; 33. First lightweight hole; 34. Second lightweight hole; 4. Rocker; 5. Linear motor; 61. Magnetic scale; 62. Reading head; 71. Photoelectric rotary encoder; 8. Drag chain assembly; 81. Drag chain body; 82. Drag chain plate; 83. Drag chain fixer; 84. Drag chain fixing plate; 9. Wire management box; 91. Bottom fixing plate; 92. Aviation plug connector. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0022] In order to solve the technical problem that the fulcrum of the pendulum rod of the inverted pendulum experimental device is too close to the tabletop, resulting in placement restrictions and limiting the use of the platform, the utility model provides a first-level inverted pendulum experimental device, which optimizes and avoids the placement restrictions of the traditional inverted pendulum caused by the fulcrum of the pendulum rod being too close to the tabletop. There is no need to place the component on the edge of the table or between two stools, thereby greatly improving the stability of the first-level inverted pendulum experiment and the accuracy of operation; at the same time, the device has a simple and light structure, does not require fixed installation, is easy to move and carry, and is easy to use.

[0023] See also Figures 1 to 4 The first-level inverted pendulum experimental device includes: a guide rail 1, a sliding member 2, a fixing member 3, a pendulum 4 and a linear motor 5, wherein the sliding member 2 is slidably arranged in the slide groove of the guide rail 1; the fixing member 3 has a fixed end connected to the sliding member 2 and a supporting end extending upward from the fixed end, and a connecting portion is formed on the supporting end; one end of the pendulum 4 is rotatably connected to the connecting portion, and the vertical distance from the connecting portion to the guide rail 1 is greater than the length of the pendulum 4; the linear motor 5 is arranged on the guide rail 1, and its driving end is connected to the sliding member 2 to control the pendulum 4 to swing and invert by driving the sliding member 2 to reciprocate along the slide groove.

[0024] In the present device, the sliding member 2 is slidably arranged in the slide groove of the guide rail 1, the supporting end is connected to the sliding member 2 through the fixed end, and is extended upward from the fixed end, and the vertical distance between the connecting part formed by the top end of the supporting end and the guide rail 1 is greater than the length of the rocker arm 4, and the rocker arm 4 is connected by rotating the connecting part to achieve the heightening of the fulcrum position of the rocker arm 4. The structure is simple and light, easy to move and carry, and convenient to use; by setting a linear motor 5, the driving end of the linear motor 5 is connected to the sliding member 2, which can drive the sliding member 2 to reciprocate along the slide groove, thereby controlling the rocker arm 4 to swing and invert.

[0025] In order to improve the installation stability of the rocker arm 4, in the present embodiment, the two sides of the sliding member 2 are respectively fixedly connected to the two sides of the fixed end, so that a cavity is formed in the center between the sliding member 2 and the fixed end; and an upper cover 11 is arranged on the slide rail, and the upper cover 11 is located in the slide groove opened above the guide rail 1, and horizontally passes through the cavity, and both ends thereof are fixedly connected to the guide rail 1 through fixed side covers 12; when the sliding member 2 is in operation, it can move along the upper cover 11 with the fixed end, and the upper cover 11 is used to guide and limit the sliding member 2, so that the sliding member 2 can move more stably along the slide groove of the slide rail under the drive of the linear motor 5.

[0026] Furthermore, the top and bottom surfaces of the upper cover 11 are respectively fitted with the fixed end and the sliding member 2 . During movement, the top and bottom surfaces of the sliding member 2 slide relative to the fixed end and the sliding member 2 , respectively, to ensure stable movement of the fixing member 3 .

[0027] Preferably, in this embodiment, the sliding member 2 includes a mover seat 21, and the fixed end and the supporting end of the fixing member 3 respectively include a connecting plate 31 and a heightened fixing plate 32; the mover seat 21 is arranged in the slide groove of the guide rail 1, and is designed in a "U"-shaped structure. The upper cover 11 is arranged in the groove at the top of the mover seat 21, and the connecting plate 31 is arranged above the mover seat 21, which is a flat plate structure. The two sides of the mover seat 21 protrude from the notch of the slide groove and are respectively fixedly connected to the two sides of the connecting plate 31, so that the mover seat 21 can drive the connecting plate 31 slides along the slide groove of the guide rail 1 with the mover seat 21; the heightened fixing plate 32 is vertically fixed on the top surface of the connecting plate 31, perpendicular to the connecting plate 31, and a rotating shaft is arranged on the connecting part at the top of the heightened fixing plate 32, the rotating shaft vertically passes through the heightened fixing plate 32, and is rotatably connected to the heightened fixing plate 32, one end of the rotating shaft is fixedly connected to one end of the rocker 4, the height of the heightened fixing plate 32 is greater than the length of the rocker 4, so that the rocker 4 can rotate relative to the heightened fixing plate 32, so as to swing under the reciprocating motion of the sliding member 2.

[0028] Furthermore, in some embodiments, a first lightweight hole 33 is provided on the connecting plate 31, and two second lightweight holes 34 are provided on the heightened fixing plate 32 along the height direction to reduce the weight of the device.

[0029] In other possible implementations, the specific forms of the sliding member 2 and the fixing member 3 are not limited thereto.

[0030] Furthermore, in some embodiments, a base is provided at the bottom of the guide rail 1, and a drag chain assembly 8 for restraining electric wires and a photoelectric switch 15 are provided on the back. The drag chain assembly 8 includes a drag chain body 81, and the inside of the drag chain body 81 has a space for accommodating electric wires. One end of the drag chain body 81 is fixedly connected to the connecting plate 31 through a drag chain fixing plate 84, and the bottom is fixedly connected to the base through a drag chain plate 82. The side of the drag chain plate 82 is connected to the guide rail 1 and the wire management box 9 through a drag chain fixer 83.

[0031] A wire management box 9 is also provided on the base, and the wire management box 9 is fixedly installed on the base through a bottom fixing plate 91 fixed at the bottom. The bottom fixing plate 91 is provided with a threaded groove on the side and is fixed to the base with screws. The wires are pulled into the wire management box 9 through the drag chain assembly 8, and an aviation plug connector 92 is provided on the back of the wire management box 9. Two aviation plug connectors 92 are provided for connecting the control card and the computer respectively, so that the device can be connected to the motion control card and the computer through the aviation plug connector 92.

[0032] It should be noted that the working principle of the linear motor 5 is based on the interaction of electromagnetic forces. It mainly consists of two parts: a stator and a slider. The stator contains a coil, and the slider contains a magnet. When the stator coil is energized, a magnetic field is generated, which interacts with the magnet on the slider to generate an electromagnetic force, causing the slider to move in a straight line along the linear track.

[0033] In order to realize the control and detection of the pendulum 4 , in the present embodiment, the first-stage inverted pendulum experimental device further includes a position detection component for detecting the position of the sliding component 2 and a swing angle detection component for detecting the angle of the pendulum 4 .

[0034] Specifically, the position detection component includes a magnetic scale 61 and a reader 62. The magnetic scale 61 is arranged in parallel on one side of the guide rail 1, and its length direction is parallel to the sliding direction of the sliding member 2. The reader 62 is fixedly connected to the connecting plate 31 of the fixing member 3, so that when the sliding member 2 moves, it can drive the connecting plate 31 to move, so that the reader 62 moves along the length direction of the magnetic scale 61. The position of the reader 62 corresponds to that of the magnetic scale 61, so that the position information of the sliding member 2 can be fed back through the reader 62; the swing angle detection component includes a photoelectric rotary encoder 71, which is installed on the side of the elevated fixing plate 32 away from the pendulum 4, and its detection end is connected to the other end of the rotating shaft. When the pendulum 4 swings, it drives the rotating shaft to rotate on the elevated fixing plate 32. The photoelectric rotary encoder 71 detects the rotation information of the rotating shaft to obtain the angle swing data of the pendulum 4.

[0035] In some embodiments, handles 13 are provided at both ends of the guide rail 1, and the two handles 13 are fixedly connected to the two ends of the base to facilitate the user to move the device. Foot pads 14 are provided at the four corners of the bottom of the guide rail 1, and the foot pads 14 are made of rubber to support the guide rail 1 so that the device is more stable when placed.

[0036] Working principle: During implementation, the device is connected to the motion control card and the computer through the aviation plug connector 92. When the component is running, the position of the mover seat 21 is obtained through the feedback of the magnetic scale 61, and the angle of the pendulum 4 is obtained through the photoelectric rotary encoder 71. The component transmits the data to the motion control card through the aviation plug connector 92. The computer reads the data from the motion control card in real time, determines the control strategy (the output torque of the motor), and sends it to the motion control card. Finally, the motion control card implements the control decision through the control algorithm, generates the corresponding control quantity, and uses the servo driver to process the signal into a signal suitable for the operation of the linear motor 5. The linear motor 5 drives the mover seat 21 to move and keeps the pendulum 4 balanced.

[0037] The utility model successfully improves the position of the fulcrum of the pendulum 4 by arranging a guide rail 1, a sliding member 2, a fixing member 3, a pendulum 4 and a linear motor 5, and by adding a heightened fixing member 3 and a matching sliding member 2 on the guide rail 1. This design optimization avoids the placement restriction of the traditional inverted pendulum caused by the pendulum 4 fulcrum being too close to the table top, and there is no need to place the component on the edge of the table or between two stools, thereby greatly improving the stability of the first-level inverted pendulum experiment and the accuracy of operation; at the same time, the first-level inverted pendulum experimental device has a simple and light structure, does not need to be fixed and installed, is easy to move and carry, and is easy to use.

[0038] The utility model directly generates linear motion through the linear motor 5, avoiding the complex gear, belt or screw transmission mechanism in the traditional inverted pendulum system, thereby simplifying the mechanical structure and reducing energy loss and maintenance costs. The fast response and precise positioning ability of the linear motor 5 provide faster adjustment speed and higher balance stability for the control of the first-order inverted pendulum, greatly improving the dynamic response quality and control accuracy of the system. At the same time, the compact design of the linear motor 5 and the low noise and low vibration characteristics during operation not only save space, but also create a quieter and more stable working environment for experimental operations, thereby improving the reliability of experimental data and the safety of the experimental process.

[0039] The specific implementation methods of the utility model described above do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A first-order inverted pendulum experimental device, characterized in that: include: guide; A sliding member, the sliding member is slidably disposed in a sliding groove of the guide rail; A fixing member, the fixing member having a fixing end connected to the sliding member and a supporting end extending upward from the fixing end, wherein a connecting portion is formed on the supporting end; A swing rod, one end of which is rotatably connected to the connecting portion, and a vertical distance from the connecting portion to the guide rail is greater than a length of the swing rod; and A linear motor is arranged on the guide rail, and a driving end of the linear motor is connected to a sliding member, so as to control the swing arm to swing and invert by driving the sliding member to reciprocate along the slide groove.

2. The first-stage inverted pendulum experimental device according to claim 1, characterized in that: The two sides of the sliding member are respectively fixedly connected to the two sides of the fixed end, so that a cavity is formed in the center between the sliding member and the fixed end.

3. The first-stage inverted pendulum experimental device according to claim 2, characterized in that: The first-stage inverted pendulum experimental device also includes an upper cover, which passes through the cavity, and both ends of the upper cover are connected to the guide rail through side covers.

4. The first-stage inverted pendulum experimental device according to claim 3, characterized in that: The top surface and the bottom surface of the upper cover are respectively fitted and slidably connected with the fixed end and the sliding member.

5. The first-stage inverted pendulum experimental device according to claim 1, characterized in that: The sliding member comprises a mover seat, and the mover seat is arranged in the slide groove of the guide rail. Two sides of the mover seat protrude from the notch of the slide groove and are respectively connected to two sides of the fixed end.

6. The first-stage inverted pendulum experimental device according to claim 5, characterized in that: The fixed end comprises a connecting plate, which is arranged above the mover seat, and two sides of the bottom of the connecting plate are fixedly connected to two sides of the mover seat so as to slide along the slide groove of the guide rail with the mover seat.

7. The first-stage inverted pendulum experimental device according to claim 6, characterized in that: The supporting end comprises a heightened fixing plate, which is vertically arranged on the top surface of the connecting plate. The top end of the heightened fixing plate is rotationally connected to one end of the swing rod through a rotating shaft which is vertical and penetrates the heightened fixing plate.

8. The first-stage inverted pendulum experimental device according to claim 7, characterized in that: The middle parts of the connecting plate and the heightened fixing plate are respectively provided with a plurality of first light-weight holes and a plurality of second light-weight holes.

9. The first-stage inverted pendulum experimental device according to claim 8, characterized in that: The first-stage inverted pendulum experimental device also includes a position detection member for detecting the position of the sliding member and a swing angle detection member for detecting the angle of the pendulum rod; The position detection component includes a magnetic scale and a reader, wherein the magnetic scale is arranged in parallel on one side of the guide rail, and its length direction is parallel to the sliding direction of the sliding member, and the reader is connected to the fixed member and corresponds to the position of the magnetic scale, so as to output the position information of the sliding member through the reader; The swing angle detection component comprises a photoelectric rotary encoder, which is installed on a side of the heightened fixing plate away from the swing rod, and a detection end of the photoelectric rotary encoder is connected to the rotating shaft to detect the angle of the swing rod.

10. The first-order inverted pendulum experimental device according to claim 1, characterized in that: Handles are arranged at both ends of the guide rail, and foot pads are arranged at the four corners of the bottom of the guide rail.

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