Circular water pool wave generator control system

Abstract

The application relates to the technical field of circular water pool wave generators, and discloses a circular water pool wave generator control system which comprises a central controller, a motion controller and multiple wave generators. The wave generator has a driver, a servo motor, a motion structure and a wave board. The central controller is in communication with the motion controller. The motion controller is an EtherCAT bus-based motion control card. The motion control card is in communication connection with the multiple drivers. The EtherCAT bus is an open architecture, has the advantages of high communication rate, good real-time performance, precise synchronization performance and diversified topological mechanisms, guarantees the synchronization communication of instruction data and state data between the motion controller and the drivers in units of microseconds, achieves the purpose of real-time synchronous motion control, makes the synchronization of the multiple wave generators better, and achieves the purpose of synchronous motion control.

Description

Technical Field

[0001] This invention patent relates to the technical field of circular water tank wave generators, and more specifically, to a control system for a circular water tank wave generator. Background Technology

[0002] Unlike various square or multi-functional pools, circular pools can achieve combinations of wave and current environments in any direction, thereby simulating various complex sea conditions. In addition, multiple wave generators arranged in a ring are placed in the circular pool. The wave generators have wave pushers, which can eliminate secondary reflections of the water on the wave pushers, thereby generating high-quality wave conditions.

[0003] In the prior art, the control system of the wave generator in the circular pool includes a central controller, a motion controller, and multiple wave generators. The central controller sends wave generation data to the motion controller, and the motion controller controls the movement of the multiple wave generators according to the wave generation data, thereby realizing the wave to be simulated.

[0004] However, during the process of the motion controller sending wave generation data to multiple wave generators, the synchronization of the multiple wave generators is poor, making it difficult to achieve the purpose of synchronous motion control. Summary of the Invention

[0005] The purpose of this invention is to provide a control system for a circular water tank wave generator, which aims to solve the problem of poor synchronous motion control of multiple wave generators in the prior art.

[0006] This invention is implemented as follows: a circular water tank wave generator control system includes a central controller, a motion controller, and multiple wave generators. The multiple wave generators are arranged in a circular water tank, and are arranged around the circumference of the tank. Each wave generator has a driver, a servo motor, a motion structure, and a wave-pushing plate. The wave-pushing plates of the multiple wave generators are arranged around the circumference of the tank. The driver controls the movement of the servo motor, the servo motor drives the motion structure, and the wave-pushing plate is connected to the motion structure and moves with it.

[0007] The central controller communicates with the motion controller, which is a motion control card based on the EtherCAT bus, and the motion control card is connected to multiple drivers.

[0008] Furthermore, the central controller is an industrial control computer.

[0009] Furthermore, the central controller communicates with the motion controller via Ethernet.

[0010] Furthermore, the motion controller has two communication ports. One of the communication ports communicates with the central control host and executes the Ethernet protocol, while the other communication port communicates with the driver and executes the EtherCAT protocol.

[0011] Furthermore, the driver is a programmable logic controller, and the motion controller is equipped with a TwinCAT2PLC program.

[0012] Furthermore, the motion controller receives wave generation data and control commands from the central controller, converts the position data of the pusher plate corresponding to each wave generator in the wave generation data into pulse and direction data, and sends it to the driver. The driver controls the movement of the servo motor according to the pulse and direction data.

[0013] Furthermore, the motion structure includes a horizontally arranged lead screw and a nut, the nut being connected to a pusher plate. When the motion of the servo motor drives the lead screw to rotate, the nut, along with the pusher plate, moves along the axial direction of the lead screw.

[0014] Furthermore, the nut is connected to the top of the pusher plate, and the servo motor has a rotating drive shaft, which is connected to the lead screw via a coupling.

[0015] Furthermore, the wave-pushing plate is arranged longitudinally, and a horizontally arranged connecting plate is provided on the top of the wave-pushing plate. The inner end of the connecting plate is connected to the top of the wave-pushing plate, and the outer end of the connecting plate extends away from the center of the circular pool. The outer end of the connecting plate is provided with multiple tilting arms. The upper end of the tilting arm is connected to the outer end of the connecting plate, and the lower end of the tilting arm is connected to the bottom of the connecting plate.

[0016] Multiple tilting arms are arranged at intervals, and the multiple tilting arms and the wave-pushing plate enclose a hollow area on the back; multiple horizontal holes are provided in the tilting arms, and the horizontal holes penetrate the tilting arms radially along the circular pool, and the multiple horizontal holes are arranged at intervals along the length direction of the tilting arms; internal holes are provided in the tilting arms, and the internal holes extend along the length direction of the tilting arms and are sequentially connected to the multiple horizontal holes.

[0017] Furthermore, the hollow area on the back is filled with an inflatable bladder, the wave-pushing plate has a back surface facing away from the center of the circular pool, the inner end of the inflatable bladder is flatly attached to the back surface, the outer end of the inflatable bladder protrudes outside the hollow area on the back, and the two sides of the inflatable bladder are placed inside the hollow area on the back; the outer end of the inflatable bladder is recessed towards the inside of the inflatable bladder, forming multiple strip-shaped recessed cavities.

[0018] As the wave-pushing plate moves outward away from the center of the circular pool, the water on the back of the wave-pushing plate compresses the outer end of the inflatable bladder, driving the outer end of the inflatable bladder to elastically deform inward, and the two sides of the inflatable bladder bulge outward; when the wave-pushing plate stops moving, or when the wave-pushing plate moves towards the center of the circular pool, the inflatable bladder returns to its original position.

[0019] Compared with the prior art, the circular water tank wave generator control system provided by the present invention uses a motion controller based on the EtherCAT bus. The EtherCAT bus is an open architecture with advantages such as high communication speed, good real-time performance, accurate synchronization performance, and diverse topology mechanisms. It ensures synchronous communication of command data and status data between the motion controller and the driver in microseconds, so as to achieve the purpose of real-time synchronous motion control. This results in better synchronization of multiple wave generators and achieves the purpose of synchronous motion control. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the connection of the circular water tank wave generator control system provided by the present invention;

[0021] Figure 2 This is a front view schematic diagram of the connection between the motion structure and the wave-pushing plate provided by the present invention;

[0022] Figure 3 This is a cross-sectional schematic diagram of the inflatable bladder provided by the present invention;

[0023] Figure 4 This is a cross-sectional schematic diagram of the tilting arm provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0026] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0027] Reference Figure 1-4 The image shown is a preferred embodiment of the present invention.

[0028] The control system for a circular water tank wave generator includes a central controller, a motion controller, and multiple wave generators arranged in a circular water tank, with the wave generators arranged around the circumference of the tank. Each wave generator has a driver, a servo motor 101, a motion structure, and a wave-pushing plate 200. The wave-pushing plates 200 of the multiple wave generators are arranged around the circumference of the circular water tank. The driver controls the movement of the servo motor 101, which in turn drives the motion structure. The wave-pushing plates 200 are connected to the motion structure and move with it.

[0029] The central controller communicates with the motion controller, which is a motion control card based on the EtherCAT bus. The motion control card is connected to multiple drivers.

[0030] The central controller is the control hub of the entire control system. Its main functions include generating various types of wave motion trajectory data, sending control commands, acquiring wave height, displaying graphics, and processing data.

[0031] The circular water tank wave generator control system described above uses an EtherCAT bus-based motion control card as the motion controller. The EtherCAT bus is an open architecture with advantages such as high communication speed, good real-time performance, accurate synchronization performance, and diverse topology mechanisms. It ensures synchronous communication of command data and status data between the motion controller and the driver in microseconds, thereby achieving real-time synchronous motion control. This results in better synchronization of multiple wave generators and realizes the purpose of synchronous motion control.

[0032] The working principle of the circular pool wave generator control system is as follows: the regular mechanical movement of the wave generator's pusher plate 200 vibrates the water to generate waves. A single wave generator can simulate regular waves with constant amplitude, frequency, and direction, as well as unidirectional irregular waves with varying amplitude and frequency. Theoretically, multidirectional irregular waves can be simulated by combining an infinite number of similar wave generators according to certain rules; however, in practical simulation studies, only a finite number of wave generators can be used to approximate them infinitely. Based on this theory, the simulation of multidirectional irregular waves is achieved by controlling multiple pusher plate wave generators to operate along predetermined trajectories.

[0033] The central controller is an industrial control computer that communicates with the motion controller via Ethernet. The central controller is equipped with a 64-bit Windows 7 operating system.

[0034] In this embodiment, the motion controller has two communication ports. One communication port communicates with the central control host and executes the Ethernet protocol, while the other communication port communicates with the driver and executes the EtherCAT protocol.

[0035] The communication software between the central controller and the motion controller was developed using the CSocket communication class in the MFC module of the VS2010 high-level language, to complete the task of transmitting wave data and executing control commands between the two.

[0036] In this embodiment, the driver is a programmable logic controller, and the motion controller is equipped with a TwinCAT 2PLC program.

[0037] The motion controller receives wave generation data and control commands from the central controller, converts the position data of the wave pusher plate 200 corresponding to each wave generator in the wave generation data into pulse and direction data, and sends it to the driver. The driver controls the movement of the servo motor 101 according to the pulse and direction data.

[0038] The motion structure includes a horizontally arranged lead screw 100 and a nut 103. The nut 103 is connected to the pusher plate 200. When the motion of the servo motor 101 drives the lead screw 100 to rotate, the nut 103 moves the pusher plate 200 along the axial direction of the lead screw 100.

[0039] Nut 103 is attached to the top of push plate 200, which facilitates the arrangement of nut 103 and the connection between nut 103 and lead screw 100. Servo motor 101 has a rotating drive shaft, and the drive shaft is connected to lead screw 100 via coupling 102.

[0040] In this embodiment, the wave-pushing plate 200 is arranged longitudinally, and a horizontally arranged connecting plate 202 is provided on the top of the wave-pushing plate 200. The inner end of the connecting plate 202 is connected to the top of the wave-pushing plate 200, and the outer end of the connecting plate 202 extends away from the center of the circular pool. A plurality of tilting arms 201 are provided on the outer end of the connecting plate 202. The upper end of the tilting arm 201 is connected to the outer end of the connecting plate 202, and the lower end of the tilting arm 201 is connected to the bottom of the connecting plate 202.

[0041] Multiple tilting arms 201 are arranged at intervals, and the multiple tilting arms 201 and the wave-pushing plate 200 enclose a hollow area on the back; the tilting arms 201 are provided with multiple horizontal holes 2011, which penetrate the tilting arms 201 radially along the circular pool, and the multiple horizontal holes are arranged at intervals along the length direction of the tilting arms 201; the tilting arms 201 are provided with internal holes 2012, which extend along the length direction of the tilting arms 201 and are sequentially connected to the multiple horizontal holes 2011.

[0042] By arranging multiple tilting arms 201, the longitudinal arrangement of the wave-pushing plate 200 can be strengthened, ensuring that the wave-pushing plate 200 will not tilt during reciprocating movement. Secondly, as the wave-pushing plate 200 moves away from the center of the circular pool, the water can pass through the horizontal holes 2011 and connect with the internal holes 2012 within the multiple horizontal holes 2011. This avoids excessive agitation between the tilting arms 201 and the water, thus preventing external interference that could affect the simulation results.

[0043] In this embodiment, the hollow area on the back is filled with an inflatable bladder 300, the wave-pushing plate 200 has a back surface facing away from the center of the circular pool, the inner end of the inflatable bladder 300 is flatly attached to the back surface, the outer end of the inflatable bladder 300 protrudes outside the hollow area on the back, and the two sides of the inflatable bladder 300 are placed inside the hollow area on the back; the outer end of the inflatable bladder 300 is recessed towards the inside of the inflatable bladder 300, forming a plurality of strip-shaped recessed cavities 301.

[0044] As the wave-pushing plate 200 moves outward away from the center of the circular pool, the water behind the wave-pushing plate 200 compresses the outer end of the inflatable bladder 300, causing the outer end of the inflatable bladder 300 to elastically deform inward, and the two sides of the inflatable bladder 300 bulge outward; when the wave-pushing plate 200 stops moving, or when the wave-pushing plate 200 moves towards the center of the circular pool, the inflatable bladder 300 returns to its original position.

[0045] As the wave-pushing plate 200 moves outward from the center of the circular pool, it will agitate the water behind it. By setting up an inflatable bladder 300, the agitation of the water can be minimized through the elastic buffer deformation of the inflatable bladder 300, achieving slow agitation of the water. In fact, when the wave-pushing plate 200 moves along a small path, it can maintain the relatively still state of the water behind it, thus not causing significant external interference to the wave-generating motion.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control system for a wave generator in a circular water tank, characterized in that, The device includes a central controller, a motion controller, and multiple wave generators arranged in a circular pool, with the wave generators circumferentially surrounding the pool. Each wave generator has a driver, a servo motor, a motion structure, and wave-pushing plates. The wave-pushing plates of the multiple wave generators are arranged circumferentially around the pool. The driver controls the movement of the servo motor, which in turn drives the motion structure. The wave-pushing plates are connected to the motion structure and move with it. The central controller communicates with the motion controller, which is a motion control card based on the EtherCAT bus, and the motion control card is communicatively connected to multiple drivers. The motion structure includes a lead screw and a nut arranged horizontally. The nut is connected to a pusher plate. When the servo motor drives the lead screw to rotate, the nut moves the pusher plate along the axial direction of the lead screw. The wave-pushing plate is arranged longitudinally, and a horizontally arranged connecting plate is provided on the top of the wave-pushing plate. The inner end of the connecting plate is connected to the top of the wave-pushing plate, and the outer end of the connecting plate extends away from the center of the circular pool. The outer end of the connecting plate is provided with multiple tilting arms. The upper end of the tilting arm is connected to the outer end of the connecting plate, and the lower end of the tilting arm is connected to the bottom of the connecting plate. Multiple tilting arms are arranged at intervals, and the multiple tilting arms and the wave-pushing plate enclose a hollow area on the back; multiple horizontal holes are provided in the tilting arms, and the horizontal holes penetrate the tilting arms radially along the circular pool, and the multiple horizontal holes are arranged at intervals along the length direction of the tilting arms; internal holes are provided in the tilting arms, and the internal holes extend along the length direction of the tilting arms and are sequentially connected to the multiple horizontal holes. The hollow area on the back is filled with an inflatable bladder. The wave-pushing plate has a back surface that is away from the center of the circular pool. The inner end of the inflatable bladder is flatly attached to the back surface. The outer end of the inflatable bladder protrudes outside the hollow area on the back. The two sides of the inflatable bladder are placed inside the hollow area on the back. The outer end of the inflatable bladder is recessed towards the inside of the inflatable bladder, forming multiple strip-shaped recessed cavities. As the wave-pushing plate moves outward away from the center of the circular pool, the water on the back of the wave-pushing plate compresses the outer end of the inflatable bladder, driving the outer end of the inflatable bladder to elastically deform inward, and the two sides of the inflatable bladder bulge outward; when the wave-pushing plate stops moving, or when the wave-pushing plate moves towards the center of the circular pool, the inflatable bladder returns to its original position.

2. The control system for the circular water tank wave generator as described in claim 1, characterized in that, The central controller is an industrial control computer.

3. The control system for the circular water tank wave generator as described in claim 1, characterized in that, The central controller communicates with the motion controller via Ethernet.

4. The control system for the circular water tank wave generator as described in claim 1, characterized in that, The motion controller has two communication ports. One of the communication ports communicates with the central control host and executes the Ethernet protocol, while the other communication port communicates with the driver and executes the EtherCAT protocol.

5. The control system for the circular water tank wave generator as described in claim 1, characterized in that, The driver is a programmable logic controller, and the motion controller is equipped with a TwinCAT 2 PLC program.

6. The control system for the circular water tank wave generator as described in claim 1, characterized in that, The motion controller receives wave generation data and control commands from the central controller, converts the position data of the pusher plate corresponding to each wave generator in the wave generation data into pulse and direction data, and sends it to the driver. The driver controls the movement of the servo motor according to the pulse and direction data.

7. The control system for a circular water tank wave generator as described in any one of claims 1 to 6, characterized in that, The nut is connected to the top of the pusher plate, and the servo motor has a rotating drive shaft, which is connected to the lead screw via a coupling.

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