Three-wheel automatic centering trolley and magnetic suspension rotor positioning simulation system

Abstract

The utility model discloses a three-wheel automatic centering trolley and a magnetic suspension rotor positioning simulation system, the bottom of a trolley bottom plate is provided with a directional wheel, the top of the trolley bottom plate is connected with a power supply shell, the power supply shell is internally provided with a power supply, and the end part of the trolley bottom plate is provided with an ultrasonic distance detection sensor module; the two sides of the bottom of the vehicle bottom plate are each connected with a gear motor. The outer side of the gear motor is connected with wheels, and the top of the power supply shell is connected with the integrated board. And a core controller, a motor driving module, a starting device and a matrix keyboard are arranged at the top of the integrated board. According to the utility model, the defect that the existing magnetic suspension motor rotor model is not visual is overcome, the suspension state of the magnetic suspension motor rotor is simulated through single-end positioning and double-end positioning of the trolley, and the debugging efficiency of actual magnetic suspension high-speed motor equipment is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of magnetic suspension motor rotor positioning system simulation, and in particular relates to a three-wheeled automatic centering vehicle and a magnetic suspension rotor positioning simulation system. Background Art

[0002] As active magnetic bearing (AMB) technology becomes increasingly mature, AMB has been widely used in high-speed rotating machinery such as compressors, flywheel energy storage and molecular pumps. How to control the magnetic suspension rotor to stably suspend at the desired position has always been an important issue. This motor usually consists of two parts: a stator and a rotor. The magnets on the stator generate a magnetic field with a fixed direction, while the magnets on the rotor generate a magnetic field with a variable direction. By controlling the direction and strength of the stator magnetic field, the position and speed of the rotor can be controlled. During operation, the sensor continuously reads the position and state information of the rotor and transmits this information to the control system. The control system adjusts the position and motion state of the rotor by adjusting the current in the stator. This technology eliminates the need for traditional mechanical bearings and lubricants, thereby reducing mechanical wear and friction. At the same time, by adjusting the current size, the rotor can be precisely controlled and operated at high speed. However, once the actual magnetic suspension motor rotor system is installed, the software program needs to be repeatedly debugged to ensure that the rotor can be stably suspended in the center position. During the repeated debugging process, the stator and rotor of the motor will often collide and rub, and even damage the key components of the motor.

[0003] The patent publication number is CN113110461A, and the name is a patent application for a patrol obstacle avoidance vehicle with intelligent noise recognition, which includes vehicle body parts, electronic control parts and external accessories. The vehicle body parts include vehicle motion modules and power modules; the electronic control parts include DC motor drive modules, core controller modules and electronic control power modules; the external accessories include microphone array modules, posture acquisition modules, voice recognition modules, sensor modules, wireless communication modules and terminal control modules. The vehicle in this patent application cannot be placed on the track and cannot be used for the simulation of the magnetic suspension rotor positioning system. Utility Model Content

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the utility model is to provide a three-wheeled automatic centering trolley and a magnetic suspension rotor positioning simulation system, which can debug software programs and controller parameters through the three-wheeled automatic centering trolley. The suspension state of the magnetic suspension motor rotor is simulated by the single-end positioning and double-end positioning of the trolley, thereby improving the debugging efficiency of the actual magnetic suspension high-speed motor equipment.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A three-wheeled automatic centering vehicle comprises a vehicle floor and an integrated board, wherein a directional wheel is arranged at the bottom of the vehicle floor, a power supply housing is connected to the top of the vehicle floor, a power supply is arranged in the power supply housing, an ultrasonic distance detection sensor module is arranged at the end of the vehicle floor, and a reduction motor is connected to both sides of the bottom of the vehicle floor respectively; wheels are connected to the outside of the reduction motor, and the top of the power supply housing is connected to the integrated board; a core controller, a motor drive module, a starting device and a matrix keyboard are arranged on the top of the integrated board; the reduction motor is electrically connected to the output end of the motor drive module; the power supply interface of the motor drive module is electrically connected to the power supply, and the enable input interface of the motor drive module is electrically connected to the output end of the core controller; the input end of the core controller is electrically connected to the ultrasonic distance detection sensor module, the motor drive module, the starting device and the matrix keyboard.

[0007] Optionally, the two reduction motors are arranged on the same straight line.

[0008] Optionally, the integrated panel is connected to the vehicle floor panel by fasteners.

[0009] Optionally, the wheels are anti-slip rubber wheels.

[0010] Optionally, the top of the power supply housing is connected to the integrated board via a connecting column.

[0011] Optionally, the connecting column is a copper column or an acrylic column.

[0012] Optionally, the power supply is provided with a main power switch and a battery charger interface.

[0013] Optionally, the reduction motor is a TT motor.

[0014] Optionally, the directional wheel is bonded to the vehicle bottom plate via a bracket, and the directional wheel is rotatably connected to the bracket.

[0015] A magnetic levitation rotor positioning simulation system, characterized in that it includes a test box, wherein the test box has two slide rails inside, and two trolley bodies of the three-wheeled automatic centering trolley are respectively arranged on the two slide rails, one end of one trolley body has an ultrasonic distance detection sensor module, and both ends of the other trolley body have ultrasonic distance detection sensor modules.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The three-wheeled automatic centering car of the utility model integrates the core controller, ultrasonic distance detection sensor module, and motor drive module, which is conducive to effective control of the three-wheeled automatic centering car, improves the reliability of the three-wheeled automatic centering car, and solves the defect of the existing magnetic levitation motor rotor model that is not intuitive. At the same time, it has the advantage of a detachable connecting plate to realize the rapid replacement of different types of sensors, thereby making the three-wheeled automatic centering more intelligent and flexible, and can effectively save the user's hardware construction time. This product has a simple structure, is easy to build, and is highly practical, making it more intuitive as a magnetic levitation motor rotor model. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes to help understand the present invention and are not intended to specifically limit the shapes and proportional dimensions of the components of the present invention. In the drawings:

[0019] Figure 1 This is a top view of the positioning device for a two-wheeled balancing vehicle of the utility model;

[0020] Figure 2 This is a front view of the positioning device for a two-wheeled balancing vehicle of the utility model;

[0021] Figure 3 This is a single-ended input circuit connection schematic diagram of the utility model;

[0022] Figure 4 This is a schematic diagram of the connection principle of the double-end input circuit of the utility model;

[0023] Figure 5 This is a schematic diagram of an uphill model of a two-wheeled balancing vehicle positioning device of the utility model;

[0024] Figure 6 This is a schematic diagram of a downhill model of a two-wheeled balancing vehicle positioning device of the utility model;

[0025] Among them, 1. core controller; 2. main power switch; 3. ultrasonic distance detection sensor module; 4. motor drive module; 5. reduction motor; 6. vehicle bottom plate; 7. battery charger interface; 8. wheels; 9. power supply housing; 10. power supply; 11. directional wheels; 12. fasteners; 13. starting device; 14. matrix keyboard; 15. integrated board; 16. connecting column; 101. test box; 102. trolley body; 103. box bracket. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] The utility model is described in detail below in conjunction with the accompanying drawings.

[0030] like Figure 1 As shown, a three-wheeled automatic centering vehicle of the utility model comprises a vehicle floor 6 and an integrated board 15, wherein a directional wheel 11 is arranged at the bottom of the vehicle floor 6, a power supply housing 9 is connected to the top of the vehicle floor 6, a power supply 10 is arranged in the power supply housing 9, an ultrasonic distance detection sensor module 3 is arranged at the end of the vehicle floor 6, and a reduction motor 5 is connected to both sides of the bottom of the vehicle floor 6 respectively; a wheel 8 is connected to the outer side of the reduction motor 5, and the top of the power supply housing 9 is connected to the integrated board 15; a core controller 1, a motor drive module 4, a starting device 13 and a matrix keyboard 14 are arranged on the top of the integrated board 15; the reduction motor 5 is electrically connected to the output end of the motor drive module 4; the power supply interface of the motor drive module 4 is electrically connected to the power supply 10, and the enable input interface of the motor drive module 4 is electrically connected to the output end of the core controller 1; the input end of the core controller 1 is electrically connected to the ultrasonic distance detection sensor module 3, the motor drive module 4, the starting device 13 and the matrix keyboard 14.

[0031] Optionally, the core controller 1 is of STM32F103. The ultrasonic distance detection sensor module 3 is of HCSR04. Optionally, the reduction motor 5 is a TT motor. The power supply 10 is a 18650 cylindrical lithium battery. Optionally, the fastener 12 is an M3 stud. The motor drive module 4 is of L298N. The matrix keyboard 14 has two buttons. Optionally, the connecting column 16 is a copper column or an acrylic column.

[0032] Optionally, the two reduction motors 5 are arranged on the same straight line. The wheels 8 are anti-skid rubber wheels. The top of the power supply housing 9 is connected to the integrated board 15 through a connecting column 16.

[0033] The connecting column 16 is a copper column or an acrylic column.

[0034] Specifically, the integrated board 15 is connected to the vehicle floor 6 by a fastener 12. The power supply 10 is provided with a main power switch 2 and a battery charger interface 7. The reduction motor 5 is a TT motor. The directional wheel 11 is bonded to the vehicle floor 6 through a bracket, and the directional wheel 11 is rotatably connected to the bracket. The directional wheel 11 is arranged on the bottom center axis of the vehicle floor 6.

[0035] A magnetic levitation rotor positioning simulation system of the utility model comprises a test box 101, wherein the test box 101 has two slide rails inside, and two trolley bodies 102 of the three-wheeled automatic centering trolley are respectively arranged on the two slide rails, wherein one end of one trolley body 102 has an ultrasonic distance detection sensor module 3, and both ends of the other trolley body 102 have ultrasonic distance detection sensor modules 3.

[0036] Specifically, the model of the ultrasonic distance detection sensor module 3 is HCSR04. The ultrasonic distance detection sensor module 3 is installed on the trolley through M3 studs.

[0037] A box support 103 is provided at the bottom of the test box 101. The test box 101 can be tilted, and the tilt angle with respect to the ground is adjustable, with a maximum angle value of 45°.

[0038] The ultrasonic distance detection sensor module 3 is connected to the core controller 1, and a high-level signal of no less than 10us is given to the ultrasonic distance detection sensor module 3. The ultrasonic distance detection sensor module 3 sends out 8 40KHZ square waves, and the echo level output is proportional to the detection distance. Test distance = high-level time * sound speed / 2. Two ultrasonic distance detection sensor modules 3 are located in front and behind the car respectively, and the measured distances are added and divided by two to get the middle distance.

[0039] The core controller 1 compares the calculated distance D with the distance L1 measured by the ultrasonic distance detection sensor module 3 in front of the trolley body 102. If L1 > D, the trolley body 102 moves forward; if L1 = D, the trolley body 102 stops; if L1 < D, the trolley body 102 moves backward. During the adjustment process, since it is dynamic, PID is introduced for adjustment. The first reason is that PID adjustment can make the distance maintained by the trolley body 102 closer to the central axis to reduce errors. The second reason is that in the case of external interference, the ability of the trolley body 102 to self-adjust and automatically find the central axis is stronger and more stable than that of the traditional method using an interrupt service function.

[0040] The core controller 1 enables the output to control the motor drive module 4, and the L298N outputs a voltage pulse PWM with a certain duty cycle to adjust the speed of the trolley, while the ultrasonic distance detection sensor module 3 continuously transmits parameters during the driving process of the trolley body 102, making the position of the trolley body 102 closer and closer to the central axis.

[0041] In addition, there is another trolley body 102 with a single sensor. The ultrasonic sensor transmits parameters to calculate the current distance D, and the core controller adjusts the forward and backward movement of the trolley body 102 by comparing the set distance S. The initial set distance is 0, which is adjusted by the matrix keyboard 14. The matrix keyboard 14 has two buttons, namely add and subtract, with a step of 1 cm. Since the maximum distance that the ultrasonic distance detection sensor module 3 can measure is 4 m, when the set distance is 4 m, the set distance of the trolley is automatically cleared. When D > S, the measured distance of the trolley body 102 is greater than the set distance, and the trolley body 102 moves forward; when D = S, the measured distance of the trolley body 102 is equal to the set distance, and the trolley body 102 moves forward; when D < S, the measured distance of the trolley body 102 is less than the set distance, and the trolley body 102 moves backward.

[0042] Embodiment

[0043] In this embodiment, there are two trolley bodies 102, and both of these trolley bodies 102 are in the test box 101 with a slide rail. When the inclination angle is X degrees, the trolley body 102 in the test box 101 will slide down due to inertia, but the sum of the distances at both ends calculated by the core controller 1 divided by two is not equal to the distance measured by one ultrasonic distance detection sensor module 3. At this time, the core controller 1 outputs a control signal to the motor drive module 4, and the drive motor of the motor drive module 4 rotates forward and backward to enable the trolley body 102 to always stay in the middle of the slide rail of the test box 101. When the trolley body 102 is moving, there will be inertia, and the calculated distance is approximately a straight line perpendicular to the axis. The trolley body 102 will move repeatedly within a certain distance. At this time, PID control is added, and the trolley body 102 will stop more smoothly and the processing speed will also be faster.

[0044] Since the other car body 102 in the test box 101 has only one ultrasonic distance detection sensor module 3, it only needs to compare the distance measured by it with the set distance. If the distances are equal, the car body 102 stops moving forward. If the distances are not equal, the core controller 1 outputs the control motor drive module 4 to drive the motor forward and reverse. The initial set distance is the middle position of the test box 101. The width of the slide rails under the car body 102 is greater than the width of the wheels 8 to prevent the car body 102 from sliding diagonally when climbing a slope.

[0045] According to the law of conservation of momentum, the greater the inclination angle of the test box 101, the greater the kinetic energy required by the vehicle. However, the speed of the reduction motor 5 is limited, and the driving ability of the motor drive module 4 is also limited, so the inclination angle of the test box 101 cannot be too large. Preferably, the maximum inclination angle of the test box 101 is 45 degrees.

[0046] During the experiment, the greater the inclination angle, the longer it takes for the trolley body 102 to automatically center, and similarly, the time it takes for the other trolley body 102 to reach the set distance is also longer.

[0047] The two cart bodies 102 and the test box 101 together form a system, which can be regarded as a magnetic levitation ball model. The cart body 102 of the single ultrasonic distance detection sensor module 3 changes the set distance to change the power of the reduction motor 5 to adjust the position of the cart body 102, which is equivalent to the magnetic pole of the magnetic levitation ball model on one side of the ball, and the position of the ball is adjusted by changing the magnetic force. The cart body 102 of the dual ultrasonic distance detection sensor module 3 changes the power of the reduction motor 5 by comparing the middle distance calculated by the two ultrasonic distance detection sensor modules 3 with the cart body 102 of the single ultrasonic distance detection sensor module 3, and thus adjusts the position, which is equivalent to the magnetic pole of the magnetic levitation ball model on both sides of the ball, and the magnetic forces on both sides jointly affect the position of the ball.

[0048] Unless otherwise specified, the device elements involved in the above embodiments are all conventional device elements, and the structural settings, working modes or control modes involved are all conventional settings, working modes or control modes in the art unless otherwise specified.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A three-wheeled automatic centering vehicle, characterized in that: The invention comprises a vehicle bottom plate (6) and an integrated board (15), wherein a directional wheel (11) is arranged at the bottom of the vehicle bottom plate (6), a power supply housing (9) is connected to the top of the vehicle bottom plate (6), a power supply (10) is arranged in the power supply housing (9), an ultrasonic distance detection sensor module (3) is arranged at the end of the vehicle bottom plate (6), and a reduction motor (5) is connected to both sides of the bottom of the vehicle bottom plate (6); a wheel (8) is connected to the outside of the reduction motor (5), the top of the power supply housing (9) is connected to the integrated board (15); the top of the integrated board (15) A core controller (1), a motor drive module (4), a starting device (13) and a matrix keyboard (14) are provided; the reduction motor (5) is electrically connected to the output end of the motor drive module (4); the power supply interface of the motor drive module (4) is electrically connected to the power supply (10), and the enable input interface of the motor drive module (4) is electrically connected to the output end of the core controller (1); the input end of the core controller (1) is electrically connected to the ultrasonic distance detection sensor module (3), the motor drive module (4), the starting device (13) and the matrix keyboard (14).

2. A three-wheeled automatic centering vehicle according to claim 1, characterized in that: The two reduction motors (5) are arranged on the same straight line.

3. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The integrated panel (15) is connected to the vehicle floor panel (6) by means of a fastener (12).

4. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The wheels (8) are anti-skid rubber wheels.

5. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The top of the power supply housing (9) is connected to the integrated board (15) via a connecting column (16).

6. A three-wheeled automatic centering vehicle according to claim 5, characterized in that: The connecting column (16) is a copper column or an acrylic column.

7. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The power supply (10) is provided with a main power switch (2) and a battery charger interface (7).

8. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The reduction motor (5) is a TT motor.

9. The three-wheeled automatic centering vehicle according to claim 1, characterized in that: The directional wheel (11) is bonded to the vehicle bottom plate (6) via a bracket, and the directional wheel (11) is rotatably connected to the bracket.

10. A magnetic suspension rotor positioning simulation system, characterized in that: The invention comprises a test box (101), wherein the test box (101) has two slide rails inside, and two trolley bodies (102) of a three-wheeled automatic centering trolley as described in any one of claims 1 to 9 are respectively arranged on the two slide rails, wherein one end of one trolley body (102) has an ultrasonic distance detection sensor module (3), and both ends of the other trolley body (102) have ultrasonic distance detection sensor modules (3).

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