Double-rotor inverted pendulum experimental device

Abstract

The utility model relates to a double-rotor inverted pendulum experiment device, which comprises a guide rail, two inverted pendulum assemblies and two linear motors, each inverted pendulum assembly comprises a rotor seat, a support and a swing rod, the two rotor seats are slidably connected with the guide rail, the bottom of the support is fixedly connected with the rotor seats, the top of the support is rotatably connected with the swing rod, and the linear motors are arranged on the guide rail. Each rotor seat is provided with a driving end connected with the swing rod and used for driving the swing rod to rotate, and the two linear motors are installed on the guide rail and connected with the two rotor seats respectively; by arranging the two inverted pendulum assemblies, the two rotors can be controlled to carry out complex control strategy research, and only one rotor can be selected to be controlled, so that the experiment of a traditional single-rotor inverted pendulum is realized, and the performance is more excellent; the achievable functions comprise a first-order inverted pendulum, a second-order inverted pendulum, a single pendulum, a double pendulum, a single-rotor self-swing-up inverted pendulum and a double-rotor self-swing-up inverted pendulum.

Description

Technical Field

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

[0002] As a typical physical model, the inverted pendulum system is often used to test the correctness of new control theories and algorithms and their effectiveness in practical applications. The single-actuator inverted pendulum system has been widely used in the practical teaching of automatic control theory due to its simple structure and low price.

[0003] For example, the utility model patent with application number CN202322531388.5 proposes an inverted pendulum device for demonstration, wherein a slide rail extending horizontally to the left and right is provided in the demonstration showcase. The inverted pendulum assembly includes a swing rod and a slider, the slider is slidably arranged on the slide rail, the swing rod is arranged on the slider, and the lower end of the swing rod is rotatably arranged on the slider, so that when the slider slides left and right on the slide rail, the swing rod is driven to swing around the rotation axis.

[0004] However, with the development of the automation industry and the demand for high-quality and high-tech talents, the single-motor inverted pendulum system experiment no longer meets the current teaching needs. Utility Model Content

[0005] In view of this, it is necessary to provide a double-motor inverted pendulum experimental device to solve the problem that the single-motor inverted pendulum system experiment no longer meets the current teaching needs.

[0006] The utility model provides a double-motor inverted pendulum experimental device, comprising a guide rail, two inverted pendulum assemblies and two linear motors, wherein the two inverted pendulum assemblies each comprise a mover seat, a bracket and a rocker rod, the two mover seats are both slidably connected to the guide rail, the bottom of the bracket is fixedly connected to the mover seat, the top of the bracket is rotatably connected to the rocker rod, the mover seat has a driving end connected to the rocker rod for driving the rocker rod to rotate, and the two linear motors are both mounted on the guide rail and are respectively connected to the two mover seats.

[0007] Furthermore, the two mover seats slide in opposite or opposite directions.

[0008] Furthermore, anti-collision blocks are installed on opposite sides of the two mover seats.

[0009] Furthermore, it also includes a bearing and a rotating shaft, wherein the bearing is installed on the top of the bracket, one end of the rotating shaft is connected to the bearing, and the other end of the rotating shaft is connected to the swing arm.

[0010] Furthermore, the length of the rocker arm is smaller than the distance from the connection point between the rocker arm and the bracket to the mover seat.

[0011] Furthermore, it also includes two drag chain plates and two fixing frames, one side of the two drag chain plates is respectively connected to the two mover seats, and the other side of the two fixing frames is respectively fixedly connected to the guide rails via the two fixing frames.

[0012] Furthermore, it also includes a detection component, which includes a first detection end for detecting the rotation angle of the rocker arm and a second detection end for detecting the displacement of the mover seat.

[0013] Furthermore, the first detection end includes two encoders, the two encoders are fixedly connected to the two brackets respectively, and the output ends are respectively connected to the two swing rods for detecting the rotation angle of the swing rods.

[0014] Furthermore, the second detection end includes a grating ruler and two photoelectric sensors. The grating ruler is fixed on the guide rail along a sliding direction parallel to the two mover seats. The two photoelectric sensors are respectively installed on the two mover seats and both point to the grating ruler to detect the displacement of the mover seats.

[0015] Furthermore, it also includes an engineering machine, which is connected to the detection component to receive a detection signal. The engineering machine is connected to the driving end and the linear motor to control the movement of the mover seat and the rocker arm according to the detection signal.

[0016] Compared with the existing technology, and different from the traditional ball screw, the linear motor can bring greater acceleration, so that the pendulum rod can quickly enter the inverted swing state. The linear motor has excellent position accuracy and repeatability, providing users with more precise and flexible control. At the same time, by setting two inverted pendulum components, not only can the two movers be controlled to carry out complex control strategy research, but you can also choose to control only one of the movers to realize the experiment of traditional single-motor inverted pendulum, and the performance is better. The functions that can be realized include first-order inverted pendulum, second-order inverted pendulum, single pendulum, double pendulum, single-motor self-swinging inverted pendulum, and double-motor self-swinging inverted pendulum. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall front view of the double-motor inverted pendulum experimental device provided by the embodiment of the utility model;

[0018] Figure 2 A back view of the whole double-motor inverted pendulum experimental device provided by an embodiment of the utility model;

[0019] Figure 3A schematic diagram of the installation of the anti-collision block and the second detection end in the double-motor inverted pendulum experimental device provided by an embodiment of the utility model;

[0020] Figure 4 A front view of two engineering machines in a double-motor inverted pendulum experimental device provided by an embodiment of the utility model;

[0021] Figure 5 A back view of an engineering machine in a double-motor inverted pendulum experimental device provided by an embodiment of the utility model;

[0022] Figure 6 A top view of an engineering machine in a double-motor inverted pendulum experimental device provided in an embodiment of the utility model;

[0023] Figure 7 The overall power supply wiring diagram of the double-actuator inverted pendulum experimental device provided in the embodiment of the utility model;

[0024] Figure 8 A wiring diagram of one of the linear motors in the double-motor inverted pendulum experimental device provided in an embodiment of the utility model;

[0025] Fig. 9 A wiring diagram of another linear motor in the double-motor inverted pendulum experimental device provided in an embodiment of the utility model;

[0026] Fig.10 This is a wiring diagram of a motion control card in a double-motor inverted pendulum experimental device provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0028] like Figure 1-2 As shown, the utility model provides a double-motor inverted pendulum experimental device, including a guide rail 100, two inverted pendulum assemblies 200 and two linear motors 300. The two inverted pendulum assemblies 200 each include a mover seat 210, a bracket 220 and a rocker bar 230. The two mover seats 210 are both slidably connected to the guide rail 100, the bottom of the bracket 220 is fixedly connected to the mover seat 210, and the top of the bracket 220 is rotatably connected to the rocker bar 230. The mover seat 210 has a driving end connected to the rocker bar 230 for driving the rocker bar 230 to rotate. The two linear motors 300 are both installed on the guide rail 100 and are respectively connected to the two mover seats 210.

[0029] Among them, different from the traditional ball screw, the linear motor 300 can bring greater acceleration, so that the pendulum 230 quickly enters the inverted swing state. The linear motor 300 has excellent position accuracy and repeatability, providing users with more precise and flexible control. At the same time, by setting two inverted pendulum assemblies 200, not only can the two movers be controlled to carry out complex control strategy research, but also only one of the movers can be controlled to realize the experiment of traditional single-motor inverted pendulum, and the performance is more excellent. The functions that can be realized include first-order inverted pendulum, second-order inverted pendulum, single pendulum, double pendulum, single-motor self-swinging inverted pendulum, and double-motor self-swinging inverted pendulum.

[0030] The guide rail 100 in this embodiment provides guidance for the sliding of the two inverted pendulum assemblies 200 .

[0031] In one embodiment, a plurality of foot supports 110 are installed at the bottom of the guide rail 100 to improve the stability of the guide rail. At the same time, handrails 120 are also provided on both sides of the guide rail 100 for easy movement.

[0032] The two inverted pendulum assemblies 200 in this embodiment both include a mover seat 210, a bracket 220 and a rocker rod 230. The two mover seats 210 are both slidably connected to the guide rail 100, the bottom of the bracket 220 is fixedly connected to the mover seat 210, and the top of the bracket 220 is rotatably connected to the rocker rod 230. The mover seat 210 has a driving end connected to the rocker rod 230 for driving the rocker rod 230 to rotate.

[0033] In one embodiment, the two mover seats 210 slide in opposite or reverse directions.

[0034] like Figure 3 As shown, in order to avoid collision between the two mover seats 210 , in one embodiment, anti-collision blocks 211 are installed on opposite sides of the two mover seats 210 .

[0035] In one embodiment, a bearing and a rotating shaft are further included. The bearing is installed on the top of the bracket 220 , one end of the rotating shaft is connected to the bearing, and the other end of the rotating shaft is connected to the swing rod 230 .

[0036] The length of the rocker arm 230 is shorter than the distance from the connection point between the rocker arm 230 and the bracket 220 to the mover seat 210 .

[0037] To improve the sliding stability of the mover seat 210 , in one embodiment, two drag chain plates 240 and two fixing frames 241 are further included, one side of the two drag chain plates 240 is respectively connected to the two mover seats 210 , and the other sides of the two fixing frames 241 are respectively fixedly connected to the guide rail 100 via the two fixing frames 241 .

[0038] The linear motor 300 in this embodiment is a structure for driving the mover seat 210 to slide.

[0039] This embodiment also includes a detection component 400 , which includes a first detection end for detecting the rotation angle of the swing rod 230 and a second detection end for detecting the displacement of the mover seat 210 .

[0040] In one embodiment, the first detection end includes two encoders 410 , the two encoders 410 are fixedly connected to two brackets respectively, and the output ends of the two encoders 410 are respectively connected to two swing rods 230 to detect the rotation angle of the swing rod 230 .

[0041] like Figure 3 As shown, in one embodiment, the second detection end includes a grating ruler 420 and two photoelectric sensors 430. The grating ruler 420 is fixed on the guide rail 100 along a sliding direction parallel to the two mover seats 210. The two photoelectric sensors 430 are respectively installed on the two mover seats 210 and both point to the grating ruler 420 to detect the displacement of the mover seat 210.

[0042] The present embodiment also includes an engineering machine 500, which is connected to the detection assembly 400 to receive the detection signal, and is connected to the driving end and the linear motor 300 to control the movement of the mover seat 210 and the swing arm 230 according to the detection signal. The engineering machine 500 can be connected to a computer.

[0043] The two engineering machines 500 include: Figure 4-6 As shown in the figure, the aviation plug connector has interfaces (-X1, -X2, -X3, -X4, -X5, -X6, -X7, -X8, -X9, -X10, -X11), and also includes a motion control card. The electrical connection is as follows Figure 7-10 As shown, the grating ruler 420 feeds back the displacement and speed signals of the trolley to the linear motor 300 and the motion control card, and the photoelectric code disk of the encoder 410 feeds back the position and speed signals of the swing rod 230 to the motion control card. The computer reads real-time data from the motion control card of the engineering machine 500, determines the control decision, and the motion control card implements the control decision and generates the corresponding control amount, so that the linear motor 300 drives the mover seat 210 to move and dynamically keeps the swing rod 230 balanced.

[0044] Compared with the prior art: Different from the traditional ball screw, the linear motor 300 can bring greater acceleration, so that the pendulum 230 quickly enters the inverted swing state. The linear motor 300 has excellent position accuracy and repeatability, providing users with more precise and flexible control. At the same time, by setting two inverted pendulum assemblies 200, not only can the two movers be controlled to carry out complex control strategy research, but also only one of the movers can be controlled to realize the experiment of the traditional single-motor inverted pendulum, and the performance is more excellent. The functions that can be realized include first-order inverted pendulum, second-order inverted pendulum, single pendulum, double pendulum, single-motor self-swinging inverted pendulum, and double-motor self-swinging inverted pendulum.

[0045] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A double-actuator inverted pendulum experimental device, characterized in that: include: guide; Two inverted pendulum assemblies, each comprising a mover seat, a bracket and a swing rod, wherein the two mover seats are slidably connected to the guide rail, the bottom of the bracket is fixedly connected to the mover seat, the top of the bracket is rotatably connected to the swing rod, and the mover seat has a driving end connected to the swing rod for driving the swing rod to rotate; Two linear motors are both installed on the guide rail and are respectively connected to the two mover seats.

2. The double-motor inverted pendulum experimental device according to claim 1, characterized in that: The two mover seats slide in opposite or reverse directions.

3. The double-actuator inverted pendulum experimental device according to claim 2, characterized in that: Anti-collision blocks are installed on opposite sides of the two mover seats.

4. The double-motor inverted pendulum experimental device according to claim 1, characterized in that: It also includes a bearing and a rotating shaft, wherein the bearing is installed on the top of the bracket, one end of the rotating shaft is connected to the bearing, and the other end of the rotating shaft is connected to the swing rod.

5. The double-motor inverted pendulum experimental device according to claim 1, characterized in that: The length of the rocker arm is smaller than the distance from the connection point between the rocker arm and the bracket to the mover seat.

6. The double-motor inverted pendulum experimental device according to claim 1, characterized in that: It also includes two drag chain plates and two fixing frames, one side of the two drag chain plates is respectively connected to the two mover seats, and the other side of the two fixing frames is respectively fixedly connected to the guide rails via the two fixing frames.

7. The double-motor inverted pendulum experimental device according to claim 1, characterized in that: It also includes a detection component, which includes a first detection end for detecting the rotation angle of the rocker arm and a second detection end for detecting the displacement of the mover seat.

8. The double-motor inverted pendulum experimental device according to claim 7, characterized in that: The first detection end includes two encoders, the two encoders are fixedly connected to the two brackets respectively, and the output ends are connected to the two swing rods respectively, so as to detect the rotation angle of the swing rod.

9. The double-motor inverted pendulum experimental device according to claim 7, characterized in that: The second detection end includes a grating ruler and two photoelectric sensors. The grating ruler is fixed on the guide rail along a sliding direction parallel to the two mover seats. The two photoelectric sensors are respectively installed on the two mover seats and both point to the grating ruler to detect the displacement of the mover seats.

10. The double-motor inverted pendulum experimental device according to claim 7, characterized in that: It also includes an engineering machine, which is connected to the detection component to receive a detection signal. The engineering machine is connected to the driving end and the linear motor to control the movement of the mover seat and the rocker arm according to the detection signal.

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