Modulation electric PID (proportion integration differentiation) balance ball rod
By using T-shaped integrated cross rod and conductive ball to form a sliding potentiometer in the balanced club device, and combining with the loop control circuit, the modular PID control is realized, which solves the problems of complex structure, high cost and programming of the existing device, and realizes the simplification, low cost and easy operation of the device.
Patent Information
- Application Number
- CN202421575252.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-07-04
AI Technical Summary
The mechanical structure of the existing balance club device is complex, costly and difficult to maintain, and students need to program to use it, which limits the implementation and popularization of experiments.
The sliding potentiometer is formed by a T-shaped integrated cross rod and conductive ball. Combined with a loop parallel or series control circuit, the motor is controlled through a mode electric PID to achieve the inclination of the cross rod and the stable stop of the ball.
Simplifies the mechanical structure and reduces costs, students can conduct experiments without programming, and the device is easy to maintain and operate.
Smart Images
Figure CN222927120U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of teaching, in particular to an analog electronic PID balance ball bar. Background Art
[0002] The balance ball bar device is a commonly used teaching experiment device in the major of automatic control. The main body is a cross bar and a small ball, and the small ball can roll on the cross bar. The motor controls the horizontal tilt angle of the cross bar through a mechanical structure. After tilting, the small ball starts to roll under the action of gravity. By repeatedly adjusting the tilt angle of the cross bar, the position where the small ball stops after rolling is controlled. Students design a PID control loop to control the rotation of the motor, so that the movement of the cross bar is stable and the small ball can quickly stop at the set position.
[0003] For the mechanical part, there are two methods in the prior art solutions
[0004] One is that the middle of the cross bar is fixed on the support column and can move. The motor drives the connecting rod to push up or pull down at the end of the cross bar to change the tilt angle of the cross bar.
[0005] The other is that one end of the cross bar is fixed on the support column and can move. The motor drives the connecting rod to push up or pull down at the other end of the cross bar to change the tilt angle of the cross bar.
[0006] Based on the basic structure of fixing in the middle or at one end of the cross bar, the connecting rod is replaced with a pulley, a slider, a lead screw, a crankshaft, etc. These structures can convert the rotation of the motor into an up and down movement. Thus, multiple structural versions are evolved.
[0007] For the control part, the existing technical solutions adopt a numerical control method. The PID is realized by single-chip microcomputer programming, and the motor and the sensor are also digitally controlled. This method requires the device to provide an operation unit, generally a small cabinet, to place the processor and the driver. And it is necessary to install single-chip microcomputer development software on the computer. Students need to be able to program and download when using it.
[0008] The prior art has deficiencies. The mechanical structure is complex, there are many movable joints, the cost is high and it is not easy to maintain, and improvement is needed. Content of the Utility Model
[0009] The purpose of the utility model is to provide an analog electronic PID balance ball bar to solve the problems raised in the above background art.
[0010] To achieve the above purpose, the utility model provides the following technical solutions:
[0011] An analog electronic PID balance ball bar, comprising a bearing of a T-shaped integrated crossbar, the bearing is connected to a support plate, a disc coaxial with a motor is arranged on the support plate, when the disc rotates, a protruding cylinder on the disc will slide in a sliding groove, the sliding groove is arranged at the middle bottom of the T-shaped part of the T-shaped integrated crossbar, when the protruding cylinder slides, it squeezes the sliding groove of the T-shaped integrated crossbar, so that the T-shaped integrated crossbar runs obliquely, controlling the left and right movement of the small ball under the action of gravity, and the small ball is a conductive small ball.
[0012] As a further scheme of the present utility model: the T-shaped integrated crossbar and the small ball form a sliding potentiometer, the side of the T-shaped integrated crossbar is a V-shaped structure, conductive plastic strips are arranged on both inner sides of the V-shaped structure (one side is low voltage and the other side is high voltage), the voltage is evenly distributed on the conductive plastic strips, and the small ball contacts the conductive plastic strips to transmit the voltage at the contact point.
[0013] As a further scheme of the present utility model: the potentiometer is connected to a reduction gearbox, and the reduction gearbox is connected to the motor.
[0014] As a further scheme of the present utility model: the analog electronic PID balance ball bar further comprises a loop parallel control circuit, the loop parallel control circuit includes a first PID loop and a second PID loop, the positive input end of the first PID loop accesses the control voltage of the user, the negative electrode of the first PID loop is connected to the feedback voltage of the potentiometer, the output end of the first PID loop is connected to an input end of a summing unit, the output end of the summing unit drives the motor, and the feedback voltage of the motor rotation angle is connected to the negative input end of the second PID loop, the positive input end of the second PID loop accesses a 2.5V voltage, and the output end of the second PID loop is connected to the other input end of the summing unit.
[0015] As a further scheme of the present utility model: the analog electronic PID balance ball bar further comprises a loop series control circuit, the loop series control circuit includes a first PID loop and a second PID loop, the positive input end of the first PID loop accesses the control voltage of the user, the negative electrode of the first PID loop is connected to the feedback voltage of the potentiometer, the output end of the first PID loop is connected to one end of a first resistor, the other end of the first resistor is connected to one end of a second resistor and the positive input end of the second PID loop, the other end of the second resistor is connected to a 5V voltage, the output end of the second PID loop is connected to an input end of a summing unit, the output end of the summing unit drives the motor, and the feedback voltage of the motor rotation angle is connected to the negative input end of the second PID loop.
[0016] Compared with the prior art, the beneficial effects of the present utility model are: the present utility model can be carried out after completing the basic analog electronic course in the freshman year; the cost of the control device is low, it is pure analog electronic and does not require programming; the mechanical device has a simple structure, is easy to maintain and has a low cost. Description of the Drawings
[0017] Figure 1 It is a mechanical structure diagram of an analog electronic PID balance ball bar.
[0018] Figure 2 It is a schematic diagram of the small ball position detection.
[0019] Figure 3 It is a schematic diagram of the motor angle detection.
[0020] Figure 4 It is a block diagram of loop parallel control.
[0021] Figure 5 It is a block diagram of loop series control.
[0022] Figure 6 It is an analog circuit PID block diagram.
[0023] In the figure: 1 - bearing, 2 - sliding groove, 3 - disc, 4 - protruding cylinder, 5 - support plate, 6 - conductive plastic strip. Specific implementation mode
[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0025] Please refer to Figure 1 , an analog electronic PID balance ball bar, including a bearing 1 of a T-shaped integrated crossbar. The bearing 1 is connected to a support plate 5. A disc 3 coaxial with the motor is arranged on the support plate 5. When the disc 3 rotates, the protruding cylinder 4 on the disc 3 will slide in the sliding groove 2. The sliding groove 2 is arranged at the middle bottom of the T-shaped part of the T-shaped integrated crossbar. When the protruding cylinder 4 slides, it squeezes the sliding groove 2 of the T-shaped integrated crossbar, causing the T-shaped integrated crossbar to tilt and operate, controlling the left and right movement of the small ball under the action of gravity. The small ball is a conductive small ball.
[0026] Therefore, when the motor drives the disc 3 to rotate clockwise or counterclockwise, the protruding cylinder 4 will move left and right. The cylinder slides in the sliding groove 2, driving the T-shaped integrated crossbar to tilt and operate. The tilting movement of the bar can control the left and right movement of the small ball under the action of gravity.
[0027] In this embodiment: Please refer to Figure 2, The T-shaped integrated crossbar and the small ball form a sliding potentiometer. The side of the T-shaped integrated crossbar is a V-shaped structure. Conductive plastic strips 6 are arranged on the two inner sides of the V-shaped structure (one side is low voltage and the other side is high voltage). The voltage is evenly distributed on the conductive plastic strip 6. The small ball contacts the conductive plastic strip 6 and transmits the voltage at the contact point.
[0028] The small ball transmits the voltage at the contact point, and the position of the small ball is converted into a corresponding voltage signal, so that the T-shaped integrated crossbar and the small ball form a sliding potentiometer.
[0029] In this embodiment: Please refer to Figure 3 , The potentiometer is connected to the reduction gearbox, and the reduction gearbox is connected to the motor.
[0030] The motor passes through the reduction gearbox. The reduction gearbox is equipped with a coaxial potentiometer. One end of the potentiometer is connected to GND and the other end is connected to 5V. Then, one rotation corresponds to 0 - 5V. The rotation angle is converted into voltage. When the crossbar is horizontal, the moving end of the potentiometer is in the middle, corresponding to 2.5V.
[0031] In this embodiment: Please refer to Figure 4 , The analog electronic PID balance ball bar further includes a loop parallel control circuit. The loop parallel control circuit includes a first PID loop and a second PID loop. The positive input terminal of the first PID loop accesses the control voltage of the user. The negative terminal of the first PID loop is connected to the feedback voltage of the potentiometer. The output terminal of the first PID loop is connected to one input terminal of the summing unit. The output terminal of the summing unit drives the motor. The feedback voltage of the motor rotation angle is connected to the negative input terminal of the second PID loop. The positive input terminal of the second PID loop accesses a 2.5V voltage. The output terminal of the second PID loop is connected to the other input terminal of the summing unit.
[0032] In the teaching laboratory, students only need to adjust the control voltage of the user, change the rotation condition of the motor, change the position of the T-shaped integrated crossbar and the small ball, and obtain different voltage values of the feedback position of the bar, so as to make the movement of the crossbar stable and the small ball can quickly stop at the set position.
[0033] In this embodiment: Please refer to Figure 5 , The analog electronic PID balance ball bar further includes a loop series control circuit. The loop series control circuit includes a first PID loop and a second PID loop. The positive input terminal of the first PID loop accesses the control voltage of the user. The negative terminal of the first PID loop is connected to the feedback voltage of the potentiometer. The output terminal of the first PID loop is connected to one end of the first resistor. The other end of the first resistor is connected to one end of the second resistor and the positive input terminal of the second PID loop. The other end of the second resistor is connected to a 5V voltage. The output terminal of the second PID loop is connected to one input terminal of the summing unit. The output terminal of the summing unit drives the motor. The feedback voltage of the motor rotation angle is connected to the negative input terminal of the second PID loop.
[0034] The loop series control circuit and the loop parallel control circuit have similar structures and the same functions. The summing unit (the teaching syllabus of the adder circuit structure exists, and it can also be searched and queried online) is a common unit, which will not be elaborated here.
[0035] Please refer to Figure 6 , the analog circuit PID uses 5 analog circuit units. They are all required in the teaching syllabus. Connect these unit circuits as Figure 6 shown to form a PID operation. The subtractor, inverting proportion, integrator, differentiator, and inverting summing circuit structures are all circuits mentioned in the teaching syllabus and are common circuit structures. In addition, relevant circuit structures can also be searched online. They are existing technologies and will not be elaborated here.
[0036] The working principle of the present utility model is as follows: The student adjusts the control voltage of the user, changes the output voltage conditions of the first PID loop and the second PID loop, and finally changes the rotation state of the motor. When the motor drives the disc 3 to rotate clockwise or counterclockwise, the protruding cylinder 4 will move left and right. The cylinder slides in the sliding groove 2, driving the T-shaped integrated crossbar to tilt. The tilting movement of the rod can control the left and right movement of the small ball under the action of gravity, so that the potentiometer formed by the T-shaped integrated crossbar and the small ball feedbacks different voltages. Based on the control voltage of the user, the small ball can finally stop quickly at the set position.
[0037] The first of the existing technologies is that the cost of the numerical control cabinet of the device is high, which is not convenient for the entire laboratory to carry out. The second is that it needs to be carried out after the students complete the programming course, which is not convenient for freshmen and sophomores. The third is that it is not convenient to observe the intermediate process signals. The digital signals need to be programmed and stored, and then the waveforms are drawn. The fourth is that the mechanical structure is complex, there are many movable joints, the cost is high and it is not easy to maintain.
[0038] The present utility model can be carried out after freshmen finish learning the basic analog electronics course; the control device has a low cost, is pure analog electronics and does not require programming; the mechanical device has a simple structure, is easy to maintain and has a low cost.
[0039] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting.
[0040] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. An analog PID balancing ball bar, characterized in that: The analog electric PID balancing ball bar includes a bearing of a T-shaped integrated cross bar, which is connected to a support plate. A disc coaxial with a motor is provided on the support plate. When the disc rotates, it drives a protruding cylinder on the disc to slide in a sliding groove. The sliding groove is provided at the middle bottom of the T-shape of the T-shaped integrated cross bar. When the protruding cylinder slides, it squeezes the sliding groove of the T-shaped integrated cross bar, causing the T-shaped integrated cross bar to tilt and run, thereby controlling the small ball to run left and right under the action of gravity. The small ball is a conductive small ball.
2. The analog electric PID balancing ball bar according to claim 1, characterized in that: The T-shaped integrated crossbar and the small ball form a sliding potentiometer. The side of the T-shaped integrated crossbar is a V-shaped structure. Conductive plastic strips are arranged on both inner sides of the V-shaped structure. The voltage is evenly distributed on the conductive plastic strips. The small ball contacts the conductive plastic strips and transmits the voltage at the contact point.
3. The analog electric PID balancing ball bar according to claim 2, characterized in that: The potentiometer is connected to the reduction box, and the reduction box is connected to the motor.
4. The analog electric PID balancing ball bar according to claim 2 or 3, characterized in that: The analog PID balancing ball bar also includes a loop parallel control circuit, which includes a first PID loop and a second PID loop. The positive input end of the first PID loop is connected to the user's control voltage, the negative pole of the first PID loop is connected to the feedback voltage of the potentiometer, the output end of the first PID loop is connected to an input end of a summing unit, the output end of the summing unit drives the motor, the motor angle feedback voltage is connected to the negative input end of the second PID loop, the positive input end of the second PID loop is connected to a 2.5V voltage, and the output end of the second PID loop is connected to the other input end of the summing unit.
5. The analog electric PID balancing ball bar according to claim 2 or 3, characterized in that: The analog electric PID balancing ball bar also includes a loop series control circuit, which includes a first PID loop and a second PID loop. The positive input end of the first PID loop is connected to the user's control voltage, the negative pole of the first PID loop is connected to the feedback voltage of the potentiometer, the output end of the first PID loop is connected to one end of the first resistor, the other end of the first resistor is connected to one end of the second resistor and the positive input end of the second PID loop, the other end of the second resistor is connected to a 5V voltage, the output end of the second PID loop is connected to an input end of a summing unit, the output end of the summing unit drives the motor, and the motor angle feedback voltage is connected to the negative input end of the second PID loop.