CN105465267A - Method for designing intelligent vibration isolation control system of flexible buoyant raft - Google Patents
Method for designing intelligent vibration isolation control system of flexible buoyant raft Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/30—Mounting of propulsion plant or unit, e.g. for anti-vibration purposes
- B63H21/302—Mounting of propulsion plant or unit, e.g. for anti-vibration purposes with active vibration damping
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Abstract
The invention aims at providing a method for designing an intelligent vibration isolation control system of a flexible buoyant raft. The method includes the steps that firstly, the arrangement numbers and the assembling positions of sensors, stepping motors, stepping motor drivers, non-self-locking limiting switches, power sources of the non-self-locking limiting switches and motor reducer combinations are determined according to a structural drawing of the vibration isolation control system of the flexible buoyant raft; secondly, the models of the sensors, the stepping motors, the stepping motor drivers, the motor reducer combinations, the non-self-locking limiting switches and the power sources of the non-self-locking limiting switches are selected; thirdly, the sensors, the stepping motors, the stepping motor drivers, drive power sources, the motor reducer combinations, the non-self-locking limiting switches, the power sources of the non-self-locking limiting switches and a Dspace are connected with wires and installed; fourthly, a MATLAB/Simulink control algorithm is designed and related channels are arranged; and fifthly, the MATLAB/Simulink control algorithm is downloaded to Dspace hardware, and online operation and monitoring are performed. The problems that control overflow and observation overflow are likely to happen and an intelligent controller is difficult to design in the prior art are solved.
Description
Technical field
The invention belongs to vibrating isolation system technical field, particularly relate to a kind of flexible buoyant raft intelligence vibration isolation Control System Design method.
Background technique
The Sound stealth ability of submarine is one of key factor being related to its vitality and fighting capacity, and the vibration noise level therefore reducing submarine is a very important job.Buoyant raft is a kind of vibration and noise reducing equipment being widely used in various countries' submarine at present, and it can reduce the high band vibration of equipment in ship significantly to the transmission of hull, but not satisfactory in the effectiveness in vibration suppression of low-frequency range and intellectuality, generalization.At present, rigid multibody dynamics modeling method is mainly contained in the dynamic modeling method of known buoyant raft shock-resistant system, finite element dynamic modeling method, impedance synthesis modeling and analysis methods, mode impedance synthesis modeling and analysis methods, based on the matrix modeling and analysis methods etc. of substitution network, the basic thought of multi-rigid body modeling method is by equipment, raft body and based process are the rigid body not having elasticity and damping, vibration isolator is treated to the elastic damping element without quality, due to its clear physics conception, modeling analysis is convenient, calculating scale is relatively little, and the more important thing is the major character of the system of it reflects, there is very strong engineering practical value.Finite element modeling method, based on the elasticity effect considering raft body, carries out finite element division by stereoscopic for raft for elastomer, and equipment is still as rigid body process, and compared with multi-rigid body mechanical modeling method, broadening band system band, provides abundanter high-frequency information.Impedance synthesis modeling method meets this basic thought of superposition principle based on the impedance of two subtense angles at tie point place and external force relation to carry out problem analysis, its basic skills is considered separately by each constituent element of construction system, by mechanical impedance, its respective characteristic is described, the impedance equation of whole system is comprehensively obtained again by the annexation at each several part tie point place, thus the solution of the dynamics problem of the system of acquisition.Mode impedance synthesis modeling method is on the basis of impedance analysis method in the past, modal coordinate is adopted to replace physical coordinates, each physical quantity mode amount is represented, obtain sytem matrix by the parts impedance matrix superposition represented by modal coordinate, the dynamic response of computing system arbitrfary point can be carried out so easily according to the system mode coordinate solution of trying to achieve.The structural dynamics that structure based substitution network analyzes vibrating isolation system is actually a kind of transfer matrix analysis method, describes its characteristic to each substructure admittance matrix, is then obtained the solution of whole system by the feature matrix computing of each substructure.
Existing buoyant raft shock-resistant system and unrealized intelligent general molded breadth frequency band design, buoyant raft shock-resistant system comprises Configuration Design, Dynamic Modeling, Control System Design three parts, existing modeling method makes easily to produce Control strain in vibration isolation active control system, observed focal point and not easily realize the problems such as Design of intelligent controller is complicated, because which limit the application of active Vibration Isolation in Practical Project.Control to realize flexible buoyant raft shock-resistant system intelligent general molded breadth frequency band, first propose new buoyant raft shock-resistant system configuration, next sets up flexible buoyant raft shock-resistant system dynamic model, and last modeling problem is the primary problem solved.Consider the real-time of control, the dynamic model built wants that structure is simple, dimension is low, be convenient to wide band and control.
Summary of the invention
The defect that the present invention exists to overcome prior art, the object of this invention is to provide a kind of flexible buoyant raft intelligence vibration isolation Control System Design method.
The technology used in the present invention solution comprises the steps:
Step 1: configuration quantity, rigging position according to flexible buoyant raft shock-resistant system structural drawing determination sensor, stepper motor, stepper motor driver, non-self-lock-ing limit switch and power supply and motor reducer assemblying body:
Described sensor should be bonded in raft frame bottom surface.
Described non-self-lock-ing limit switch respectively arranges one at the left end of stepper motor leading screw and right-hand member, and the spring guide top and bottom above motor reducer assemblying body respectively arrange one.
Step 2: the type selecting of sensor, stepper motor, stepper motor driver, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof:
Choice of Sensors foundation: select IEPE piezoelectric acceleration vibration transducer, its performance index are as follows: cable joining is BNC connector, sheathing material is stainless steel, transverse sensitivity should be less than 5%, amplitude linearly should be less than 1%, energizing voltage is 18Vdc ~ 28Vdc, exciting current is 2 ~ 10mA, output voltage signal is ± 10V, output impedance is 100 Ω, sensitivity is more than or equal to 50mV/g, Hz-KHz Hz (± 10%) is 0.2 ~ 4k, range for being more than or equal to ± 10g, temperature range is-40 ~+121 DEG C, weight is less than 30 grams;
Stepper motor selection ground: step angle is less than or equal to 1.8 °, temperature rise is less than 80 DEG C, ambient temperature-40 ~+121 DEG C, radial clearance are less than 0.02 millimeter, axial clearance is less than 0.08 millimeter, static torque is greater than 0.39N.m; Stepper motor driver selection ground: operating temperature-40 ~+45 DEG C, humidity requirement be not for condensing, and can not have the globule, forbid having inflammable gas and conduction dust, other performance index need match with stepper motor;
Motor reducer assemblying body selection ground: voltage rating is greater than 12V, no-load speed is more than or equal to 237rpm, load speed is more than or equal to 165rpm, load torque 0.3kg.cm, power are greater than 0.5W;
Non-self-lock-ing limit switch selection ground: rated operational voltage is less than or equal to 24V, its profile physical dimension must not be greater than decelerating through motor and remove assemblying body upper end spring inside diameter;
Non-self-lock-ing limit switch power supply selection ground: DC electrical source, rated operational voltage is less than or equal to 24V;
Step 3: sensor, stepper motor, stepper motor driver, driving power, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof, Dspace wiring and installation:
Wiring and the installation of sensor: each sensor is connected with DspaceAD passage;
Wiring and the installation of power supply: driving power is connected with stepper motor driver;
Wiring and the installation of DC speed-reducing: motor reducer assemblying body is directly connected with DspaceDA passage; The wiring of non-self-lock-ing limit switch and installation: form shunt circuit with supporting power supply;
Step 4: design MATLAB/Simulink control algorithm, arranges related channel program:
Simulation model adopt modular design, module number number depend on, buoyant raft shock-resistant system module number number, wherein, as follows in Fig. 5 individual module control algorithm flow process:
Step 4.1:
Step 4.1.1: the data that the data collect upper limit position switch 1 and lower position switch 1 are collected are carried out and computing;
Step 4.1.2: the data obtained by step 4.1.1 and 0 compare computing;
Step 4.1.3: the data obtained by step 4.1.2 and 0 carry out XOR;
Step 4.2: the data and 0 of collect sensor 1 compare, if be more than or equal to 0, then export 1, otherwise export 0;
Step 4.3:
Step 4.3.1: the data that right limit switch 1 and left bit switch 1 are collected are carried out or computing;
Step 4.3.2: the data obtained by step 4.3.1 and 0 compare computing;
Step 4.3.3: the data obtained by step 4.3.2 and 0 carry out XOR;
Step 4.4: square-wave pulse signal and 1 are carried out and computing;
Step 4.5: undertaken 1 and 1 and computing;
Step 4.6:
Step 4.6.1: the data that the data obtained by step 4.1.3 and step 4.2 obtain are carried out and computing;
Step 4.6.2: the data obtained by step 4.6.1 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1;
Step 4.6.3: the data transformations obtained by step 4.6.2 is double type, is exported by output channel 1;
Step 4.7:
Step 4.7.1: the data that data step 4.2 obtained and step 4.3.3 obtain are carried out and computing;
Step 4.7.2: the data obtained by step 4.7.1 are exported by BIT#24 passage;
Step 4.8: the data that step 4.4 obtains are exported by BIT#25 passage;
Step 4.9: the data that step 4.5 obtains are exported by BIT#26 passage and BIT#27 passage; Step 5: MATLAB/Simulink control algorithm is downloaded in the middle of Dspace hardware, on-line operation and monitoring.
Compared with prior art, the beneficial effect that the present invention has is: make full use of current technological platform, realizes buoyant raft control system intelligent, makes buoyant raft vibration isolation control system execution efficiency high, simple in engineering practice, is convenient to Industry Promotion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the flexible buoyant raft shock-resistant system of wide band of the present invention;
Fig. 2 is the structural representation of the flexible buoyant raft shock-resistant system of wide band of the present invention;
Fig. 3 is the structural blast figure of the flexible buoyant raft shock-resistant system of wide band of the present invention;
Fig. 4 is the structural blast figure of the flexible buoyant raft shock-resistant system of wide band of the present invention;
Fig. 5 is individual module systems approach flow chart;
Fig. 6 is system wiring figure;
Fig. 7 is 4 modular system method flow diagrams.
Embodiment
As Figure 1-Figure 4, a kind of flexible buoyant raft intelligence vibrating isolation system, comprise raft frame (1), fixing bottom-plate (2), spring guide (3), removable supported spring (4), corner push rod (5), side push rod (6), corner vibration-isolating spring (7), side spring (8), top chute (9), bottom chute (10), top slide block (11), bottom slide block (12), motor reducer assemblying body (13), leading screw (14), stepper motor (15), sensor and non-self-lock-ing limit switch, wherein be arranged at the raft frame (1) of top and be arranged at below fixing bottom-plate (2) for their middle component that are connected, spring guide (3) is provided with between described raft frame (1) and described fixing bottom-plate (2), described spring guide (3) is embedded in described removable supported spring (4), corner push rod (5) is respectively arranged with on four limits of described raft frame (1) and described fixing bottom-plate (2), side push rod (6), described corner vibration-isolating spring (7) is embedded in this corner push rod (5), described side spring (8) is embedded in this side push rod (6), the bottom surface of described raft frame (1) is provided with top chute (9), on described fixing bottom-plate (2), corresponding position is provided with bottom chute (10) simultaneously, the upper end of described removable supported spring (4) is provided with spill top slide block (11), this top slide block (11) is embedded in the top chute (9) of described spill, the lower end of described removable supported spring (4) connects described motor reducer assemblying body (13), described motor reducer assemblying body (13) lower end is provided with convex bottom slide block (12), this bottom slide block (12) is embedded in described bottom chute (10), the circular hole be threaded for described leading screw (14) is provided with in the middle of this bottom slide block (12), described leading screw (14) one end is connected with described stepper motor (15), described non-self-lock-ing limit switch is separately positioned on the spring guide top and bottom above the left end of stepper motor leading screw and right-hand member and motor reducer assemblying body.
Also comprise bearing spider (16), coupling (17) and fixed support (18), described bearing spider (16) is arranged on the end of described leading screw (14), described coupling (17) is arranged on the lower end of described spring guide (3), for connecting described leading screw (14) and described spring guide (3), make it jointly to rotate with transmitting torque, described fixed support (18) is by described bottom chute (10), stepper motor (15), bearing spider (16) is fixed on described fixing bottom-plate (2), keep its stability.
Also comprise right angle rack (19), sleeve (20), described right angle rack (19) and sleeve (20) are for fixing and being connected described corner push rod (5) and side push rod (6).
Described top slide block (11) and described top chute (9) Spielpassung, described bottom slide block (12) and described bottom chute (10) Spielpassung, described spring guide (3) and described movable support spring (4) Spielpassung, described spring guide (3) adopts with described coupling (17) and is threaded, described fixed support (18) and described bottom chute (10) interference fit, described corner push rod (5) and described corner vibration-isolating spring (7) Spielpassung, described corner vibration-isolating spring (7), side spring (8) respectively with described sleeve (20) Spielpassung.
Also comprise pad (21), described pad (21) is arranged between described decelerating through motor assemblying body (13) and described spring guide (3), to increase the stability of system.
The controlling method the technology used in the present invention solution of said system is adopted to comprise the steps:
Step 1: the present embodiment is chosen four control modules and built buoyant raft shock-resistant system experimental model, determines number of sensors 4, stepper motor 4, stepper motor driver 4, non-self-lock-ing limit switch 8, driving power 1, DC electrical source 1, motor reducer assemblying body 4:
Described sensor should be bonded in raft frame bottom surface.
Described non-self-lock-ing limit switch respectively arranges one at the left end of stepper motor leading screw and right-hand member, and the spring guide top and bottom above motor reducer assemblying body respectively arrange one.
Step 2: the type selecting of sensor, stepper motor, stepper motor driver, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof:
Sensor model number: PCB piezoelectric acceleration sensor
Stepper motor model: 42HM2416-17T
Stepper motor driver model: TB6600HG-4.0
Motor reducer assemblying body model: JGY-370-12V-230RPM is led in Xinhua
Driving power model: LED switch power supply S-150-24.
Step 3: sensor, stepper motor, stepper motor driver, driving power, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof, Dspace wiring and installation:
Wiring and the installation of sensor: each sensor is connected with DspaceAD passage;
Wiring and the installation of power supply: driving power is connected with stepper motor driver;
Wiring and the installation of DC speed-reducing: motor reducer assemblying body is directly connected with DspaceDA passage; The wiring of non-self-lock-ing limit switch and installation: form shunt circuit with supporting power supply;
Connect wiring to be described as follows:
Control signal connects:
PUL+: pulse signal input just.PUL-: pulse signal input is negative.
DIR+: motor forward and backward is just controlling.DIR-: motor forward and backward controls negative.
ENA+: motor off line is just controlling.ENA-: motor off line controls negative.
Motor winding switching
A+: connect motor winding A+ phase.A-: connect motor winding A-phase.
B+: connect motor winding B+ phase.B-: connect motor winding B-phase.
Supply voltage connects: VCC: power positive end "+" GND: power supply negative terminal "-"
System wiring:
The wiring of driver and controller, motor, power supply, with common anode connection for such as shown in Fig. 6.
Step 4: design MATLAB/Simulink control algorithm, arranges related channel program:
Simulation model adopts modular design, the number of module number depends on, the number of buoyant raft shock-resistant system module number, single buoyant raft shock-resistant system block configuration is as follows: bearing spider (1), coupling (1), slide block guide groove (1), stepper motor and leading screw (1), motor reducer assemblying body (1), convex slide block (1), fixed support 1, non-self-lock-ing limit switch (4), limit switch 5V DC electrical source 1.Wherein non-self-lock-ing limit switch 5V DC electrical source illustrates: DC electrical source is used for the power supply of limit switch, circuit turn-on after limit switch is closed.
After the present embodiment adopts four block combiner as shown in Figure 7, control algorithm flow process is as follows:
Step 4.1:
Step 4.1.1: the data that the data collect upper limit position switch 1 and lower position switch 1 are collected are carried out and computing.
Step 4.1.2: the data that the data collect upper limit position switch 2 and lower position switch 2 are collected are carried out and computing.
Step 4.1.3: the data that the data collect upper limit position switch 3 and lower position switch 3 are collected are carried out and computing.
Step 4.1.4: the data that the data collect upper limit position switch 4 and lower position switch 4 are collected are carried out and computing.
Step 4.1.5: the data obtained by step 4.1.1 and 0 compare computing.
Step 4.1.6: the data obtained by step 4.1.2 and 0 compare computing.
Step 4.1.7: the data obtained by step 4.1.3 and 0 compare computing.
Step 4.1.8: the data obtained by step 4.1.4 and 0 compare computing.
Step 4.1.9: the data obtained by step 4.1.5 and 0 carry out XOR.
Step 4.1.10: the data obtained by step 4.1.6 and 0 carry out XOR.
Step 4.1.11: the data obtained by step 4.1.7 and 0 carry out XOR.
Step 4.1.12: the data obtained by step 4.1.8 and 0 carry out XOR.
Step 4.2:
Step 4.2.1: the data and 0 of collect sensor 1 compare, if be more than or equal to 0, then export 1, otherwise export 0.
Step 4.2.2: the data and 0 of collect sensor 2 compare, if be more than or equal to 0, then export 1, otherwise export 0.
Step 4.2.3: the data and 0 of collect sensor 3 compare, if be more than or equal to 0, then export 1, otherwise export 0.
Step 4.2.4: the data and 0 of collect sensor 4 compare, if be more than or equal to 0, then export 1, otherwise export 0.
Step 4.3:
Step 4.3.1: the data that right limit switch 1 and left bit switch 1 are collected are carried out or computing.
Step 4.3.2: the data that right limit switch 2 and left bit switch 2 are collected are carried out or computing.
Step 4.3.3: the data that right limit switch 3 and left bit switch 3 are collected are carried out or computing.
Step 4.3.4: the data that right limit switch 4 and left bit switch 4 are collected are carried out or computing.
Step 4.3.5: the data obtained by step 4.3.1 and 0 compare computing.
Step 4.3.6: the data obtained by step 4.3.2 and 0 compare computing.
Step 4.3.7: the data obtained by step 4.3.3 and 0 compare computing.
Step 4.3.8: the data obtained by step 4.3.4 and 0 compare computing.
Step 4.3.9: the data obtained by step 4.3.5 and 0 carry out XOR.
Step 4.3.10: the data obtained by step 4.3.6 and 0 carry out XOR.
Step 4.3.11: the data obtained by step 4.3.7 and 0 carry out XOR.
Step 4.3.12: the data obtained by step 4.3.8 and 0 carry out XOR.
Step 4.4:
Step 4.4.1: square-wave pulse signal 1 and 1 is carried out and computing.
Step 4.4.2: square-wave pulse signal 2 and 1 is carried out and computing.
Step 4.4.3: square-wave pulse signal 3 and 1 is carried out and computing.
Step 4.4.4: square-wave pulse signal 4 and 1 is carried out and computing.
Step 4.5:
Step 4.5.1: undertaken 1 and 1 and computing.
Step 4.5.2: undertaken 1 and 1 and computing.
Step 4.5.3: undertaken 1 and 1 and computing.
Step 4.5.4: undertaken 1 and 1 and computing.
Step 4.6:
Step 4.6.1: the data that the data obtained by step 4.1.9 and step 4.2.1 obtain are carried out and computing.
Step 4.6.2: the data that the data obtained by step 4.1.10 and step 4.2.2 obtain are carried out and computing.
Step 4.6.3: the data that the data obtained by step 4.1.11 and step 4.2.3 obtain are carried out and computing.
Step 4.6.4: the data that the data obtained by step 4.1.12 and step 4.2.4 obtain are carried out and computing.
Step 4.6.5: the data obtained by step 4.6.1 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1.
Step 4.6.6: the data obtained by step 4.6.2 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1.
Step 4.6.7: the data obtained by step 4.6.3 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1.
Step 4.6.8: the data obtained by step 4.6.4 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1.
Step 4.6.9: the data transformations obtained by step 4.6.5 is double type, is exported by output channel 1.
Step 4.6.10: the data transformations obtained by step 4.6.6 is double type, is exported by output channel 2.
Step 4.6.11: the data transformations obtained by step 4.6.7 is double type, is exported by output channel 3.
Step 4.6.12: the data transformations obtained by step 4.6.8 is double type, is exported by output channel 4.
Step 4.7:
Step 4.7.1: the data that the data obtained by step 4.2.1 and step 4.3.9 obtain are carried out and computing.
Step 4.7.2: the data that the data obtained by step 4.2.2 and step 4.3.10 obtain are carried out and computing.
Step 4.7.3: the data that the data obtained by step 4.2.3 and step 4.3.11 obtain are carried out and computing.
Step 4.7.4: the data that the data obtained by step 4.2.4 and step 4.3.12 obtain are carried out and computing.
Step 4.7.5: the data obtained by step 4.7.1 are exported by BIT#24 passage.
Step 4.7.6: the data obtained by step 4.7.2 are exported by BIT#16 passage.
Step 4.7.7: the data obtained by step 4.7.3 are exported by BIT#8 passage.
Step 4.7.8: the data obtained by step 4.7.4 are exported by BIT#0 passage.
Step 4.8:
Step 4.8.1: the step 4.4.1 data obtained are exported by BIT#25 passage.
Step 4.8.2: the step 4.4.2 data obtained are exported by BIT#17 passage.
Step 4.8.3: the step 4.4.3 data obtained are exported by BIT#9 passage.
Step 4.8.4: the step 4.4.4 data obtained are exported by BIT#1 passage.
Step 4.9:
Step 4.9.1: the step 4.5.1 data obtained are exported by BIT#26 passage and BIT#27 passage.
Step 4.9.2: the step 4.5.2 data obtained are exported by BIT#18 passage and BIT#19 passage.
Step 4.9.3: the step 4.5.3 data obtained are exported by BIT#10 passage and BIT#11 passage.
Step 4.9.4: the step 4.5.4 data obtained are exported by BIT#2 passage and BIT#3 passage; Step 5: MATLAB/Simulink control algorithm is downloaded in the middle of Dspace hardware, on-line operation and monitoring.
More than show and describe basic principle of the present invention, major character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification just illustrates principle of the present invention; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (3)
1. a flexible buoyant raft intelligence vibration isolation Control System Design method, is characterized in that: comprise the steps:
Step 1: according to configuration quantity, the rigging position of flexible buoyant raft shock-resistant system structural drawing determination sensor, stepper motor, stepper motor driver, non-self-lock-ing limit switch and power supply and motor reducer assemblying body;
Step 2: the type selecting of sensor, stepper motor, stepper motor driver, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof:
Choice of Sensors foundation: select IEPE piezoelectric acceleration vibration transducer, its performance index are as follows: cable joining is BNC connector, sheathing material is stainless steel, transverse sensitivity should be less than 5%, amplitude linearly should be less than 1%, energizing voltage is 18Vdc ~ 28Vdc, exciting current is 2 ~ 10mA, output voltage signal is ± 10V, output impedance is 100 Ω, sensitivity is more than or equal to 50mV/g, Hz-KHz Hz (± 10%) is 0.2 ~ 4k, range for being more than or equal to ± 10g, temperature range is-40 ~+121 DEG C, weight is less than 30 grams;
Stepper motor selection ground: step angle is less than or equal to 1.8 °, temperature rise is less than 80 DEG C, ambient temperature-40 ~+121 DEG C, radial clearance are less than 0.02 millimeter, axial clearance is less than 0.08 millimeter, static torque is greater than 0.39N.m; Stepper motor driver selection ground: operating temperature-40 ~+45 DEG C, humidity requirement be not for condensing, and can not have the globule, forbid having inflammable gas and conduction dust, other performance index need match with stepper motor;
Motor reducer assemblying body selection ground: voltage rating is greater than 12V, no-load speed is more than or equal to 237rpm, load speed is more than or equal to 165rpm, load torque 0.3kg.cm, power are greater than 0.5W;
Non-self-lock-ing limit switch selection ground: rated operational voltage is less than or equal to 24V, its profile physical dimension must not be greater than decelerating through motor and remove assemblying body upper end spring inside diameter;
Non-self-lock-ing limit switch power supply selection ground: DC electrical source, rated operational voltage is less than or equal to 24V;
Step 3: sensor, stepper motor, stepper motor driver, driving power, motor reducer assemblying body, non-self-lock-ing limit switch and power supply thereof, Dspace wiring and installation:
Wiring and the installation of sensor: each sensor is connected with DspaceAD passage;
Wiring and the installation of power supply: driving power is connected with stepper motor driver;
Wiring and the installation of DC speed-reducing: motor reducer assemblying body is directly connected with DspaceDA passage; The wiring of non-self-lock-ing limit switch and installation: form shunt circuit with supporting power supply;
Step 4: design MATLAB/Simulink control algorithm, arranges related channel program:
Simulation model adopt modular design, module number number depend on, buoyant raft shock-resistant system module number number, wherein, individual module control algorithm flow process is as follows:
Step 4.1:
Step 4.1.1: the data that the data collect upper limit position switch 1 and lower position switch 1 are collected are carried out and computing;
Step 4.1.2: the data obtained by step 4.1.1 and 0 compare computing;
Step 4.1.3: the data obtained by step 4.1.2 and 0 carry out XOR;
Step 4.2: the data and 0 of collect sensor 1 compare, if be more than or equal to 0, then export 1, otherwise export 0;
Step 4.3:
Step 4.3.1: the data that right limit switch 1 and left bit switch 1 are collected are carried out or computing;
Step 4.3.2: the data obtained by step 4.3.1 and 0 compare computing;
Step 4.3.3: the data obtained by step 4.3.2 and 0 carry out XOR;
Step 4.4: square-wave pulse signal and 1 are carried out and computing;
Step 4.5: undertaken 1 and 1 and computing;
Step 4.6:
Step 4.6.1: the data that the data obtained by step 4.1.3 and step 4.2 obtain are carried out and computing;
Step 4.6.2: the data obtained by step 4.6.1 and 0 compare, if be greater than 0, then exports 1, otherwise exports-1;
Step 4.6.3: the data transformations obtained by step 4.6.2 is double type, is exported by output channel 1;
Step 4.7:
Step 4.7.1: the data that data step 4.2 obtained and step 4.3.3 obtain are carried out and computing;
Step 4.7.2: the data obtained by step 4.7.1 are exported by BIT#24 passage;
Step 4.8: the data that step 4.4 obtains are exported by BIT#25 passage;
Step 4.9: the data that step 4.5 obtains are exported by BIT#26 passage and BIT#27 passage;
Step 5: MATLAB/Simulink control algorithm is downloaded in the middle of Dspace hardware, on-line operation and monitoring.
2. flexible buoyant raft intelligence vibration isolation Control System Design method according to claim 1, is characterized in that: described sensor should be bonded in raft frame bottom surface.
3. flexible buoyant raft intelligence vibration isolation Control System Design method according to claim 1, it is characterized in that: described non-self-lock-ing limit switch respectively arranges one at the left end of stepper motor leading screw and right-hand member, and the spring guide top and bottom above motor reducer assemblying body respectively arrange one.
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