CN109272852B - Content-extensible linear position control teaching experiment system and method - Google Patents
Content-extensible linear position control teaching experiment system and method Download PDFInfo
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- CN109272852B CN109272852B CN201811440889.XA CN201811440889A CN109272852B CN 109272852 B CN109272852 B CN 109272852B CN 201811440889 A CN201811440889 A CN 201811440889A CN 109272852 B CN109272852 B CN 109272852B
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Abstract
The invention relates to a teaching experiment system and a method, in particular to a content-extensible linear position control teaching experiment system and a content-extensible linear position control teaching experiment method, which comprise a computer, a data acquisition and servo control processor, a motor driver, a direct current motor, a linear module, a load module, a grating displacement sensor, a magnetic grating displacement sensor and a limit switch sensor, wherein the teaching experiment system can be used as an open experiment platform of an electromechanical control direction to expand a plurality of related experiment contents, such as electromechanical system drive control experiment, time domain response experiment of typical input signal, frequency characteristic and open loop transfer function test experiment of system, position PID control experiment, system stability test experiment, etc., the system can effectively help students understand the control process of the mechatronic system, learn the basic control theory of the mechatronic system and train the capability of combining the theory of the students with practice.
Description
Technical Field
The invention relates to a teaching experiment system and a teaching experiment method, in particular to a content-extensible linear position control teaching experiment system and a content-extensible linear position control teaching experiment method.
Background
The electromechanical system control foundation is an important basic course of electromechanical combination specialties, is strong in theoretical performance and abstract in concept, and for most students, a real teaching experimental device is not available to help understand theoretical knowledge, so that many concepts cannot be intuitively understood, and the class learning is difficult to achieve. Meanwhile, students in the electromechanical control direction should combine the mechanical, electronic and control aspects of the mechatronic system with further understanding through the lesson, and especially have certain knowledge on electromechanical parameters in the actual system; at present, the automatic control type teaching experiment devices are various, such as common inverted pendulum experiment devices, direct current motor control teaching experiment systems and the like. However, most of these automatic control experiments serve for power electronics and automation direction, and highlight the application of control, motor and other parts in the system, and weaken the electromechanical combination; therefore, a set of electromechanical control teaching experiment system is developed, three aspects of machinery, electronics and control are combined in a balanced mode, the influence of electromechanical combination on an actual system is highlighted, software is programmable, multiple electromechanical parameters are adjustable, experiment contents are extensible, and the electromechanical control teaching experiment system is one of the research focuses of the current electromechanical system control basic course.
Disclosure of Invention
The invention aims to provide a content-extensible linear position control teaching experiment system and a content-extensible linear position control teaching experiment method, which can realize multiple functions through concise programming, have a friendly designable man-machine interaction interface, can quickly adjust certain electromechanical parameters, have comprehensive basic functions, can expand multiple different electromechanical control experiment contents, and overcome the defects that the existing teaching experiment device weakens electromechanical combination, is complex in operation, single in form, is not beneficial to expanding experiment contents, is not beneficial to students to autonomously design system functions according to the understanding of an electromechanical control system and verifies course theories.
The purpose of the invention is realized by the following technical scheme:
a content-extensible linear position control teaching experiment system comprises a computer, a data acquisition and servo control processor, a motor driver, a direct current motor, a linear module, a load module, a grating displacement sensor, a magnetic grating displacement sensor and a limit switch sensor, wherein the computer is in communication connection with the data acquisition and servo control processor, the data acquisition and servo control processor is in communication connection with the motor driver, the motor driver is in communication connection with the direct current motor, the linear module is connected with an output shaft of the direct current motor, the load module is fixedly connected to the linear module, the linear module and the load module move linearly, the grating displacement sensor, the magnetic grating displacement sensor and the limit switch sensor are all located on a path of the linear motion of the load module, and the grating displacement sensor and the magnetic grating displacement sensor are respectively located on two sides of the load module, the grating displacement sensor, the magnetic grating displacement sensor and the limit switch sensor are all in communication connection with the data acquisition and servo control processor.
As further optimization of the technical scheme, the content-extensible linear position control teaching experiment system is characterized in that the accuracy of the grating displacement sensor is different from that of the grating displacement sensor, the accuracy of the grating displacement sensor is high, and the accuracy of the grating displacement sensor is low.
As a further optimization of the technical scheme, the content-extensible linear position control teaching experiment system comprises a data acquisition and servo control processor, a servo drive module and an encoder counting module, wherein the data acquisition module is in signal connection with a limit switch sensor, the servo drive module is in signal connection with a direct current motor, a magnetic grating displacement sensor and a grating displacement sensor are in signal connection with the encoder counting module, and the data acquisition module and the encoder counting module are in signal connection with a computer.
As further optimization of the technical scheme, the content-extensible linear position control teaching experiment system further comprises a cast iron base, a baffle I and a baffle II, wherein the baffle I and the baffle II are fixedly connected to two sides of the cast iron base respectively, and a direct current motor is fixedly connected to the cast iron base.
As a further optimization of the technical scheme, the content-extensible linear position control teaching experiment system comprises a linear module base, a lead screw and a sliding block, wherein the lead screw is fixedly connected to an output shaft of a direct current motor, the two ends of the lead screw are rotatably connected with the linear module base, the two linear module bases are fixedly connected to a cast iron base, the lead screw is connected with the sliding block through threads, and the lower end of the sliding block is in contact with the cast iron base.
As further optimization of the technical scheme, the content-expandable linear position control teaching experiment system comprises a load module, a load mounting table, a drag chain and a limit switch sensor baffle, wherein the load module comprises a load block, load threaded holes and countersunk bolts, the load block is provided with four load threaded holes, the load block is connected with four countersunk bolts through threads, the load block is provided with a plurality of loads, the load blocks are all connected with each other through the four load threaded holes and the four countersunk bolts, the load mounting table is fixedly connected with a sliding block of a linear module through hexagon socket head bolts, and the threaded holes are in the form of countersunk holes, so that the space is saved; tow chain and limit switch sensor baffle all fixed connection are in one side of load mount table, and load piece fixed connection is on the load mount table.
As a further optimization of the technical scheme, the content-expandable linear position control teaching experiment system comprises a grating displacement sensor fixed end and a grating displacement sensor movable end, wherein the grating displacement sensor fixed end is fixedly connected to a cast iron base, the grating displacement sensor movable end is fixedly connected to a load mounting table, and the grating displacement sensor fixed end and the grating displacement sensor movable end are located on the same side.
As a further optimization of the technical scheme, the content-extensible linear position control teaching experiment system comprises a fixed end of the magnetic grid displacement sensor and a movable end of the magnetic grid displacement sensor, wherein the fixed end of the magnetic grid displacement sensor is fixedly connected to a cast iron base, the movable end of the magnetic grid displacement sensor is fixedly connected to the cast iron base, the fixed end of the magnetic grid displacement sensor and the movable end of the magnetic grid displacement sensor are located on the same side, and the movable end of the magnetic grid displacement sensor and a drag chain are located on the same side.
As a further optimization of the technical scheme, the content-extensible linear position control teaching experiment system provided by the invention comprises three limit switch sensors, wherein the three limit switch sensors are respectively positioned at two ends and the middle end of a linear motion path of the load mounting table, the limit switch sensors are fixedly connected to the cast iron base, and the three limit switch sensors and the fixed end of the magnetic grid displacement sensor are positioned at the same side.
A method for controlling a teaching experiment system by using a linear position with expandable content comprises the following steps:
the method comprises the following steps: the weight of the load is controlled through the change of the number of the load blocks, and the load of the load mounting table is adjusted;
step two: the detection precision of the grating displacement sensor and the magnetic grating displacement sensor is changed through the frequency multiplication of the encoder counting module;
step three: cosine voltage control signals with the same amplitude and different frequencies are input to a servo control module in a discrete approximation mode, and a discrete time interval is set to change sampling frequency;
step four: the counting module receives a sinusoidal displacement response signal of a load, analyzes the amplitude and the phase difference of the sinusoidal displacement response signal to obtain the amplitude-frequency characteristic of a system, and fits to obtain the frequency characteristic and the open-loop transfer function of the system;
step five: the computer carries out position PID control according to a linear position input signal and the displacement fed back by the sensor, control parameters of proportional, integral and differential links in the PID control are adjusted by programming, and a P, PI, PD and PID correction method can be selected by setting the control parameters;
step six: a computer draws a time domain response curve of the system, and analyzes the influence of control parameters of proportional, integral and differential links on the dynamic performance and the steady-state performance of the system in PID correction by analyzing the change of the parameters in the time domain response curve;
step seven: and the computer receives the displacement fed back by the grating displacement sensor with lower precision, performs PI correction, detects the system steady-state error by the grating displacement sensor with higher precision after reaching the steady state, and analyzes and changes the influence of the system electromechanical parameters and the proportional correction coefficient on the system steady-state error.
The content-extensible linear position control teaching experiment system and the content-extensible linear position control teaching experiment method have the beneficial effects that:
the invention relates to a content-extensible linear position control teaching experiment system and a content-extensible linear position control teaching experiment method.
The teaching experiment system can be used for implementing an experiment method for representing the mapping relation between the electromechanical parameters and the control performance.
The teaching experiment system can quickly change the electromechanical parameters of a part of the system, for example, the direct current motors with different output moments can be selected, the couplers with different rigidity can be selected, the loads with different masses can be selected, the loads can be programmed in a computer, the frequency multiplication number of the encoder counting module is set to change the detection precision of the grating displacement sensor and the magnetic grating displacement sensor, the control signals are input to the servo control module in a discrete approximation mode, and the sampling frequency can be changed by setting discrete time intervals.
The teaching experiment system of the invention can design simple interactive interface and control function in a computer, input cosine voltage control signals with the same amplitude and different frequencies, transmit the signals to a motor driver by a data acquisition and servo control processor, convert the signals into pulse signals with high frequency and large current according to the control voltage signals and transmit the pulse signals to a direct current motor, the grating displacement sensor and the magnetic grating displacement sensor detect the position of the load and convert the position into a sinusoidal displacement response signal of the load to be transmitted to the computer, and further programming in a computer, analyzing the amplitude and the phase difference of the sinusoidal displacement response signal to obtain the amplitude-frequency characteristic of the system, fitting to obtain an open-loop transfer function of the system, and finally testing the influence of the change of different electromechanical parameters on the performance of the control system.
The teaching experiment system can carry out position PID correction according to an input expected linear position signal and the displacement fed back by the grating displacement sensor through computer programming, control parameters of proportional, integral and differential links in the PID correction can be adjusted through programming, and the influence of each parameter in the system PID correction on the dynamic performance and the steady-state performance of the system can be analyzed according to a system time domain response curve displayed by the computer.
The teaching experiment system can carry out PI correction through the displacement fed back by the magnetic grating displacement sensor, and the grating displacement sensor detects the steady-state error of the system after the system reaches a steady state, so that the influence of changing the electromechanical parameters and the proportional correction coefficient of the system on the steady-state error of the system can be analyzed.
The teaching experiment system can limit the stroke of the linear module, when the load module moves to the positions of the limit switch sensors at the starting point and the ending point of the stroke, the limit switch sensor baffle triggers the limit switch sensors to send signals to the data acquisition and servo control processor, and the computer stops the direct current motor after receiving the signals, so that the direct current motor can be prevented from being locked and burnt out.
The teaching experiment system can be used as an open experiment platform of the electromechanical control direction, expands a plurality of related experiment contents, such as an electromechanical system drive control experiment, a time domain response experiment of a typical input signal, a frequency characteristic and open loop transfer function test experiment of the system, a position PID control experiment, a system stability test experiment and the like, can effectively help students to understand the control process of the electromechanical integrated system, learn a control basic theory of the electromechanical system, and train the capability of combining the student theory with practice.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
Before describing the embodiments, to avoid repetitive language, it is explained that the "fixed connection" described below may be: the fixing device is fixed through modes such as bolt connection, welding and rivet connection, and technicians in the field can select different fixing and connecting modes according to different application scenes, and the fixing device is mainly used for fixing two parts.
FIG. 1 is a first block diagram of a content-extensible linear position control teaching experiment system;
FIG. 2 is a block diagram of a content-extensible linear position control teaching experiment system according to the present invention;
FIG. 3 is a schematic diagram of the mechanical part of the content-extensible linear position control teaching experiment system;
FIG. 4 is a schematic diagram of the mechanical part of the content-extensible linear position control teaching experiment system;
FIG. 5 is a first schematic view of the load module of the present invention;
fig. 6 is a schematic diagram of a load module structure according to the present invention.
In the figure: a computer 1; a data acquisition and servo control processor 2; the data acquisition module 2-1 and the servo drive module 2-2; an encoder counting module 2-3; a motor driver 3; a direct current motor 4; a linear module 5; a linear module base 5-1; 5-2 parts of a screw rod; 5-3 of a sliding block; a load module 6; load 6-1; a load block 6-1-1; load threaded holes 6-1-2; 6-1-3 of a countersunk bolt; a load mounting table 6-2; 6-3 of a drag chain; a limit switch sensor baffle 6-4; a grating displacement sensor 7; a fixed end 7-1 of the grating displacement sensor; a moving end 7-2 of the grating displacement sensor; a magnetic grid displacement sensor 8; the fixed end 8-1 of the magnetic grid displacement sensor; a moving end 8-2 of the magnetic grid displacement sensor; a limit switch sensor 9; a cast iron base 10; a baffle I11; and a baffle II 12.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the present embodiment is described below with reference to fig. 1-6, and a content-scalable linear position control teaching experiment system method includes a computer 1, a data acquisition and servo control processor 2, a motor driver 3, a dc motor 4, a linear module 5, a load module 6, a grating displacement sensor 7, a magnetic grating displacement sensor 8, and a limit switch sensor 9, where the motor driver 3 may use an ADVANCED-12A8 driver of the company ADVANCED electronics systems, the computer 1 uses C # software to program and manufacture an interactive interface, is communicatively connected to the data acquisition and servo control processor 2, designs a required control function using a basic function of the data acquisition and servo control processor 2, the data acquisition and servo control processor 2 transmits a control signal to the motor driver 3, the motor driver 3 rotates the dc motor 4 according to the control signal, the rotation of the direct current motor 4 drives the linear module 5 and the load module 6 to move linearly according to the control signal; the grating displacement sensor 7 and the magnetic grating displacement sensor 8 transmit detected load displacement signals to the data acquisition and servo control processor 2, the limit switch sensor 9 transmits detected special position trigger state signals to the data acquisition and servo control processor 2, and the computer 1 receives detection signals through programming and can further control linear motion by utilizing the detection signals; the computer 1 uses C # software to compile a control program, can use basic function functions of each module of a data acquisition and servo control processor to design an expected electromechanical system control function from a main part, designs a man-machine interaction interface according to the expected function, displays the change of test parameters and test results in real time, and can realize a plurality of extensible electromechanical control experiment contents.
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1 to 6, and the present embodiment further describes the first embodiment, where the accuracy of the grating displacement sensor 8 is different from that of the grating displacement sensor 7, the accuracy of the grating displacement sensor 7 is high, and the accuracy of the grating displacement sensor 8 is low; the grating displacement sensor 7 can be a JCXF grating displacement sensor of New-day optical-electrical technology company, and the grating displacement sensor 8 can be an MSK200 grating displacement sensor of SiKO company of Hill-control Germany.
The third concrete implementation mode:
the second embodiment is further described with reference to fig. 1 to 6, the data acquisition and servo control processor 2 is connected to the computer 1, and includes a data acquisition module 2-1, a servo drive module 2-2, and an encoder counting module 2-3, the data acquisition module 2-1 is connected to the limit switch sensor 9, and is configured to receive a special position trigger state signal of the limit switch sensor 9 and transmit the special position trigger state signal to the computer 1; the servo driving module 2-2 is connected with the direct current motor 4 and used for receiving the analog quantity voltage control signal of the computer 1 and transmitting the analog quantity voltage control signal to the motor driver 3; the encoder counting module 2-3 is connected with the grating displacement sensor 7 and the magnetic grating displacement sensor 8, and is used for receiving load displacement signals detected by the grating displacement sensor 7 and the magnetic grating displacement sensor 8 and transmitting the load displacement signals to the computer 1. Therefore, the data acquisition module 2-1 and the encoder counting module 2-3 transmit signals to the computer 1, and the servo driving module 2-2 receives signals from the computer 1; the encoder counting module 2-3 adopts a commercially available encoder counting card, the board cards are internally provided with basic function functions, the control processing function can be realized by reasonably combining and programming, and the data acquisition card and the encoder counting card are in communication connection with the computer 1 through a PCI bus; the data acquisition and servo control processor 2 can use a PCI8620 data acquisition card of Altai corporation, comprises a data acquisition module 2-1 and a servo drive module 2-2, uses an ENC7480 encoder counting card of Rasai Intelligent control GmbH, and comprises an encoder counting module 2-3.
The fourth concrete implementation mode:
the third embodiment is further described with reference to fig. 1 to 6, and the content-extensible linear position control teaching experiment system further includes a cast iron base 10, a baffle i 11 and a baffle ii 12, the baffle i 11 and the baffle ii 12 are respectively fixedly connected to two sides of the cast iron base 10, and the dc motor 4 is fixedly connected to the cast iron base 10.
The fifth concrete implementation mode:
the fourth embodiment is further described with reference to fig. 1 to 6, where the linear module 5 includes a linear module base 5-1, a lead screw 5-2 and a slider 5-3, the lead screw 5-2 is fixedly connected to an output shaft of the dc motor 4, two ends of the lead screw 5-2 are rotatably connected to the linear module base 5-1, two linear module bases 5-1 are fixedly connected to a cast iron base 10, the lead screw 5-2 is connected to the slider 5-3 through a thread, and a lower end of the slider 5-3 is in contact with the cast iron base 10; when the screw 5-2 rotates by taking the axis of the screw as the center, the screw 5-2 drives the sliding block 5-3 to move in the axis direction of the screw 5-2, and the direct current motor 4 rotates at a certain angular speed to drive the screw 5-1 to rotate at the angular speed and convert the rotation into the linear motion of the sliding block 5-3 at the certain speed.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1-6, and the fifth embodiment is further described in the present embodiment, where the load module 6 includes a load 6-1, a load mounting table 6-2, a tow chain 6-3, and a limit switch sensor baffle 6-4, the load 6-1 includes a load block 6-1-1, load threaded holes 6-1-2, and countersunk head bolts 6-1-3, the load block 6-1-1 is provided with four load threaded holes 6-1-2, the load block 6-1-1 is connected with four countersunk head bolts 6-1-3 through threads, the load 6-1 is provided with a plurality of loads, the load blocks 6-1-1 are all connected with each other through the four load threaded holes 6-1-2 and the four countersunk head bolts 6-1-3, the load mounting table 6-2 is fixedly connected with a sliding block 5-3 of the linear module 5 through an inner hexagon bolt, a threaded hole is in a countersunk hole form, space is saved, the drag chain 6-3 and the limit switch sensor baffle 6-4 are both fixedly connected to one side of the load mounting table 6-2, and the load block 6-1-1 is fixedly connected to the load mounting table 6-2; the mass of the load 6-1 can be changed by increasing or decreasing the number of the load blocks 6-1-1, each load block 6-1-1 has the same structure and is convenient to process, the load blocks 6-1-1 are mutually connected through four load threaded holes 6-1-2 and four countersunk head bolts 6-1-3, the load block 6-1-1 at the bottommost layer is fixedly connected with a load mounting table 6-2 through the four countersunk head bolts 6-1-3, the direction difference between the load block 6-1-1 at the upper layer and the load block 6-1-1 at the lower layer is 90 degrees, the mutual connection of the two load blocks 6-1-1 is realized through the connection of the four countersunk head bolts 6-1-3 at the upper layer and the four load threaded holes 6-1-2 at the lower layer, the number of the load blocks 6-1-1 is multiple, the plurality of load blocks 6-1-1 are connected in such a way that the mass of the load 6-1 can be changed by increasing or decreasing the number of the load blocks 6-1-1, and the space is saved.
The seventh embodiment:
the following describes the present embodiment with reference to fig. 1 to 6, and the present embodiment further describes an embodiment six, where the grating displacement sensor 7 includes a grating displacement sensor fixed end 7-1 and a grating displacement sensor movable end 7-2, the grating displacement sensor fixed end 7-1 is fixedly connected to the cast iron base 10, the grating displacement sensor movable end 7-2 is fixedly connected to the load mounting platform 6-2, and the grating displacement sensor fixed end 7-1 and the grating displacement sensor movable end 7-2 are located on the same side.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 6, and the seventh embodiment is further described in the present embodiment, where the magnetic grid displacement sensor 8 includes a fixed end 8-1 of the magnetic grid displacement sensor and a moving end 8-2 of the magnetic grid displacement sensor, the fixed end 8-1 of the magnetic grid displacement sensor is fixedly connected to the cast iron base 10, the moving end 8-2 of the magnetic grid displacement sensor is fixedly connected to the cast iron base 10, the fixed end 8-1 of the magnetic grid displacement sensor and the moving end 8-2 of the magnetic grid displacement sensor are located on the same side, and the moving end 8-2 of the magnetic grid displacement sensor and the tow chain 6-3 are located on the same side; the load 6-1 is fixedly connected to the load mounting table 6-2 through the hexagon socket head cap screws, and through the connection mode, the load module 6, the grating displacement sensor moving end 7-2 and the magnetic grating displacement sensor moving end 8-2 can be integrally fixed to the sliding block 5-3 of the linear module 5 and keep synchronous motion with the sliding block 5-3.
The specific implementation method nine:
the following describes the present embodiment with reference to fig. 1 to 6, and the present embodiment further describes an eighth embodiment, where three limit switch sensors 9 are provided, the three limit switch sensors 9 are respectively located at two ends and a middle end of a linear motion path of the load mounting platform 6-2, the limit switch sensors 9 are all fixedly connected to a cast iron base 10, and the three limit switch sensors 9 are all located at the same side as a fixed end 8-1 of the magnetic grid displacement sensor; when the load 6 moves to the positions corresponding to the three limit switch sensors 9, the corresponding limit switch sensors 9 send switching value signals to the data acquisition module 2-1, and the computer 1 is programmed to stop the direct current motor 4 when the load 6 reaches the limit position of the linear module 5, so that the direct current motor 4 can be effectively prevented from being locked and burnt; the limit switch sensor 9 may use GX-F12A of Panasonic corporation.
A method for controlling a teaching experiment system by using a linear position with expandable content comprises the following steps:
the method comprises the following steps: the weight of the load 6-1 is controlled through the change of the number of the load blocks 6-1-1, and the load of the load mounting table 6-2 is adjusted;
step two: the detection precision of the grating displacement sensor 7 and the magnetic grating displacement sensor 8 is changed through the frequency multiplication of the encoder counting module 2-3;
step three: by designing a simple interactive interface and a simple control function, cosine voltage control signals with the same amplitude and different frequencies are input to the servo control module 2-2 in a discrete approximation mode, and a discrete time interval is set to change the sampling frequency;
step four: programming an encoder counting module 2-3, receiving a sinusoidal displacement response signal of a load 6-1, analyzing the amplitude and phase difference of the sinusoidal displacement response signal to obtain the amplitude-frequency characteristic of the system, and fitting to obtain the frequency characteristic and the open-loop transfer function of the system;
step five: position PID control is carried out according to a linear position input signal and the displacement fed back by the sensor through the programming of a computer 1, control parameters of proportional, integral and differential links in the PID control can be adjusted through programming, and correction methods such as P, PI, PD, PID and the like can be selected through setting the control parameters;
step six: programming a human-computer interaction interface through a computer 1, drawing a time domain response curve of the system, and analyzing the influence of each parameter in the PID correction of the system on the dynamic performance and the steady-state performance of the system by analyzing the change of the parameter in the time domain response curve;
step seven: through the programming of the computer 1, the displacement fed back by the magnetic grating displacement sensor 8 with lower precision is received, PI correction is carried out, the stable state error of the system is detected by the grating displacement sensor 7 with higher precision after the stable state is achieved, and the influence of changing the electromechanical parameters and the proportional correction coefficient of the system on the stable state error of the system can be analyzed.
The invention relates to a content-extensible linear position control teaching experiment system and a content-extensible linear position control teaching experiment method, wherein the working principle is as follows:
when the mechanical part of the invention is configured, the direct current motor 4 with different output moments, the couplers with different rigidity and the change of the quantity of the load blocks 6-1-1 are selected to control the change of the mass of the load 6-1, the direct current motor 4 is started, the output shaft of the direct current motor 4 drives the screw 5-2 to rotate by taking the axis of the screw 5-2 as the center through the couplers with different rigidity, the screw 5-2 drives the slide block 5-3 to move in the axial direction of the screw 5-2 through threads, the screw 5-2 drives the load mounting table 6-2 to move in the axial direction of the screw 5-2, the load mounting table 6-2 drives the load 6-1, the moving end 7-2 of the grating displacement sensor and the moving end 8-2 of the magnetic grating displacement sensor to move in the axial direction of the screw 5-2, when the load mounting table 6-2 moves to the positions corresponding to the three limit switch sensors 9, the corresponding limit switch sensors 9 send switching value signals to the data acquisition module 2-1, and the computer 1 is programmed to stop the direct current motor 4 when the load 6 reaches the limit position of the linear module 5, so that the direct current motor 4 can be effectively prevented from being locked and burnt; the detection precision of the grating displacement sensor 7 and the magnetic grating displacement sensor 8 is changed through the frequency multiplication of the encoder counting module 2-3; by designing a simple interactive interface and a simple control function, cosine voltage control signals with the same amplitude and different frequencies are input to the servo control module 2-2 in a discrete approximation mode, and a discrete time interval is set to change the sampling frequency; programming an encoder counting module 2-3, receiving a sinusoidal displacement response signal of a load 6-1, analyzing the amplitude and phase difference of the sinusoidal displacement response signal to obtain the amplitude-frequency characteristic of the system, and fitting to obtain the frequency characteristic and the open-loop transfer function of the system; position PID control is carried out according to a linear position input signal and the displacement fed back by the sensor through the programming of a computer 1, control parameters of proportional, integral and differential links in the PID control can be adjusted through programming, and correction methods such as P, PI, PD, PID and the like can be selected through setting the control parameters; programming a human-computer interaction interface through a computer 1, drawing a time domain response curve of the system, and analyzing the influence of each parameter in the PID correction of the system on the dynamic performance and the steady-state performance of the system by analyzing the change of the parameter in the time domain response curve; through the programming of the computer 1, the displacement fed back by the magnetic grating displacement sensor 8 with lower precision is received, PI correction is carried out, the stable state error of the system is detected by the grating displacement sensor 7 with higher precision after the stable state is achieved, and the influence of changing the electromechanical parameters and the proportional correction coefficient of the system on the stable state error of the system can be analyzed.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (9)
1. The utility model provides a content extensible straight line position control teaching experiment system, includes computer (1), data acquisition and servo control treater (2), motor drive (3), direct current motor (4), linear module (5), load module (6), grating displacement sensor (7), magnetic grid displacement sensor (8) and limit switch sensor (9), its characterized in that: the computer (1) is in communication connection with the data acquisition and servo control processor (2), the data acquisition and servo control processor (2) is in communication connection with the motor driver (3), the motor driver (3) is in communication connection with the direct current motor (4), the linear module (5) is connected with an output shaft of the direct current motor (4), the load module (6) is fixedly connected on the linear module (5), the linear module (5) and the load module (6) move linearly, the grating displacement sensor (7), the magnetic grating displacement sensor (8) and the limit switch sensor (9) are positioned on a path of the linear motion of the load module (6), the grating displacement sensor (7) and the magnetic grating displacement sensor (8) are respectively positioned at two sides of the load module (6), the grating displacement sensor (7), the magnetic grating displacement sensor (8) and the limit switch sensor (9) are all in communication connection with the data acquisition and servo control processor (2); the accuracy of the magnetic grating displacement sensor (8) is different from that of the grating displacement sensor (7), the accuracy of the grating displacement sensor (7) is high, and the accuracy of the magnetic grating displacement sensor (8) is low.
2. The content-extensible linear position control teaching experiment system of claim 1, wherein: data acquisition and servo control treater (2) include data acquisition module (2-1), servo drive module (2-2) and encoder count module (2-3), data acquisition module (2-1) and limit switch sensor (9) signal connection, servo drive module (2-2) and direct current motor (4) signal connection, magnetic grid displacement sensor (8) and grating displacement sensor (7) all with encoder count module (2-3) signal connection, data acquisition module (2-1) and encoder count module (2-3) all with computer (1) signal connection.
3. The content-extensible linear position control teaching experiment system of claim 2, wherein: the content extensible linear position control teaching experiment system further comprises a cast iron base (10), a baffle I (11) and a baffle II (12), the two sides of the cast iron base (10) are fixedly connected with the baffle I (11) and the baffle II (12) respectively, and the direct current motor (4) is fixedly connected to the cast iron base (10).
4. The content-extensible linear position control teaching experiment system of claim 3, wherein: the linear module (5) comprises a linear module base (5-1), a lead screw (5-2) and a sliding block (5-3), the lead screw (5-2) is fixedly connected to an output shaft of the direct current motor (4), two ends of the lead screw (5-2) are rotatably connected with the linear module base (5-1), the two linear module bases (5-1) are fixedly connected to a cast iron base (10), the lead screw (5-2) is connected with the sliding block (5-3) through threads, and the lower end of the sliding block (5-3) is in contact with the cast iron base (10).
5. The content-extensible linear position control teaching experiment system of claim 4, wherein: the load module (6) comprises a load (6-1), a load mounting table (6-2), a drag chain (6-3) and a limit switch sensor baffle (6-4), wherein the load (6-1) comprises a load block (6-1-1), load threaded holes (6-1-2) and countersunk head bolts (6-1-3), four load threaded holes (6-1-2) are formed in the load block (6-1-1), four countersunk head bolts (6-1-3) are connected to the load block (6-1-1) through threads, the load (6-1) is provided with a plurality of load blocks (6-1-1) which are connected with each other through the four load threaded holes (6-1-2) and the four countersunk head bolts (6-1-3), the load mounting table (6-2) is fixedly connected to the sliding block (5-3), the drag chain (6-3) and the limit switch sensor baffle (6-4) are fixedly connected to one side of the load mounting table (6-2), and the load block (6-1-1) is fixedly connected to the load mounting table (6-2).
6. The content-extensible linear position control teaching experiment system of claim 5, wherein: the grating displacement sensor (7) comprises a grating displacement sensor fixed end (7-1) and a grating displacement sensor movable end (7-2), the grating displacement sensor fixed end (7-1) is fixedly connected to the cast iron base (10), the grating displacement sensor movable end (7-2) is fixedly connected to the load mounting table (6-2), and the grating displacement sensor fixed end (7-1) and the grating displacement sensor movable end (7-2) are located on the same side.
7. The content-extensible linear position control teaching experiment system of claim 6, wherein: the magnetic grid displacement sensor (8) comprises a fixed end (8-1) of the magnetic grid displacement sensor and a movable end (8-2) of the magnetic grid displacement sensor, the fixed end (8-1) of the magnetic grid displacement sensor is fixedly connected to the cast iron base (10), the movable end (8-2) of the magnetic grid displacement sensor is fixedly connected to the cast iron base (10), the fixed end (8-1) of the magnetic grid displacement sensor and the movable end (8-2) of the magnetic grid displacement sensor are located on the same side, and the movable end (8-2) of the magnetic grid displacement sensor and the drag chain (6-3) are located on the same side.
8. The content-extensible linear position control teaching experiment system of claim 7, wherein: the three limit switch sensors (9) are arranged and are respectively positioned at two ends and the middle end of a linear motion path of the load mounting table (6-2), the limit switch sensors (9) are fixedly connected to the cast iron base (10), and the three limit switch sensors (9) are positioned at the same side with the fixed end (8-1) of the magnetic grid displacement sensor.
9. The method of using the content-scalable linear position control teaching experiment system of claim 8, wherein: the method for controlling the teaching experiment system by the linear position with expandable content comprises the following steps:
the method comprises the following steps: the weight of the load (6-1) is controlled through the change of the number of the load blocks (6-1-1), and the load of the load mounting table (6-2) is adjusted;
step two: the detection precision of the grating displacement sensor (7) and the magnetic grating displacement sensor (8) is changed through the frequency multiplication of the encoder counting module (2-3);
step three: cosine voltage control signals with the same amplitude and different frequencies are input to the servo control module (2-2) in a discrete approximation mode, and a discrete time interval is set to change the sampling frequency;
step four: the counting module (2-3) receives a sinusoidal displacement response signal of the load (6-1), analyzes the amplitude and the phase difference of the sinusoidal displacement response signal to obtain the amplitude-frequency characteristic of the system, and fits to obtain the frequency characteristic and the open-loop transfer function of the system;
step five: the computer (1) carries out position PID control according to a linear position input signal and the displacement fed back by the sensor, control parameters of proportional, integral and differential links in the PID control are regulated by programming, and a P, PI, PD and PID correction method can be selected by setting the control parameters;
step six: the computer (1) draws a system time domain response curve, and analyzes the influence of control parameters of proportional, integral and differential links on the dynamic performance and the steady-state performance of the system in PID correction by analyzing the change of the parameters in the time domain response curve;
step seven: the computer (1) receives the displacement fed back by the grating displacement sensor (8) with lower precision, PI correction is carried out, the grating displacement sensor (7) with higher precision detects the steady-state error of the system after the steady-state is achieved, and the influence of changing the electromechanical parameters and the proportional correction coefficient of the system on the steady-state error of the system is analyzed.
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