CN113820980B - Multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system - Google Patents
Multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system Download PDFInfo
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- CN113820980B CN113820980B CN202111079085.3A CN202111079085A CN113820980B CN 113820980 B CN113820980 B CN 113820980B CN 202111079085 A CN202111079085 A CN 202111079085A CN 113820980 B CN113820980 B CN 113820980B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system, which comprises a main shaft servo motor, a rotation stepping motor, a pitching stepping motor, a servo driver, an 8-axis motion controller and an upper PC, wherein the main shaft servo motor is arranged on a main rotating shaft of the centrifuge; the 4 experimental platforms controlled by the system can set different experimental parameters one by one, and can realize simultaneous experiments of a plurality of experimental objects with the same experimental parameters through multi-axis linkage and realize 'two-by-one' comparison experiments in a mode of taking diagonal lines as a group. Compared with a single-rotating-arm single-degree-of-freedom centrifugal machine, the experimental efficiency and the experimental data accuracy of the multi-rotating-arm multi-degree-of-freedom experimental platform are greatly improved.
Description
Technical Field
The invention belongs to the field of aerospace medical experiments, and relates to a multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system.
Background
With the great deal of service of modern advanced fighters and the complexity of air combat environments, the high G values generated during flight can cause loss of consciousness of flight personnel G-LOC, thereby threatening flight safety. Therefore, the influence of acceleration on the human body is more emphasized. The multi-rotating arm is used for developing a control system of the animal centrifugal machine of the freedom degree experiment platform so as to simulate the flight environment of high G value, different G value growth rates and single-phase and multi-phase peak acceleration combination. The flight state of the pilot in the high overload environment is simulated on the ground in a safer and cheaper way. The animal experiment is used for referencing the problems of insufficient acceleration endurance, loss of consciousness caused by acceleration and the like of flight personnel.
Multiaxial motion controller technology has been widely used in the field of aerospace medical devices. In medical experiments, for a plurality of groups of synchronous experiments or a plurality of groups of control experiments, a traditional single-arm single-degree-of-freedom centrifugal machine commonly adopts a single object and a single group of experimental parameters to perform experiments, so that not only is the time and labor consumed by experimenters and the efficiency lowered, but also the experimental object is frequently replaced to cause errors in setting the parameters of the centrifugal machine, and further the accuracy of experimental data is affected.
In the current market, devices such as manned centrifuges, industrial centrifuges and the like are available, computer program control technology is developed and is gradually applied to centrifuge equipment, and the technology is relatively mature. However, the market has no animal centrifuge with a multi-rotating-arm multi-degree-of-freedom experimental platform.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system, which is used for replacing the existing single experimental object and single experimental data centrifuge. The method solves the technical problems that a plurality of groups of experiments cannot be carried out simultaneously and a plurality of groups of control experiments cannot be carried out at the same time.
Technical proposal
The multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system is characterized by comprising a main shaft servo motor, a rotation stepping motor, a pitching stepping motor, a servo driver, an 8-shaft motion controller and an upper PC, wherein the main shaft servo motor is arranged on a main rotating shaft of the centrifuge; the R, S and T terminals of the servo driver are connected with a 380V power supply through an air switch K, and the U, V and W terminals of the servo driver are connected with a three-phase circuit of the spindle servo motor; the 8-axis pulse terminals of the 8-axis motion controller are respectively connected with the PUL-terminals of the 4 autorotation stepper motors, the PUL-terminals of the 4 pitching stepper motors are respectively connected with the DIR-terminals of the 4 autorotation stepper motors, the DIR-terminals of the 4 pitching stepper motors are connected, the PUL+ and DIR+ terminals of the 4 autorotation stepper motors are connected in parallel and then are connected with one output +5V terminal of the 8-axis motion controller, and the PUL+ and DIR+ terminals of the 4 pitching stepper motors are connected in parallel and then are connected with the other output +5V terminal of the 8-axis motion controller; the input +24V terminal of the 8-axis motion controller is connected with the +24V power supply through a switch after being connected with the 0V terminal in parallel, and RS485-GND is connected with the ground; the 8-axis motion controller is connected with the RS485-A of the servo driver in parallel and then connected with the RS485-A of the PC, the RS485-B is connected with the RS485-B of the PC after being connected in parallel, and a 120 ohm resistor is connected between two wires in a bridging way.
A control method for a four-arm multi-degree-of-freedom animal centrifuge by using the multi-arm multi-degree-of-freedom experimental platform animal centrifuge control system is characterized by comprising the following steps:
step 1: the upper computer establishes communication with the lower computer through an RS485 serial port, transmits a motion control instruction to the motion controller in a data frame mode, and further controls all the motors to complete appointed motion through the driver.
Step 2: the servo motor feeds back the running state of the motor to the upper computer through the absolute encoder at the moment, so that the real-time running state of the servo motor is monitored.
Step 3: setting parameters of a main shaft servo motor, a self-rotation motor and a pitching motor through an interactive interface;
step 4: after the program is started, the control instruction is transmitted to the motion controller in the form of a data frame through a serial port, and then the motor of each part is driven by the driver to complete the appointed action
Step 5: the data conversion function obtains X, Y, Z triaxial acceleration, and the autorotation motor realizes 180 degrees/s of motion along the tangential direction of the objective table, namely the Y axis
Step 6: the pitch motor effecting movement in the direction of the normal to the stage, i.e. the X-axis
Step 7: the spindle servo motor effects a 360 ° rotational movement about its central axis, wherein the Z axis is along the centrifugal direction.
Advantageous effects
The invention provides a multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system, which comprises a main shaft servo motor, a rotation stepping motor, a pitching stepping motor, a servo driver, an 8-axis motion controller and an upper PC, wherein the main shaft servo motor is arranged on a main rotating shaft of the centrifuge; the 4 experimental platforms controlled by the system can set different experimental parameters one by one, and can realize simultaneous experiments of a plurality of experimental objects with the same experimental parameters through multi-axis linkage and realize 'two-by-one' comparison experiments in a mode of taking diagonal lines as a group. Compared with a single-rotating-arm single-degree-of-freedom centrifugal machine, the experimental efficiency and the experimental data accuracy of the multi-rotating-arm multi-degree-of-freedom experimental platform are greatly improved.
Drawings
FIG. 1 is a schematic diagram showing the connection of a multi-arm multi-degree of freedom animal centrifuge and a control system according to the present invention
FIG. 2 is a schematic diagram of an animal platform structure of the multi-arm multi-degree of freedom animal centrifuge of the present invention
FIG. 3 is a schematic diagram of a multi-arm multi-degree of freedom animal centrifuge control system according to the present invention
FIG. 4 is a detailed schematic diagram of an experimental platform of a multi-arm multi-degree-of-freedom animal centrifuge according to the present invention
In fig. 1: PC 1, control cabinet 12,8 axis motion controller 3, step motor driver 4, air switch (5), 24V power 6, 380V power switch 7, 220V power switch (8), servo driver 9, experiment platform (10), absolute value encoder 11, rocking arm 12, control cabinet 213, main shaft servo motor 14, step motor electric putter 15, rotation step motor (16).
In fig. 4: 1. the motion curve display area, the automatic control area and the manual control area comprise a main shaft control area and an experiment platform control area.
Detailed Description
The invention will now be further described with reference to examples, figures:
the control system comprises a main shaft servo motor arranged on a main rotating shaft of the centrifugal machine, an autorotation stepping motor and a pitching stepping motor arranged on four rotating arms, a servo driver for controlling the main shaft servo motor, an 8-shaft motion controller and an upper PC; the R, S and T terminals of the servo driver are connected with a 380V power supply through an air switch K, and the U, V and W terminals of the servo driver are connected with a three-phase circuit of the spindle servo motor; the 8-axis pulse terminals of the 8-axis motion controller are respectively connected with the PUL-terminals of the 4 autorotation stepper motors, the PUL-terminals of the 4 pitching stepper motors are respectively connected with the DIR-terminals of the 4 autorotation stepper motors, the DIR-terminals of the 4 pitching stepper motors are connected, the PUL+ and DIR+ terminals of the 4 autorotation stepper motors are connected in parallel and then are connected with one output +5V terminal of the 8-axis motion controller, and the PUL+ and DIR+ terminals of the 4 pitching stepper motors are connected in parallel and then are connected with the other output +5V terminal of the 8-axis motion controller; the input +24V terminal of the 8-axis motion controller is connected with the +24V power supply through a switch after being connected with the 0V terminal in parallel, and RS485-GND is connected with the ground; the 8-axis motion controller is connected with the RS485-A of the servo driver in parallel and then connected with the RS485-A of the PC, the RS485-B is connected with the RS485-B of the PC after being connected in parallel, and a 120 ohm resistor is connected between two wires in a bridging way.
The 4 experimental platforms controlled by the multi-rotating-arm multi-degree-of-freedom animal centrifugal machine control system can set different experimental parameters one by one, and can realize simultaneous experiments of multiple experimental objects with the same experimental parameters through multi-axis linkage and realize 'two-by-one' comparison experiments in a mode of taking diagonal lines as a group. Compared with a single-rotating-arm single-degree-of-freedom centrifugal machine, the experimental efficiency and the experimental data accuracy of the multi-rotating-arm multi-degree-of-freedom experimental platform are greatly improved.
Further, the hardware control system consists of a motion control module, a driving module, an executing module and a feedback module.
Further, the multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system can adjust the rotation movement speed of the experimental platform along the tangential direction of the experimental platform and the pitching movement angle along the normal direction and control the speed of the main shaft servo motor 14 by setting the parameters of the multi-shaft movement controller 3 and the parameters of the servo driver 9 so as to meet the requirements of different experiments.
Further, the air switch 5 is a switch that automatically opens whenever the current in the circuit exceeds the rated current. An air switch is an important electrical appliance in a low-voltage distribution network and an electric traction system, and integrates control and various protection functions. Besides the contact and breaking of the circuit, the motor can also protect short circuits, serious overload, undervoltage and the like of the circuit or electric equipment, and can be used for starting the motor infrequently.
Further, the multi-axis motion controller 3 controls the stepping motor of the rotation speed and the pitching angle of the corresponding experimental platform according to different experimental requirements.
Further, the spindle control is a closed-loop control of the servo driver 9 with an absolute value encoder 11, and can feed back the running rotation speed and the current position of the spindle servo motor 14, and can accurately control the setting of acceleration and deceleration and quick start-stop.
As shown in fig. 1, the servo driver 9 and the spindle servo motor 14 are powered on after the 380V power switch 7 is turned on. The 220V power switch 8 is turned on, the air switch 5 is turned on, and the 24V power supply 6 is turned on to supply power to the multi-axis motion controller 3, the stepping motor driver 4, the autorotation stepping motor 16 and the stepping motor electric push rod 15 respectively.
According to specific experimental requirements, at a man-machine interaction interface at the end of a PC (personal computer) 1, as shown in fig. 2, experimental parameters such as spindle rotation speed, spindle servo motor start-stop acceleration and deceleration, experimental platform rotation speed and displacement, experimental platform pitching speed and angle, whether a plurality of experimental platforms are linked to transmit experimental parameter data signals to a multi-axis motion controller 2 and a servo driver 9 through an RS485 serial port, and then the multi-axis motion controller 3 is matched with a stepping motor driver 4, as shown in fig. 3, an experimental platform rotation stepping motor 16 and a stepping motor electric push rod 15 corresponding to the axis number of the controller are driven, so that the rotation motion of the experimental platform along the tangential direction and the pitching motion along the normal direction are realized, and the combined motion and multi-axis linkage of the experimental platform can be realized by setting experimental parameters of different axis numbers of the multi-axis motion controller 3 through the PC 1; meanwhile, the upper and lower limiting ports of the multi-axis motion controller 3 limit the rotation angle of the autorotation stepper motor 16 and the displacement of the stepper motor electric push rod 15.
The servo driver 9 drives the spindle servo motor 14 to realize the rotation motion of the spindle driving rotary arm 12. The spindle servo motor 14 is provided with an absolute value encoder 11. The absolute value encoder 11 is used as a feedback element to feed back the rotating speed and the current position signal of the main shaft servo motor 14 to the PC 1, so that the rotating speed and the current position of the main shaft can be adjusted, the running speed of the main shaft can meet the experimental requirements, and the real-time monitoring of the rotating state of the main shaft is realized.
Claims (2)
1. The multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system is characterized by comprising a main shaft servo motor, a rotation stepping motor, a pitching stepping motor, a servo driver, an 8-shaft motion controller and an upper PC, wherein the main shaft servo motor is arranged on a main rotating shaft of the centrifuge; the R, S and T terminals of the servo driver are connected with a 380V power supply through an air switch K, and the U, V and W terminals of the servo driver are connected with a three-phase circuit of the spindle servo motor; the 8-axis pulse terminals of the 8-axis motion controller are respectively connected with the PUL-terminals of the 4 autorotation stepper motors, the PUL-terminals of the 4 pitching stepper motors are respectively connected with the DIR-terminals of the 4 autorotation stepper motors, the DIR-terminals of the 4 pitching stepper motors are connected, the PUL+ and DIR+ terminals of the 4 autorotation stepper motors are connected in parallel and then are connected with one output +5V terminal of the 8-axis motion controller, and the PUL+ and DIR+ terminals of the 4 pitching stepper motors are connected in parallel and then are connected with the other output +5V terminal of the 8-axis motion controller; the input +24V terminal of the 8-axis motion controller is connected with the +24V power supply through a switch after being connected with the 0V terminal in parallel, and RS485-GND is connected with the ground; the 8-axis motion controller is connected with the RS485-A of the servo driver in parallel and then connected with the RS485-A of the PC, the RS485-B is connected with the RS485-B of the PC after being connected in parallel, and a 120 ohm resistor is connected between two wires in a bridging way.
2. A method for controlling a four-arm multi-degree-of-freedom animal centrifuge by using the multi-arm multi-degree-of-freedom experimental platform animal centrifuge control system of claim 1, which is characterized by comprising the following steps:
step 1: the upper computer establishes communication with the lower computer through an RS485 serial port, transmits a motion control instruction to the motion controller in a data frame form, and further controls all the motors to complete appointed motion through a driver;
step 2: the servo motor feeds back the running state of the motor to the upper computer through the absolute encoder at the moment, so that the real-time running state of the servo motor is monitored;
step 3: setting parameters of a main shaft servo motor, a self-rotation motor and a pitching motor through an interactive interface;
step 4: after the program is started, the control instruction is transmitted to the motion controller in the form of a data frame through a serial port, and then the motor of each part is driven by the driver to complete the appointed action
Step 5: the data conversion function obtains X, Y, Z triaxial acceleration, and the autorotation motor realizes 180 degrees/s of motion along the tangential direction of the objective table, namely the Y axis
Step 6: the pitch motor effecting movement in the direction of the normal to the stage, i.e. the X-axis
Step 7: the spindle servo motor effects a 360 ° rotational movement about its central axis, wherein the Z axis is along the centrifugal direction.
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| CN113892441B (en) * | 2021-09-15 | 2022-09-02 | 中国人民解放军空军军医大学 | Four rocking arm multi freedom animal centrifuge |
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| KR100986744B1 (en) * | 2008-07-10 | 2010-10-08 | 주식회사 한랩 | automatic balance adjusting centrifuge and the control method thereof |
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