CN2731618Y - Universal multi-stage upside down pendulum tester - Google Patents
Universal multi-stage upside down pendulum tester Download PDFInfo
- Publication number
- CN2731618Y CN2731618Y CN 200420117955 CN200420117955U CN2731618Y CN 2731618 Y CN2731618 Y CN 2731618Y CN 200420117955 CN200420117955 CN 200420117955 CN 200420117955 U CN200420117955 U CN 200420117955U CN 2731618 Y CN2731618 Y CN 2731618Y
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- CN
- China
- Prior art keywords
- fork
- fixed
- dolly
- slide rail
- bearing
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Abstract
The utility model discloses a universal multi-stage upside down pendulum tester, which comprises a lateral motion unit, a longitudinal motion unit, pendulum bars and code devices. The lateral motion unit comprises a base, a sliding rail, a drive device, the supporting base of the drive device and a carriage. The sliding rail is fixed on the base and the drive device is fixed with the base by the supporting base. The carriage is provided with an actuating device which is matched with the drive device and is in slide fit with the sliding rail. The structures of the longitudinal motion unit and the lateral motion unit are the same, and the sliding rail of the longitudinal motion unit is horizontally perpendicular with the sliding rail of the lateral motion unit, and is fixed with the carriage of the lateral motion unit by the base. The carriage of the longitudinal motion unit is provided with the multi-stage pendulum bars and the rotary device of each pendulum bar is fixed with the code device. The universal multi-stage upside down pendulum tester has simple and reasonable structure and can calibrate the stability and robustness of various control systems conveniently so as to provide reliable calibrating means for the research of the control theory.
Description
Technical field
The utility model relates to a kind of experimental apparatus that is used for checking certain control theory or method in the control field, promptly universal multistage inverted pendulum experiment instrument.
Background technology
Along with deepening continuously of control theory research, the scientist in control field has proposed new one by one control theory thought, particularly China mathematician professor Li Hongxing and has proposed change domain adaptive fuzzy control theory.Whether these control theories meet the natural law, whether can solve the problem of exist actually, all need to check by certain laboratory facilities, and in addition, the teaching of different control theories and research also need be demonstrated by experimental apparatus.
The utility model content
The purpose of this utility model is to provide a kind of universal multistage inverted pendulum experiment instrument for the check assessment of control theory or method and teaching.
The universal multistage inverted pendulum experiment instrument of the utility model comprises transverse movement unit, lengthwise movement unit, fork and angle measuring instrument; Described transverse movement unit is made of pedestal, slide rail, drive unit and dolly, and slide rail is fixed on the pedestal, and drive unit and pedestal fix, and dolly is provided with the gearing that is complementary with drive unit, and dolly and slide rail are slidingly matched; Described lengthwise movement unit is identical with the transverse movement cellular construction, and its slide rail horizontal vertical is in transverse movement unit slide rail, and fixes by the dolly on pedestal and the transverse movement unit; The dolly of lengthwise movement unit is provided with " U " shape bearing that the one-level fork is installed, one-level fork one end is connected with the fork bearing by universal connecting components, the one-level fork other end is provided with " U " shape bearing that the secondary fork is installed, secondary fork one end is installed on " U " shape bearing on the one-level fork by universal connecting components, the other end of secondary fork is provided with " U " shape bearing that the next stage fork is installed, three grades of forks are installed on the secondary fork with the same manner, the level Four fork is installed on three grades of forks with the same manner, by that analogy, the other end of the last grade fork is a polished rod; All be fixed with angle measuring instrument on the universal connecting components of forks at different levels.
Further, described drive unit comprises motor, leading screw and bearing, motor moves along slide rail by the leading screw driving trolley, be processed with the threaded hole that is complementary with leading screw on the dolly, described leading screw passes this threaded hole and is fixed on the pedestal by bearing, motor is coaxial fixing with leading screw, carries scrambler on the motor.
Further, described drive unit comprises motor, driving-belt, sliding rail rack, driving-belt driving wheel and support wheel and bearing thereof, motor moves along slide rail by the driving-belt driving trolley, on pedestal, driving-belt driving wheel and support wheel are fixed on the pedestal by bearing respectively described slide rail by two sliding rail rack secured in parallel; Be processed with through hole on the dolly, be installed on two one slide rails, and be slidingly matched with described slide rail by this through hole; Driving-belt is walked around its driving wheel and support wheel, and its two ends are separately fixed on the dolly; Motor is coaxial fixing with the driving-belt driving wheel, carries scrambler on the motor.
Further, described universal connecting components is the right-angled intersection jointed shaft, and two rotating shafts of its intersection are hinged with " U " shape bearing and higher level's fork lower end of subordinate fork respectively, and each goes up the coaxial scrambler that is fixed with.
Further, described universal connecting components comprises two U-lags, two U-lag bottom vertical are arranged in a crossed manner and interfix or be made into integration, the two side arranged outside of one of them U-lag have with fork on the rotating shaft that is hinged of " U " shape bearing, be provided with the rotating shaft that is hinged with higher level's fork lower end between another U-lag two side, each goes up the coaxial scrambler that is fixed with.
Further, be symmetrical in the coaxial counterweight that is fixed with of scrambler one side on the described universal connecting components, with the rotating torque of balance code device.
Further, forks at different levels all are connected with universal connecting components by articulated joint, fix by holding screw or in friction tight mode between fork and the articulated joint.
This multistage inverted pendulum experiment instrument is simple and reasonable, utilizes this experiment instrument can check the stability of various control system, robustness etc. easily, thereby provides reliable measuring means for the research of control theory.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is that the A of Fig. 1 is to view;
Fig. 3 is the partial enlarged drawing of Fig. 1;
Fig. 4 is the C-C cutaway view Amplified image of Fig. 3;
Fig. 5 is the structural representation of second embodiment;
Fig. 6 is the synoptic diagram that connects by the right-angled intersection jointed shaft between the fork;
Fig. 7 is the synoptic diagram that connects by another kind of right-angled intersection jointed shaft between the fork.
Embodiment
Be first kind of embodiment of the present utility model as shown in Figure 1, 2.In the transverse movement unit, slide rail 2 is fixed on the pedestal 1, and stepping actuating motor 14 fixes by bearing 15 and slide rail 2, and dolly 5 is provided with the through hole that is complementary with leading screw 4, dolly 5 is slidingly matched with slide rail 2, and the other end of slide rail 2 is installed in 3 li of bearing spiders; The lengthwise movement unit is identical with the transverse movement cellular construction, the dolly 5 of its slide rail 6 and transverse movement unit fix and horizontal vertical in the slide rail 2 of transverse movement unit; The dolly 9 of lengthwise movement unit is provided with " U " shape bearing that the one-level fork is installed, the bottom of forks at different levels also is provided with identical " U " shape bearing, pass through as Fig. 3 by one-level fork 10 1 ends between them, universal connecting components shown in Figure 4 connects, this universal connecting components is by two U-lags 20,21 form, two U-lags 20,21 bottom vertical are arranged in a crossed manner and interfix, wherein the two side arranged outside of U-lag 21 have with fork on the rotating shaft 22 that is hinged of " U " shape bearing 19, be provided with the rotating shaft 24 that the lower end with higher level's fork 23 is hinged between the two side of another U-lag 20, rotating shaft 22, the coaxial scrambler 25 that is fixed with on 24,26.
Forks at different levels all can tilt and rotation to all directions, and the end of level Four fork 13 is a polished rod; All be fixed with scrambler in the rotating shaft of each universal connecting components.
During work, controller is measured and passed to forks at different levels angle horizontal, vertical and vertical direction by the scrambler that the axle with fork right-angled intersection jointed shafts at different levels fixes respectively, the transverse movement position of dolly 5 by on the servomotor 14 with scrambler measure and pass to controller, the lengthwise movement position of dolly 9 by on the servomotor 8 with scrambler measure and pass to controller; After this experiment instrument is started working from its original state, the scrambler that links to each other with the axle of fork right-angled intersection jointed shaft detects the angle of each fork, and its measurement result passed to controller, controller is handled these data according to being verified control theory, output a control signal to servomotor 14,8 then, drive motor and rotational lead screw 17,4 also drive dolly and laterally reach lengthwise movement, thereby realize the control to the fork state.
Shown in Fig. 3,4, for the rotating torque of balance code device 25,26, with the coaxial counterweight 271,272 that is fixed with of a side of their symmetries.
Be illustrated in figure 5 as second kind of embodiment of the present utility model.In the transverse movement unit, two slide rails that be arranged in parallel 32 are fixed on the pedestal 33 by sliding rail rack 30, driving-belt 31 driving wheels 29 and support wheel 35 are fixed on the pedestal 33 by bearing 28, and motor and driving wheel 29 coaxial being installed on the bearing 33 have scrambler on the motor.Dolly 37 is slidingly mounted on the slide rail 32, is processed with through hole on the dolly 37, is slidingly matched by this through hole dolly and slide rail.The lengthwise movement unit is identical with the structure of transverse movement unit, and the bearing 33 of transverse movement unit fixes with the dolly 34 on the lengthwise movement unit, and both horizontal vertical are provided with.Identical in the structure of fork and mounting means and the first kind of embodiment.
The utility model is not limited to above-mentioned preferred forms; no matter but on its shape or structure, do any variation; the mode of structure employing shown in Fig. 6,7 as universal connecting components; or angle measuring instrument adopts other angle sensor devices such as potentiometer, relay, everyly has laterally, the multistage inverted pendulum experiment instrument of lengthwise movement unit, fork and coder structure is all within protection domain of the present utility model.
Claims (6)
1. a universal multistage inverted pendulum experiment instrument is characterized in that, comprises transverse movement unit, lengthwise movement unit, fork and angle measuring instrument; Described transverse movement unit is made of pedestal, slide rail, drive unit and dolly, and slide rail is fixed on the pedestal, and drive unit and pedestal fix, and dolly is provided with the gearing that is complementary with drive unit, and dolly and slide rail are slidingly matched; Described lengthwise movement unit is identical with the transverse movement cellular construction, and its slide rail horizontal vertical is in transverse movement unit slide rail, and fixes by the dolly on pedestal and the transverse movement unit; The dolly of lengthwise movement unit is provided with " U " shape bearing that the one-level fork is installed, one-level fork one end is connected with the fork bearing by universal connecting components, the one-level fork other end is provided with " U " shape bearing that the secondary fork is installed, secondary fork one end is installed on " U " shape bearing on the one-level fork by universal connecting components, the other end of secondary fork is provided with " U " shape bearing that the next stage fork is installed, three grades of forks are installed on the secondary fork with the same manner, the level Four fork is installed on three grades of forks with the same manner, by that analogy, the other end of the last grade fork is a polished rod; All be fixed with angle measuring instrument on the universal connecting components of forks at different levels.
2, universal multistage inverted pendulum experiment instrument as claimed in claim 1, it is characterized in that, described drive unit comprises motor, leading screw and bearing, motor moves along slide rail by the leading screw driving trolley, be processed with the threaded hole that is complementary with leading screw on the dolly, described leading screw passes this threaded hole and is fixed on the pedestal by bearing, and motor is coaxial fixing with leading screw, carries scrambler on the motor.
3, universal multistage inverted pendulum experiment instrument as claimed in claim 1, it is characterized in that, described drive unit comprises motor, driving-belt, sliding rail rack, driving-belt driving wheel and support wheel and bearing thereof, motor moves along slide rail by the driving-belt driving trolley, on pedestal, driving-belt driving wheel and support wheel are fixed on the pedestal by bearing respectively described slide rail by two sliding rail rack secured in parallel; Be processed with through hole on the dolly, be installed on two one slide rails, and be slidingly matched with described slide rail by this through hole; Driving-belt is walked around its driving wheel and support wheel, and its two ends are separately fixed on the dolly; Motor is coaxial fixing with the driving-belt driving wheel, carries scrambler on the motor.
4, as the arbitrary described universal multistage inverted pendulum experiment instrument of claim 1 to 3, it is characterized in that, described universal connecting components is the right-angled intersection jointed shaft, and two rotating shafts of its intersection are hinged with " U " shape bearing and higher level's fork lower end of subordinate fork respectively, and each goes up the coaxial scrambler that is fixed with.
5, as the arbitrary described universal multistage inverted pendulum experiment instrument of claim 1 to 3, it is characterized in that, described universal connecting components comprises two U-lags, two U-lag bottom vertical are arranged in a crossed manner and interfix or be made into integration, the two side arranged outside of one of them U-lag have with fork on the rotating shaft that is hinged of " U " shape bearing, be provided with the rotating shaft that is hinged with higher level's fork lower end between another U-lag two side, each goes up the coaxial scrambler that is fixed with.
6, as claim 4 or 5 described universal multistage inverted pendulum experiment instruments, it is characterized in that, be symmetrical in the coaxial counterweight that is fixed with of scrambler one side on the described universal connecting components, with the rotating torque of balance code device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420117955 CN2731618Y (en) | 2004-10-21 | 2004-10-21 | Universal multi-stage upside down pendulum tester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420117955 CN2731618Y (en) | 2004-10-21 | 2004-10-21 | Universal multi-stage upside down pendulum tester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2731618Y true CN2731618Y (en) | 2005-10-05 |
Family
ID=35051943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420117955 Expired - Fee Related CN2731618Y (en) | 2004-10-21 | 2004-10-21 | Universal multi-stage upside down pendulum tester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2731618Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN107643761A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism and balance method |
-
2004
- 2004-10-21 CN CN 200420117955 patent/CN2731618Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN102237006B (en) * | 2011-05-12 | 2013-04-10 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN107643761A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism and balance method |
| CN107643761B (en) * | 2017-10-30 | 2023-06-20 | 桂林电子科技大学 | Multi-stage omnidirectional space inverted pendulum mechanism and balancing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |