CN102621982A - Two-dimensional rotating actuating translational oscillating device - Google Patents
Two-dimensional rotating actuating translational oscillating device Download PDFInfo
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- CN102621982A CN102621982A CN2012100871713A CN201210087171A CN102621982A CN 102621982 A CN102621982 A CN 102621982A CN 2012100871713 A CN2012100871713 A CN 2012100871713A CN 201210087171 A CN201210087171 A CN 201210087171A CN 102621982 A CN102621982 A CN 102621982A
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- guide rail
- longitudinal
- vibration piece
- cross slide
- slide way
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Abstract
The invention discloses a two-dimensional rotating actuating translational oscillating device. The upper surface of a base is square, and a first transverse guide rail, a second transverse guide rail, a first longitudinal guide rail and a second longitudinal guide rail are fixed on four edges of the base. An oscillating block can conduct two-degree-of-freedom oscillation transversely and longitudinally on a transverse oscillating guide rail and a longitudinal oscillating guide rail. A rotating shaft drives a mass block to rotate in a horizontal plane through a connecting rod above the oscillating block, and the rotating plane is parallel with the upper surface of the oscillating block. The mass block is driven by a motor to rotate when the oscillating block oscillates along the transverse oscillating guide rail and the longitudinal oscillating guide rail back and forth, so that the oscillation of the oscillating block can be stopped rapidly. The device provides an effective model and an experimental platform for the active control of oscillation and the control design of an underactuated system. The two-dimensional rotating actuating translational oscillating device has the advantages of being simple in structure, energy-saving, efficient and the like.
Description
Technical field
The present invention relates to a kind of translation oscillation device, particularly two-dimentional rotation excitation translation oscillation device.
Background technology
Owe drive system and be meant that the number of controlling input is less than a type systematic of degree of freedom in system, bat system, reversible pendulum system and helicopter etc. all are typically to owe drive system.Many systems all are designed in order to owe drive system (spacecraft, helicopter, submarine navigation device, satellite, flexible robot etc.) in the practical application.Owe drive system and can be divided into following four types according to the reason of its generation: by system itself dynamics determined owes drive system (for example ROV, spaceship, helicopter, undersea ship and do not have wheel locomotive etc.); In order to reduce expenses or some other practical purpose and design owe drive system (for example two angle of rake satellite and flexible link robot); Owing to drive failure from full drive system change form owe drive system (for example: surface vessel, ROV); Owe control and the comparatively complicated low order NLS (for example two rank inverted pendulums, bat system and rotation pendulum) of artificial creation of drive system in order to further investigate high-order.
In system design, manufacturing, bring great convenience though owe drive characteristic, it also makes the internal motivation of system learn characteristic complicacy more, progressively develops into a research focus of control theory circle in recent years to the research of this type systematic.In the vibration control field, owe to drive Vibration Suppression System and can be widely used equally.Because object is can vibrate simultaneously at multiple degrees of freedom usually in vibration, the control of two-freedom vibration needs the control excitation output of two-freedom to realize that this detection and realization for vibration has increased cost usually.Owe drive system if adopt, can only export through the excitation of one degree of freedom is two of may command, and even the vibration of a plurality of degree of freedom.Simplified system architecture so greatly, provided cost savings.
The present invention provides a typical model of owing drive system, can control the translation vibration of two degree of freedom through the excitation output of one degree of freedom.The ACTIVE CONTROL that the present invention can be applied to vibrate, and supplied a model and experiment porch for owing the drive controlling Algorithm design.
Summary of the invention
The purpose of this invention is to provide the model of owing drive system; Only can suppress the translation vibration of two degree of freedom through the rotation excitation output of one degree of freedom; Its simple in structure, efficient energy-saving is for vibration control and owe the drive controlling Algorithm design and supplied a model and experiment porch.
Technical scheme of the present invention is following: a kind of two-dimentional rotation excitation translation rocking equipment comprises:
The upper surface of pedestal 2 is a square, and first cross slide way 3, second cross slide way 4, first longitudinal rail 5, second are led longitudinal rail and be fixed on four limits of pedestal 2.
Lengthwise oscillations guide rail 8 is across on first cross slide way 3 and second cross slide way 4, and swaying guide rail 7 is across on first longitudinal rail 5 and second longitudinal rail 6; Swaying guide rail 7 and lengthwise oscillations guide rail 8 aperture and the aperture on the longitudinal axis from vibration piece 1 transverse axis respectively run through vibration piece 1; Crossed strip 9 is positioned on the swaying guide rail 7, and its two ends are fixedly linked with an end of vibration piece 1 and swaying guide rail 7 respectively; Longitudinal spring 10 is positioned on the lengthwise oscillations guide rail 8, and its two ends are fixedly linked with an end of vibration piece 1 and lengthwise oscillations guide rail 8 respectively; Above vibration piece 1, rotating shaft 14 is fixedly linked with an end of connecting rod 12, and the other end of connecting rod 12 links to each other with matter soon; Rotating shaft 14 is positioned on the center line of vibration piece 1, and under the drive of rotating shaft 14, matter piece 11 can be around the shaft 14 rotates in surface level, and Plane of rotation is parallel with the upper surface of the piece 1 that vibrates.
Lengthwise oscillations guide rail 8 two ends are slidingly connected with first cross slide way 3 and second cross slide way 4 respectively, and are slidingly connected with first cross slide way 3 and second cross slide way 4 and keep vertical; Swaying guide rail 7 two ends are slidingly connected with first longitudinal rail 5 and second longitudinal rail 6 respectively, and are slidingly connected with first longitudinal rail 5 and second longitudinal rail 6 and keep vertical; Lengthwise oscillations guide rail 8 is a little more than swaying guide rail 7, thereby two guide rails are not spatially coincided; Crossed strip 9 and longitudinal spring 10 are when the equilibrium position, and vibration piece 1 is positioned at whole pedestal 2 center lines top.
The inside of vibration piece 1 comprises motor 13, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19 and accelerometer 20; Motor 13 is fixed on the middle part of vibration piece 1, links to each other with rotating shaft 14 through speed reduction unit 16, can drive rotating shaft 14 and rotate; Code-disc 15 is positioned at the below of motor 13, is used to measure the rotational angle theta of matter piece 11; Accelerometer 20 is fixedly linked with vibration piece 1, is used to measure the transverse acceleration a of vibration piece 1
xWith longitudinal acceleration a
y Electric battery 17, controller 18, driver 19 all are fixedly linked with vibration piece 1; Electric battery 17 all has lead to link to each other with motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20, is used for electric power to motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20 being provided; All there is lead to link to each other between controller 18 and code-disc 15, accelerometer 20, the driver 19.
Two-dimentional rotation excitation translation oscillation device of the present invention can be rotated in the surface level and rotates through driving a matter piece, thereby suppresses the vibration of horizontal and vertical two degree of freedom.Although system according to the invention need control the lateral attitude of vibration piece
x, lengthwise position
yCorner with the matter piece
θThe amount of three degree of freedom, but it still can be only through a control input
τAnd realization is to the control of all state variables.This is owing to exist non-linear coupling between the drive amount of system and the non-drive amount.In other words, for apparatus of the present invention, the corner of matter piece
θPlanimetric position with the vibration piece
xWith
yExist non-linear coupling, thereby make and to be applied to the torque on the matter piece
τNot only can control the corner of matter piece
θ, and can control the vibration piece the position
xWith
yYet the matter piece can not drop on transverse axis and the y direction at the corner of equilibrium position, and the coefficient of stiffiness of crossed strip and longitudinal spring
k x With
k y Need to satisfy
k x ≠ k y (swaying cycle and lengthwise oscillations cycle are not waited), otherwise the corner of matter piece
θPosition with the vibration piece
xWith
yBetween non-linear coupling will disappear control input
τCan not control the position of vibration piece on the transverse axis and the longitudinal axis
xWith
y
Beneficial effect of the present invention is following.
1, two-dimentional rotation excitation translation oscillation device of the present invention only the output of the rotation excitation through one degree of freedom can suppress the translation vibration of two degree of freedom, have characteristics such as simple in structure, efficient energy-saving.
2, device according to the invention also is one and typically owes the drive system experiment porch, can verify the quality of nonlinear control algorithm through this device, and this device can be widely used in scientific research and teaching occasions.
Description of drawings
Fig. 1 is the vertical view of the present invention's two dimension rotation excitation translation oscillation device.
Fig. 2 is the oblique view of the present invention's two dimension rotation excitation translation oscillation device.
Fig. 3 is the cut-away view of vibration piece according to the invention.
Fig. 4 is control structure figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is carried out detailed explanation.
A kind of two-dimentional rotation excitation translation oscillation device.Comprise vibration piece 1, pedestal 2, the first cross slide waies 3, the second cross slide waies 4, the first longitudinal rails 5; Second longitudinal rail 6, swaying guide rail 7, lengthwise oscillations guide rail 8, crossed strip 9, longitudinal spring 10; Matter piece 11, connecting rod 12, motor 13, rotating shaft 14, code-disc 15; Speed reduction unit 16, electric battery 17, controller 18, driver 19, accelerometer 20 etc.
Illustrated in figures 1 and 2 is respectively apparatus of the present invention vertical view and oblique view.The upper surface of pedestal 2 is a square, and first cross slide way 3 and second cross slide way, 4 crosswise fixed are on pedestal 2 both sides; First longitudinal rail 5 and second is led the other both sides that vertical rail is vertically fixed in pedestal 2, and promptly four guide rails are fixed on four limits of pedestal 2.Lengthwise oscillations guide rail 8 is across on first cross slide way 3 and second cross slide way 4, and its two ends are slidingly connected with first cross slide way 3 and second cross slide way 4 respectively, and is slidingly connected with first cross slide way 3 and second cross slide way 4 and keeps vertical; Swaying guide rail 7 is across on first longitudinal rail 5 and second longitudinal rail 6, and its two ends are slidingly connected with first longitudinal rail 5 and second longitudinal rail 6 respectively, and is slidingly connected with first longitudinal rail 5 and second longitudinal rail 6 and keeps vertical.Lengthwise oscillations guide rail 8 horizontal strokes can be along laterally being free to slide on first cross slide way 3 and second cross slide way 4; Swaying guide rail 7 horizontal strokes can longitudinally be free to slide on first longitudinal rail 5 and second longitudinal rail 6.
Lengthwise oscillations guide rail 8 is a little more than swaying guide rail 7, thereby two guide rails are not spatially coincided.Vibration piece 1 is a square, and an aperture is respectively arranged on its transverse axis and the longitudinal axis.Swaying guide rail 7 and lengthwise oscillations guide rail 8 aperture and the aperture on the longitudinal axis from vibration piece 1 transverse axis respectively run through vibration piece 1.Crossed strip 9 is positioned on the swaying guide rail 7, and its two ends are fixedly linked with an end of vibration piece 1 and swaying guide rail 7 respectively; Longitudinal spring 10 is positioned on the lengthwise oscillations guide rail 8, and its two ends are fixedly linked with an end of vibration piece 1 and lengthwise oscillations guide rail 8 respectively.Crossed strip 9 and longitudinal spring 10 are when the equilibrium position, and vibration piece 1 is positioned at whole pedestal 2 center lines top.Suppose to ignore the friction between vibration piece 1 and each guide rail, vibration piece 1 can be respectively in swaying guide rail 7 and the horizontal and vertical vibration of making two-freedom in lengthwise oscillations guide rail 8 upper edges.
Above vibration piece 1, an end of a rotating shaft 14 and a connecting rod 12 is fixedly linked, and the other end of connecting rod 12 links to each other with matter soon.Rotating shaft 14 is positioned on the center line of vibration piece 1, and under the drive of rotating shaft 14, matter piece 11 can be around the shaft 14 rotates in a plane, and Plane of rotation is parallel with the upper surface of the piece 1 that vibrates.
Shown in Figure 3 is the cut-away view of vibration piece 1 according to the invention.Inside at vibration piece 1 comprises motor 13, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19 and accelerometer 20.Motor 13 is fixed on the middle part of vibration piece 1, links to each other with rotating shaft 14 through speed reduction unit 16, can drive rotating shaft 14 and rotate.Code-disc 15 is positioned at the below of motor 13, is used to measure the corner of matter piece 11
θ(suppose that matter piece 11 is rotated counterclockwise the angle that departs from the negative semiaxis direction of the longitudinal axis and is designated as
θ).Accelerometer 20 is fixedly linked with vibration piece 1, is used to measure the transverse acceleration of vibration piece 1
a x And longitudinal acceleration
a y Electric battery 17, controller 18, driver 19 all are fixedly linked with vibration piece 1.Electric battery 17 and motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20 all have lead to link to each other, be used for to motor 13, and controller 18, driver 19, code-disc 15 and accelerometer 20 provide electric power.All have lead to link to each other between controller 18 and code-disc 15, accelerometer 20, the driver 19, controller 18 is used to receive the signal that code-disc 15 and accelerometer 20 are gathered, and control signal is passed to driver 19.Driver 19 is used to provide drive signal, makes motor 13 runnings.
The purpose that realizes whole device is: when vibration piece 1 when swaying guide rail 7 and lengthwise oscillations guide rail 8 vibrate back and forth, through 11 rotations of driven by motor matter piece, thereby its vibration can be stopped rapidly.
The practical implementation process is: initial time vibration piece 1 does not have friction vibration back and forth at the effect lower edge swaying guide rail 7 of crossed strip 9 and longitudinal spring 10 with lengthwise oscillations guide rail 8.Accelerometer 20 is measured the transverse acceleration of vibration piece 1
a x And longitudinal acceleration
a y Code-disc 15 is measured the corner of matter piece 11
θControl is through receiving the signal of code-disc 15 and accelerometer 20 collections
a x ,
a y With
θ, do not try to achieve vibration piece 1 in horizontal and vertical position through integral operation
xWith
y(suppose when the equilibrium position
X=y=0), adopt certain algorithm, according to
x,
yWith
θ, produce control signal
τ, and through the 13 generation torques of driving circuit control motor, drive matter piece 11 and rotate.The rotation of matter piece 11 can produce damping under certain rule, make the vibrations of vibration piece 1 reduce gradually and stop, thereby reaches the purpose of rejector vibration.
In two-dimentional rotation excitation translation oscillation device of the present invention, for making vibration piece 1 in horizontal and vertical position
xWith
yControlled fully, the coefficient of stiffiness of crossed strip 9 and longitudinal spring 10
k x With
k y Need to satisfy
k x ≠ k y And the corner of matter piece when the equilibrium position can not drop on transverse axis and the y direction.
Claims (4)
1. two-dimentional rotation excitation translation rocking equipment is characterized in that comprising:
Vibration piece (1), pedestal (2), first cross slide way (3), second cross slide way (4), first longitudinal rail (5); Second longitudinal rail (6), swaying guide rail (7), lengthwise oscillations guide rail (8), crossed strip (9), longitudinal spring (10); Matter piece (11), connecting rod (12), motor (13), rotating shaft (14), code-disc (15); Speed reduction unit (16), electric battery (17), controller (18), driver (19), accelerometer (20);
The upper surface of pedestal (2) is a square, and first cross slide way (3), second cross slide way (4), first longitudinal rail (5), second are led longitudinal rail and be fixed on four limits of pedestal (2);
Lengthwise oscillations guide rail (8) is across on first cross slide way (3) and second cross slide way (4), and swaying guide rail (7) is across on first longitudinal rail (5) and second longitudinal rail (6);
Swaying guide rail (7) and lengthwise oscillations guide rail (8) aperture and the aperture on the longitudinal axis from vibration piece (1) transverse axis respectively run through vibration piece (1);
Crossed strip (9) is positioned on the swaying guide rail (7), and its two ends are fixedly linked with an end of vibration piece (1) and swaying guide rail (7) respectively;
Longitudinal spring (10) is positioned on the lengthwise oscillations guide rail (8), and its two ends are fixedly linked with an end of vibration piece (1) and lengthwise oscillations guide rail (8) respectively;
In the top of vibration piece (1), rotating shaft (14) is fixedly linked with an end of connecting rod (12), and the other end of connecting rod (12) links to each other with matter soon;
Rotating shaft (14) is positioned on the center line of vibration piece (1), and under the drive of rotating shaft (14), matter piece (11) (14) around the shaft rotates in surface level, and Plane of rotation is parallel with the upper surface of vibration piece (1).
2. two-dimentional rotation excitation translation rocking equipment according to claim 1 is characterized in that:
Said lengthwise oscillations guide rail (8) two ends are slidingly connected with first cross slide way (3) and second cross slide way (4) respectively, and are slidingly connected with first cross slide way (3) and second cross slide way (4) and keep vertical;
Swaying guide rail (7) two ends are slidingly connected with first longitudinal rail (5) and second longitudinal rail (6) respectively, and are slidingly connected with first longitudinal rail (5) and second longitudinal rail (6) and keep vertical;
Lengthwise oscillations guide rail (8) is a little more than swaying guide rail (7), thereby two guide rails are not spatially coincided;
Crossed strip (9) and longitudinal spring (10) are when the equilibrium position, and vibration piece (1) is positioned at whole pedestal (2) center line top.
3. two-dimentional rotation excitation translation rocking equipment according to claim 1 is characterized in that:
Comprise motor (13), code-disc (15), speed reduction unit (16), electric battery (17), controller (18), driver (19) and accelerometer (20) in the inside of said vibration piece (1);
Motor (13) is fixed on the middle part of vibration piece (1), links to each other with rotating shaft (14) through speed reduction unit (16), can drive rotating shaft (14) and rotate;
Code-disc (15) is positioned at the below of motor (13), is used to measure the rotational angle theta of matter piece (11);
Accelerometer (20) is fixedly linked with vibration piece (1), is used for measuring the transverse acceleration a of vibration piece (1)
xWith longitudinal acceleration a
y
Electric battery (17), controller (18), driver (19) all are fixedly linked with vibration piece (1);
Electric battery (17) all has lead to link to each other with motor (13), controller (18), driver (19), code-disc (15) and accelerometer (20), is used for electric power to motor (13), controller (18), driver (19), code-disc (15) and accelerometer (20) being provided;
All there is lead to link to each other between controller (18) and code-disc (15), accelerometer (20), the driver (19).
4. two-dimentional rotation excitation translation rocking equipment according to claim 1; It is characterized in that: said controller (18) can adopt dsp chip to realize that the control algolithm that controller (18) is adopted can be Passive Control Algorithm, FUZZY ALGORITHMS FOR CONTROL or Sliding mode variable structure control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210087171.3A CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210087171.3A CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102621982A true CN102621982A (en) | 2012-08-01 |
| CN102621982B CN102621982B (en) | 2014-01-29 |
Family
ID=46561947
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210087171.3A Expired - Fee Related CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
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| Country | Link |
|---|---|
| CN (1) | CN102621982B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511265A (en) * | 2016-01-06 | 2016-04-20 | 东南大学 | Dynamic periodic locus control method of translation oscillation device with rotation excitation |
| CN106094826A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of track based on electric unicycle sway one's hips formula balance puppet |
| CN113029519A (en) * | 2021-03-31 | 2021-06-25 | 安徽工业大学 | Rectangular tank longitudinal or transverse asymmetric sloshing system and method |
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| CN101833338A (en) * | 2010-05-17 | 2010-09-15 | 哈尔滨工程大学 | Autonomous underwater vehicle vertical plane under-actuated motion control method |
| CN102156479A (en) * | 2011-02-24 | 2011-08-17 | 浙江大学宁波理工学院 | Method for controlling side direction of level moving of underactuated biped walking robot |
| CN102360217A (en) * | 2011-07-29 | 2012-02-22 | 中国科学院长春光学精密机械与物理研究所 | Overall input decoupling device for multi-rotor unmanned aerial vehicle and control system with device |
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2012
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Patent Citations (6)
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| US4995272A (en) * | 1989-05-26 | 1991-02-26 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Torsional suspension system for testing space structures |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511265A (en) * | 2016-01-06 | 2016-04-20 | 东南大学 | Dynamic periodic locus control method of translation oscillation device with rotation excitation |
| CN105511265B (en) * | 2016-01-06 | 2018-02-27 | 东南大学 | A kind of cycle dynamicses method for controlling trajectory of the translation oscillation device with rotation excitation |
| CN106094826A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of track based on electric unicycle sway one's hips formula balance puppet |
| CN106094826B (en) * | 2016-07-03 | 2018-11-20 | 柳州惠林科技有限责任公司 | A kind of track based on electric unicycle sways one's hips formula balance puppet |
| CN113029519A (en) * | 2021-03-31 | 2021-06-25 | 安徽工业大学 | Rectangular tank longitudinal or transverse asymmetric sloshing system and method |
| CN113029519B (en) * | 2021-03-31 | 2023-12-12 | 安徽工业大学 | Rectangular storage tank longitudinal or transverse asymmetric sloshing system and method |
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| Publication number | Publication date |
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| CN102621982B (en) | 2014-01-29 |
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Granted publication date: 20140129 Termination date: 20160329 |