CN115328219A - Electromagnetic drive control system and method for flexible mechanism - Google Patents
Electromagnetic drive control system and method for flexible mechanism Download PDFInfo
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- CN115328219A CN115328219A CN202210886213.3A CN202210886213A CN115328219A CN 115328219 A CN115328219 A CN 115328219A CN 202210886213 A CN202210886213 A CN 202210886213A CN 115328219 A CN115328219 A CN 115328219A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 46
- 239000000696 magnetic material Substances 0.000 claims abstract description 35
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910000906 Bronze Inorganic materials 0.000 claims description 2
- 229910052790 beryllium Inorganic materials 0.000 claims description 2
- ATBAMAFKBVZNFJ-UHFFFAOYSA-N beryllium atom Chemical compound [Be] ATBAMAFKBVZNFJ-UHFFFAOYSA-N 0.000 claims description 2
- 239000010974 bronze Substances 0.000 claims description 2
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 claims description 2
- 238000011017 operating method Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000005299 abrasion Methods 0.000 abstract description 5
- 238000005461 lubrication Methods 0.000 abstract description 5
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000005291 magnetic effect Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 230000035699 permeability Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
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Abstract
An electromagnetic drive control system and method for a flexible mechanism have enough computing power and performance, so that a motion system can be effectively controlled in real time, the problems of abrasion, lubrication and the like of the mechanism can be avoided, and the service life of the mechanism is prolonged. The rigidity left side, right side montant stands respectively on the left and right sides of base, both ends about the montant of rigidity left side, both ends respectively set up a flexible unit about the montant of rigidity right side, every flexible unit is connected to rigidity horizontal pole or base through rigid structure, both ends set up a magnetic material respectively about the rigidity horizontal pole, left side magnet sets up the left side at this magnetic material with the magnetic material interval distance D of rigidity horizontal pole left end, the magnetic material interval distance D of right side magnet and rigidity horizontal pole right-hand member sets up the right side at this magnetic material, at left side magnet, near right side magnet is equipped with displacement sensor respectively.
Description
Technical Field
The invention relates to the technical field of automatic control systems, in particular to an electromagnetic drive control system for a flexible mechanism and a method adopted by the electromagnetic drive control system for the flexible mechanism.
Background
With the development of society and science and technology, the application of new materials, new equipment, new structures and new construction processes in engineering, the structure develops in three directions of high (deep), light and large, and the structural form is also changed from the original rigid structure into a flexible structure in certain fields. The flexible mechanism utilizes the hinge to replace a kinematic pair of the rigid mechanism, so that the construction number, the mechanism weight, the processing and assembling time, the cost and the like are relatively reduced, and the flexible mechanism also has the advantages of reducing the clearance, friction, abrasion and lubrication among the mechanisms, improving the precision and stability of the mechanism, reducing the maintenance cost and the like.
However, the movement stroke realized by the deformation of the flexible mechanism is limited, shaft drift and parasitic errors exist, creep and stress relaxation may occur after long-time use, and the problem that the precision of the instrument is reduced due to the long-time use of the instrument occurs. And the flexible structure is represented by small rigidity and large flexibility on the mathematical model, the strain force and the deformation displacement are in a nonlinear relation, the problem of the flexible structure is different from that of a rigid structure on the calculation method, and the stress magnitude is difficult to calculate, so that the traditional mechanical driving mode is difficult to achieve more accurate displacement control.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an electromagnetic drive control system for a flexible mechanism, which has enough calculation force and performance, enables a motion system to carry out real-time effective control, can avoid the problems of mechanism abrasion, lubrication and the like, and prolongs the service life of the mechanism.
The technical scheme of the invention is as follows: the electromagnetic drive control system for a flexible mechanism comprises: the device comprises a left magnet (1), a flexible unit (2), a rigid left vertical rod (3), a rigid cross rod (4), a magnetic material (5), a right magnet (6), a displacement sensor (7), a rigid right vertical rod (8) and a base (9);
the left side montant of rigidity, rigidity right side montant stands respectively on the left and right sides of base, both ends about the left side montant of rigidity, both ends respectively set up a flexible unit about the right side montant of rigidity, every flexible unit is connected to rigidity horizontal pole or base through rigid structure, both ends set up a magnetic material respectively about the rigidity horizontal pole, left side magnet sets up the left side at this magnetic material with the magnetic material interval distance D of rigidity horizontal pole left end, the magnetic material interval distance D of right side magnet and rigidity horizontal pole right-hand member sets up the right side at this magnetic material, at left side magnet, near right side magnet is equipped with displacement sensor respectively.
The invention relates to a rigid left vertical rod and a rigid right vertical rod which are respectively erected on the left side and the right side of a base, wherein the upper end and the lower end of the rigid left vertical rod and the upper end and the lower end of the rigid right vertical rod are respectively provided with a flexible unit, each flexible unit is connected to a rigid cross rod or the base through a rigid structure, so that a simple flexible mechanism similar to a parallelogram deformation principle is formed, the left end and the right end of the rigid cross rod are respectively provided with a magnetic material, a separation distance D between a left magnet and the magnetic material at the left end of the rigid cross rod is arranged on the left side of the magnetic material, a separation distance D between a right magnet and the magnetic material at the right end of the rigid cross rod is arranged on the right side of the magnetic material, displacement sensors are respectively arranged near the left magnet and the right magnet, the flexible mechanism can generate displacement change after an electromagnetic driving circuit is acted, an embedded system is used for using a singlechip as the main control of the system, the calculation force and performance of the singlechip are used for effectively controlling a motion system in real time, the traditional motion control mode is replaced by a non-contact motion control system driven by the electromagnetic drive, the electromagnetic system, the problems such as abrasion and lubrication of the mechanism can be avoided, and the service life of the mechanism is prolonged.
Also provided is a method of operation of an electromagnetic drive control system for a flexible mechanism, comprising the steps of:
(1) Pressing down a direction key;
(2) The controller identifies the displacement, and when the displacement of the flexible structure deviates, the controller can generate a corresponding control action to eliminate the deviation, so that the displacement control is more accurate;
(3) The voltage of the electromagnet is subjected to closed-loop control by adopting a PWM (pulse width modulation) technology and a PID (proportion integration differentiation) control technology, and the duty ratio of voltage output is accurately calculated by applying a PID algorithm, so that the aim of accurately regulating the voltage is fulfilled;
(4) Controlling the on-off of the switch, outputting pulse signals with different duty ratios, and outputting corresponding current values;
(5) The relay controls the left electromagnet and the right electromagnet to work independently, the displacement is set to be right positive and left negative, when the displacement is positive, the relay does not work, the switch is always positioned at the right position, and the right electromagnet is controlled by the single chip microcomputer continuously; when the displacement is negative, the single chip outputs a signal to a pin of the relay, the relay works, the switch is in the left position, the electromagnet on the left side works at the moment, and the electromagnet on the right side is closed, so that the control purpose is achieved;
(6) The electromagnet acts to attract the flexible unit;
(7) The flexible unit generates displacement change;
(8) The displacement sensor detects the displacement change;
(9) When the deviation is smaller than the designated value, the voltage is controlled by the chip to be unchanged, so that dead circulation is avoided.
Drawings
Fig. 1 is a schematic structural view of one embodiment of a flexible unit of an electromagnetic drive control system for a flexible mechanism according to the present invention.
Fig. 2 is a front view of an electromagnetic drive control system for a compliant mechanism according to the present invention.
Fig. 3 is a perspective view of an electromagnetic drive control system for a compliant mechanism according to the present invention.
Fig. 4 is a displacement variation diagram of an electromagnetic drive control system for a compliant mechanism according to the present invention.
Fig. 5 is a schematic structural view of another embodiment of the flexible unit of the electromagnetic drive control system for the flexible mechanism according to the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the term "comprises/comprising" and any variations thereof in the description and claims of the present invention and the above-described drawings is intended to cover non-exclusive inclusions, such that a process, method, apparatus, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, which is a flexible joint structure diagram of this embodiment, it can be known from structural mechanics that a calculation formula of the stiffness of the straight circular flexible hinge under force is:
in the formula:
γ＝R/t；
wherein E: elastic modulus of the material, pa;
b: width of the flexible hinge, mm;
r: the cutting radius of the flexible hinge is mm;
t: thickness of the flexible hinge, mm.
As shown in fig. 2 and 3, the electromagnetic drive control system for a flexible mechanism includes: the device comprises a left magnet 1, a flexible unit 2, a rigid left vertical rod 3, a rigid cross rod 4, a magnetic material 5, a right magnet 6, a displacement sensor 7, a rigid right vertical rod 8 and a base 9;
the left side montant of rigidity, rigidity right side montant stands respectively on the left and right sides of base, both ends about the left side montant of rigidity, both ends respectively set up a flexible unit about the right side montant of rigidity, every flexible unit is connected to rigidity horizontal pole or base through rigid structure, both ends set up a magnetic material respectively about the rigidity horizontal pole, left side magnet sets up the left side at this magnetic material with the magnetic material interval distance D of rigidity horizontal pole left end, the magnetic material interval distance D of right side magnet and rigidity horizontal pole right-hand member sets up the right side at this magnetic material, at left side magnet, near right side magnet is equipped with displacement sensor respectively.
The invention relates to a rigid left vertical rod and a rigid right vertical rod which are respectively erected on the left side and the right side of a base, wherein the upper end and the lower end of the rigid left vertical rod and the upper end and the lower end of the rigid right vertical rod are respectively provided with a flexible unit, each flexible unit is connected to a rigid cross rod or the base through a rigid structure, so that a simple flexible mechanism which is similar to a parallelogram deformation principle and takes the flexible units as a key transmission part is formed, the left end and the right end of the rigid cross rod are respectively provided with a magnetic material, a spacing distance D between a left magnet and the magnetic material at the left end of the rigid cross rod is arranged on the left side of the magnetic material, a spacing distance D between a right magnet and the magnetic material at the right end of the rigid cross rod is arranged on the right side of the magnetic material, displacement sensors are respectively arranged near the left magnet and the right magnet, the flexible mechanism can generate displacement change after an electromagnetic driving circuit acts (as shown in figure 4), an embedded system is utilized, a single chip machine is used as a main control system, the sufficient computing force and performance of the system are utilized to effectively control the motion system in real time, a traditional motion control mode is replaced by a non-contact motion control system driven by the electromagnetic drive, so that the problems of the mechanism, the abrasion, the lubrication and the service life of the mechanism can be avoided.
Preferably, the magnetic material is an iron sheet or soft magnet.
Preferably, the rigid structure is a rigid rod.
Preferably, the left side and the right side of the base are respectively provided with a double-layer bracket, and the top ends of the front layer and the rear layer of each double-layer bracket are provided with a displacement sensor. By adopting the structure, the displacement measurement can be ensured to be more accurate and reliable.
Preferably, the flexible unit is a flexible hinge or a thin spring. As shown in fig. 5, which is an alternative diagram of the flexible hinge of this embodiment, due to the limitation of the processing level on the market at present, the flexible hinge is precisely processed by using a numerical control machine, the minimum thickness t of the flexible hinge is also difficult to be processed to 0.2mm, and the precision of the flexible hinge is difficult to be ensured, so that the three-dimensional structure of the flexible hinge is difficult to be realized. The metal raw material is processed into thin sheets by hammering and extruding in a forging mode, so that the original three-dimensional flexible hinge is replaced by a thin reed form.
Preferably, the flexible unit is made of beryllium bronze, and the rigid left vertical rod, the rigid cross rod, the rigid right vertical rod and the base are made of aluminum alloy (high rigidity and light weight).
Preferably, the displacement sensor is a potentiometer-type sensor.
Preferably, the left magnet and the right magnet are stabilized voltage direct current electromagnets.
The embedded system is used for controlling the single-chip microcomputer as the main control of the system, and the sufficient computing power and performance of the system are used for effectively controlling the motion system in real time. The driving module is designed to be driven electromagnetically and controls the flexible mechanism. Taking the flexible supporting structure of the moving mirror system as an example, the traditional motion control mode is replaced by a non-contact type motion control system driven by electromagnetism.
The working principle is as follows: when the iron core is inserted inside the energized solenoid, the iron core is magnetized by the magnetic field of the energized solenoid. The magnetized iron core becomes a magnet, and the two magnetic fields are mutually superposed, so that the magnetism of the solenoid is enhanced, and further, the magnetic force is generated.
The core of the energized solenoid is usually made of ferromagnetic material to make the core easier to magnetize, and at the same time, in order to allow the electromagnet to demagnetize immediately after power failure, soft iron or silicon steel material with faster demagnetization is often used. The electromagnet only has magnetic force when being electrified, is demagnetized immediately when being powered off, can easily meet the requirement of stopping and starting immediately when being used as a driving module in the design, and meets the original design purpose. The electromagnet comprises an alternating current electromagnet and a direct current electromagnet, and the voltage-stabilizing direct current electromagnet is in accordance with the design requirement in consideration of the stability of control and the cost of a power supply.
According to electromagnetism, the magnetic force of the electromagnet is calculated by the formula:
wherein phi: working air gap flux, wb;
b: working air gap magnetic induction, T;
μ 0 : magnetic permeability in vacuum of 4 pi x 10 -7 wb/A·m；
S: cross sectional area, m 2 。
The controller part of the invention adopts a high-performance, low-power consumption and low-cost stm32f103 serial chip.
Also provided is a method of operation of an electromagnetic drive control system for a compliant mechanism, comprising the steps of:
(1) Pressing down a direction key;
(2) The controller identifies the displacement, and when the displacement of the flexible structure deviates, the controller can generate a corresponding control action to eliminate the deviation, so that the displacement control is more accurate;
(3) The voltage of the electromagnet is subjected to closed-loop control by adopting a PWM (pulse width modulation) technology and a PID (proportion integration differentiation) control technology, and the duty ratio of voltage output is accurately calculated by applying a PID algorithm, so that the aim of accurately regulating the voltage is fulfilled;
(4) Controlling the on-off of the switch, outputting pulse signals with different duty ratios, and outputting corresponding current values;
(5) The relay controls the left electromagnet and the right electromagnet to work independently, the displacement is set to be right positive and left negative, when the displacement is positive, the relay does not work, the switch is always positioned at the right position, and the electromagnet on the right side is controlled by the single chip microcomputer continuously; when the displacement is negative, the single chip outputs a signal to a pin of the relay, the relay works, the switch is in the left position, the electromagnet on the left works at the moment, and the electromagnet on the right is turned off, so that the control purpose is achieved;
(6) The electromagnet acts to attract the flexible unit;
(7) The flexible unit generates displacement change;
(8) The displacement sensor detects the displacement change;
(9) When the deviation is smaller than the designated value, the voltage is controlled by the chip to be unchanged, so that dead circulation is avoided.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiment according to the technical spirit of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (9)
1. An electromagnetic drive control system for a compliant mechanism, characterized by: it comprises the following steps: the device comprises a left magnet (1), a flexible unit (2), a rigid left vertical rod (3), a rigid cross rod (4), a magnetic material (5), a right magnet (6), a displacement sensor (7), a rigid right vertical rod (8) and a base (9);
the left side montant of rigidity, rigidity right side montant stands respectively on the left and right sides of base, both ends about the left side montant of rigidity, both ends respectively set up a flexible unit about the right side montant of rigidity, every flexible unit is connected to rigidity horizontal pole or base through rigid structure, both ends set up a magnetic material respectively about the rigidity horizontal pole, left side magnet sets up the left side at this magnetic material with the magnetic material interval distance D of rigidity horizontal pole left end, the magnetic material interval distance D of right side magnet and rigidity horizontal pole right-hand member sets up the right side at this magnetic material, at left side magnet, near right side magnet is equipped with displacement sensor respectively.
2. An electromagnetic drive control system for a flexure mechanism according to claim 1, wherein: the magnetic material is an iron sheet or soft magnet.
3. An electromagnetic drive control system for a compliant mechanism according to claim 1 characterized by: the rigid structure is a rigid rod.
4. An electromagnetic drive control system for a compliant mechanism according to claim 1 characterized by: the left side and the right side of the base are respectively provided with a double-layer support, and the top ends of the front layer and the rear layer of each double-layer support are provided with a displacement sensor.
5. An electromagnetic drive control system for a flexure mechanism according to claim 1, wherein: the flexible unit is a flexible hinge or a thin spring.
6. An electromagnetic drive control system for a flexure mechanism according to claim 1, wherein: the flexible unit is made of beryllium bronze, and the rigid left vertical rod, the rigid cross rod, the rigid right vertical rod and the base are made of aluminum alloy.
7. An electromagnetic drive control system for a flexure mechanism according to claim 6, wherein: the displacement sensor is a potentiometer type sensor.
8. An electromagnetic drive control system for a compliant mechanism according to claim 7 characterized by: the left magnet and the right magnet are voltage-stabilizing direct current electromagnets.
9. The operating method of an electromagnetic drive control system for a flexible mechanism according to claim 1, characterized in that: which comprises the following steps:
(1) Pressing down a direction key;
(2) The controller identifies the displacement, and when the displacement of the flexible structure deviates, the controller can generate a corresponding control action to eliminate the deviation, so that the displacement control is more accurate;
(3) The voltage of the electromagnet is subjected to closed-loop control by adopting a PWM (pulse width modulation) technology and a PID (proportion integration differentiation) control technology, and the duty ratio of voltage output is accurately calculated by applying a PID algorithm, so that the aim of accurately regulating the voltage is fulfilled;
(4) Controlling the on-off of the switch, outputting pulse signals with different duty ratios, and outputting corresponding current values;
(5) The relay controls the left electromagnet and the right electromagnet to work independently, the displacement is set to be right positive and left negative, when the displacement is positive, the relay does not work, the switch is always positioned at the right position,
the right electromagnet is continuously controlled by the singlechip; when the displacement is negative, the single chip outputs a signal to a pin of the relay, the relay works, the switch is in the left position, the electromagnet on the left works at the moment, and the electromagnet on the right is turned off, so that the control purpose is achieved;
(6) The electromagnet attracts the flexible unit;
(7) The flexible unit generates displacement change;
(8) The displacement sensor detects the displacement change;
(9) When the deviation is smaller than the specified value, the voltage is controlled by the chip to be unchanged, so that dead circulation is avoided.
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| CN202210886213.3A CN115328219A (en) | 2022-07-26 | 2022-07-26 | Electromagnetic drive control system and method for flexible mechanism |
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| CN202210886213.3A CN115328219A (en) | 2022-07-26 | 2022-07-26 | Electromagnetic drive control system and method for flexible mechanism |
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| CN213653285U (en) * | 2020-10-10 | 2021-07-09 | 海南大学 | Flexible limit for height fence of early warning function adjustable has |
-
2022
- 2022-07-26 CN CN202210886213.3A patent/CN115328219A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090120466A1 (en) * | 2005-06-30 | 2009-05-14 | Kazuyoshi Eshima | Washing Device and Washing Method |
| US20100180884A1 (en) * | 2009-01-22 | 2010-07-22 | Kenneth Oosting | Actuated solar tracker |
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| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
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