CN106768769B - A feedback control vibration table based on stepper motor - Google Patents
A feedback control vibration table based on stepper motor Download PDFInfo
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- CN106768769B CN106768769B CN201710168699.6A CN201710168699A CN106768769B CN 106768769 B CN106768769 B CN 106768769B CN 201710168699 A CN201710168699 A CN 201710168699A CN 106768769 B CN106768769 B CN 106768769B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- General Physics & Mathematics (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a kind of feedback-controlled vibration platform based on stepper motor, the shake table includes shake table body and controller, shake table body by stepper motor, shaft coupling, determine guide rail, vibration table, quadrature decoder and pedestal and form, control system is made of single-chip microcontroller and demodulator.The shake table is driven using stepper motor, and control system is adjusted using feedback control, overcomes the problems such as existing shake table volume is big, initialization of calibration is complicated, upgrade cost is high.
Description
Technical field
The invention belongs to vibration test technology fields, and in particular to a kind of feedback-controlled vibration platform based on stepper motor,
The vibration detection and test that it is suitable for carrying out in vibration detection and instrumental calibration.
Background technique
In vibration detection and instrumental calibration field, often need shake table as vibration test or the vibration source of instrument calibration.
Such as in some vibration tests, need to generate specified vibration signal, such as seismic signal, to determine test using shake table
Response of the object under the excitation, and then determine the parameter of subjects.Shake table is also commonly applied to instrument calibration, for example,
When vibration pickup is calibrated, shake table generates the sensor that vibrational excitation signal inputs to vibration pickup, passes through the input of measurement sensor
With output, the parameter of sensor is obtained.Shake table vibration control at present mostly uses air-float guide rail to cooperate laser regulation technology, the skill
Art has the following problems:
1. volume is big, for air-float guide rail since structure is complicated, the accuracy of manufacture requires height, causes instrument projected area big, occupies
Space is bigger than normal；
2. instrument initialization of calibration intricate operation, for air-float guide rail under the action of irregularity, acceleration transducer amplitude-frequency is bent
Line will deviate from theoretic flat line, reduces direction along frequency, occurs upwarping or dropping phenomenon, serious to reduce vibration calibration essence
Degree, therefore the smooth situation of guide rail need to be being measured with linear grating ruler using preceding, it influences to compensate caused by guide rail irregularity；
3. maintenance, use cost are high, air-float guide rail uses air as lubricant medium, since air has compressibility,
Compared to the guide rail of other media, bearing capacity, pressure distribution, kinetic damping etc. are more vulnerable to the influence such as internal and external factor, so gas
Requirement of the floating guide rail shake table to storage and use environment, performance maintenance is all very high；
4. function upgrading is at high cost, air-float guide rail shake table is by structural limitation, 100-500Hz medium-high frequency range internal vibration essence
Degree is high, and low-frequency range internal vibration precision substantially reduces；To realize low-frequency vibration, air-float guide rail structure and vibration side need to be changed
Formula, i.e. hardware need to be replaced therewith.
The presence of the above problem constrains the utilization rate and application range of shake table, with vibration detection technology significantly
Universal, strong applicability, use and maintenance cost are low, the demand that upgrades and operate convenient and fast vibration detection instrument is higher and higher.
Summary of the invention
Needs based on reality and production practices, the applicant put into substantial contribution and study for a long period of time, provide a kind of base
In the feedback-controlled vibration platform of stepper motor, the feedback-controlled vibration platform of the invention based on stepper motor not only overcomes existing
Technology above shortcomings, and it is small in size, and initialization is simple, and maintenance cost is low, and instrument upgrading is convenient.
Technical solution according to the present invention provides a kind of feedback-controlled vibration platform based on stepper motor comprising vibration
Platform body and controller；Wherein shake table body is by stepper motor, shaft coupling, lead screw, vibration table, quadrature decoder and pedestal
Composition, controller are made of control system and demodulator；Controller is used to generate the impulse waveform of control motor movement；Stepping electricity
Machine is fixed on vibration sewing platform base, and for driving lead screw to generate vibration, pedestal self weight is not less than 100kg；Shaft coupling is fixed on base
On seat, for matching stabilization of speed output；Lead screw is connected to motor by shaft coupling, for providing vibration rail for vibration table
Mark；Table top is connected by surface rack with lead screw and lead screw auxiliary frame, for carrying tested device；Vibration table stroke is reachable
500mm (millimeter) or more, shake table low-frequency range output frequency can reach the seconds up to a hundred.
Wherein, lead screw top installs quadrature decoder additional, for capturing shake table vibration velocity, and feeds back in controller
Single-chip microcontroller and formation feedback regulation.PWM modulation algorithm is modulated using dual timer in single-chip microcontroller, and dual timer is respectively used to segment
Number of motor steps and change rate.Direct memory access (DMA) is used in AD acquisition function in controller, is not take up CPU interruption.
It is 260W with stepper motor power, Design of Stepper Motor Subdivision step number is up to 2x106Step/circle, selected lead screw spacing are 5mm, then stepping
Motor single step pulse resolution ratio is 2.5x10-6Mm/ step.Vibration table uses clipping type fixed structure, by two be symmetrically installed
It is slidably T-shaped to clasp frame composition, the T-shaped position for clasping frame is adjusted, tested instrument is clamped in two and is clasped among frame.
Further, the feedback regulation uses back production filtering method, i.e., returns shake table monitoring data in real time, utilizes
Goertzel transformation or Short Time Fourier Transform filter resonance and lateral vibration noise, guarantee shake table output accuracy.The shake table
Face uses lattice structure, the direct stress that enhancing table top can be born.
Compared with prior art, advantage is feedback-controlled vibration platform based on stepper motor of the invention:
1. vibration table stroke is up to 500mm or more, compared to air-flotation type shake table, stroke increases hundreds of times, makes above-mentioned
Shake table low-frequency range output frequency is widely used up to the seconds up to a hundred for 10Hz or less low frequency measurement；
2. small in size, easy to carry and placement can be provided to various experimental situations and engineering site with demand, reduce fortune
Defeated cost and risk in transit；
3. initialization is simple, without carrying out laser calibration before test；
4. maintenance cost is low, low to ambient humidity and the requirement of dirt degree, mechanical structure simplifies, and is less prone to failure and abrasion；
5. instrument upgrading is convenient, since control function is by software realization, instrument upgrading can be completed by software upgrading, is not necessarily to
Replace air-floating apparatus.
Detailed description of the invention
Fig. 1 is the feedback-controlled vibration platform structural schematic diagram based on stepper motor according to the present invention；
Fig. 2 is the system block diagram of the feedback-controlled vibration platform based on stepper motor according to the present invention；
Fig. 3 is that feedback-controlled vibration bench control system of the present invention is used using the comparison of wave shape before and after dual timer algorithm
Figure；
Fig. 4 is the interface circuit schematic diagram of the step actuator of feedback-controlled vibration platform of the invention；
Fig. 5 is the vibration table structural schematic diagram of feedback-controlled vibration platform of the invention.
Wherein, 1 is shake table body, and 2 be fixing bolt, and 3 be shake table backboard, and 4 be lead screw, and 5 be lead screw auxiliary frame, 6
It is lead screw auxiliary rod for lead screw auxiliary frame bolt, 7,8 be motor fixing plate, and 9 be motor, and 10 be motor support column, and 11 be vibration
Platform bottom plate, 12 be lead screw backboard, and 13 be quadrature decoder, and 14 be lead screw auxiliary rod bolt, and 15 be vibration table, and 16 be shake table
Surface backplate, 17 be shaft coupling, and 18 be backboard bolt, and 19 be motor support column bolt, and 20 be Foundation anchor bolts, and 21 be leveling spiral shell
Bolt, 22 be motor connecting interface, and 23 be orthogonal interface decoder, and 24 be controller, and 25 be power supply line, and 26 be L-type clamping frame, 27
Bolt is adjusted to compress, 28 clasp frame for T font, and 29 be slide rail, and 30 be slide bolt, and 31 be slide rail.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
As shown in Figure 1, being the feedback-controlled vibration platform three-dimensional structure diagram of the invention based on stepper motor, mainly by vibrating
The two parts such as platform body 1 and controller 24 composition.Wherein, control system is used to generate control motor oscillating in the controller 24
Impulse waveform, and receive shake table feedback velocity information；After the demodulated device demodulation of impulse waveform, directly control
Motor operation.Shake table body 1 carries unit under test, while vibrating to 24 Real-time Feedback of controller for completing vibration motion
Information.In shake table body 1, stepper motor 9 is fixed on bottom plate 11, for driving lead screw 4 to generate vibration；Shaft coupling 17 it is defeated
Enter end to be connected with 9 output end of stepper motor, for matching stabilization of speed output；Lead screw 4 is connect with 17 output end of shaft coupling, is used for
Oscillation trajectory is provided for vibration table 15；Table top 15 is connected by table top backboard 16 with lead screw 4 and lead screw auxiliary rod 7, for holding
Carry tested device.Shake table installs quadrature decoder 13 additional, is fixed by bolts on pedestal, for capturing shake table vibration velocity,
And single-chip microcontroller is fed back to, form feedback regulation.Feedback regulation uses high speed acquisition algorithm, utilizes DMA (the direct memory of single-chip microcontroller
Access technique), the standard sine signal look-up table of storage is directly read, frequency sine signal needed for generating；Or feedback regulation
Using back production filtering method, i.e., shake table monitoring data are returned in real time, Goertzel transformation or Short Time Fourier Transform is utilized to filter
Fall resonance and lateral vibration noise, guarantees shake table output accuracy.PWM modulation algorithm is modulated using dual timer in single-chip microcontroller, respectively
For segmenting number of motor steps and changing rate.Vibration table uses lattice structure, the direct stress that enhancing table top can be born.
Specifically, as shown in Figure 1, the pedestal of shake table body 1 is made of horizonal base plate 11 and vertical backboard 3, for drop
The mode of low resonance, bottom plate and backboard welding is processed as one, and total weight is not less than 100kg.Four tops of square floor
Respectively there is a leveling bolt 21 at point, the levelness for regulating base board.Four side midpoint of bottom plate respectively has a confinement bolt 20,
For shake table body 1 to be fixed with ground.11, four motor support columns 10 of bottom plate, motor fixing plate 8 are used to fix motor 9,
Motor 9 is bolted on motor fixing plate 8, motor fixing plate and four 18 close-fittings of bolt of motor support column 10, motor
18 other end of support column is fixed by bolts on shake table bottom plate 11, is fixed so that motor 9 is fixed on bottom plate 11 with motor
Between plate 8.The circular hole that motor output end passes through 8 center of motor fixing plate is connected with 17 input terminal of shaft coupling；Shaft coupling 17 exports
Lead screw 4 is terminated, the lead screw auxiliary rod 7 parallel with lead screw 4 is used to assist the motion profile of 4 stable vibration table top 15 of lead screw, lead screw
The upper and lower ends of auxiliary rod 7 are fixed on lead screw auxiliary frame 5 by bolt 14, and lead screw auxiliary frame 5 is fixed on lead screw by bolt 6
On backboard 12；Lead screw backboard 12 is distinguished by bolt and 8 vertical connection of motor fixing plate, motor fixing plate 8 and lead screw backboard 12
It is fixed in shake table vertical back-panel 3 by bolt 18 and bolt 2, for reducing resonant component when shake table work.Lead screw 4
Using helicitic texture, vibration table backboard 16 is coupled by the inner threaded surface of its central through hole with lead screw, and motion profile is by silk
Thick stick control；The through-hole of internal thread through hole both sides is passed through for lead screw auxiliary rod 7, the motion profile for stable vibration table top 15.Silk
The other end connection quadrature decoder 13 of thick stick 4 is sent out output information by connecting interface 23 for obtaining shake table output information
It send to controller 24.
Controller is made of control system and demodulator, and control system is used to generate the sinusoidal signal of required frequency, and leads to
Cross the impulse waveform that PWM modulation algorithm generates control motor oscillating；After the demodulated device demodulation of impulse waveform, pass through line
Interface 22 is output to motor side, controls the output information of motor 9；Since the original vibration that motor generates includes one or more more
High-frequency harmonic reduces vibration stated accuracy, therefore shaft coupling 17 is accessed to the output end of motor 9, defeated for matching stabilization of speed
Out, harmonic components are reduced, vibration precision is improved.The output information of shaft coupling 17 passes to vibration table 15 by lead screw 4, is used for
It controls vibration table and generates vibration, complete output.
Since the shake table is using rigidity coupling, according to open-loop control system, then resonance wave is larger when running, noise
It is on the high side and can not regulate and control.Shake table of the present invention introduces quadrature decoder (QEI), as described above, QEI is fixed by bolts to base
On seat, input terminal connects lead screw, by capturing the relative position information for having symbol rate and rotor of lead screw, regularly by the letter
Breath is back to single-chip microcontroller, single-chip microcontroller combination feedback information and input parameter via interfaces of connecting wires 23 by the A/D module in 8 channels,
PWM waveform is adjusted, feedback control is formed.Closed-loop control system block diagram as described above is as shown in Figure 2.
When the single-chip microcontroller generates vibrational waveform according to specified parameter, using dual timer modulation (PWM) (pulse width tune
System) algorithm, to improve stepper motor low-frequency oscillation, speed change it is too fast when cause the performance indicators such as step-out.PWM algorithm is with a system
Column amplitude is equal and width not equal burst pulse, instead of sine wave or the algorithm of waveform needed for other.Adjust its duty ratio
Adjust corresponding output waveform；And for set waveform, it adjusts pulse step number and step number segments mode, output waveform essence can be improved
Degree reduces step out of stepping motor rate.Dual timer modulation is exactly to enable two PWM timers, one of them is for controlling PWM
Step number is segmented, increases number of pulses in the monocycle, makes output waveform reduction degree highest as far as possible；Another timer is used for controlling party
Wave generates rate, keeps stepper motor rate variation in high-frequency work smoother, reduces step-out rate.Dual timer modulation (PWM) effect
Fruit comparison such as Fig. 3.
The pulse signal that the demodulator is used to send controller is converted into the angular displacement of stepper motor.The shake table
It selects 3ND1183 type step actuator as demodulator, stepping electricity is accurately controlled by control wave and direction signal
Machine rotation direction and angular displacement.The driver uses differential type interface circuit, applicable differential signal, and single-ended common-anode connects
Mouthful, it is built-in to tell photoelectrical coupler, allow to receive line driver, strong antijamming capability.It is exported in open collector and PNP
Under the conditions of, interface circuit schematic diagram such as Fig. 4.
The quadrature decoder is 100V/ms as its sensitivity of sensor-1, maximum output value 1V, then maximum speed
For 0.01m/s, demodulator output frequency is maximum impulse frequency when shake table reaches maximum speed.If shake table anticipated output frequency
Rate is 0.5Hz, this control system presets waveform in a cycle and does 200 equal parts, then each equal part is corresponding
Wherein Δ T is the duration of systemic presupposition unit equal part, and f is shake table output frequency, and N is systemic presupposition monocycle etc.
Divide space-number, the displacement of speed maximum is
smax=vmax× Δ T=0.01m/ s × 0.01s=0.0001m
Wherein SmaxDisplacement when for motor maximum speed in Δ T time, vmaxFor motor maximum movement speed,
According to lead screw spacing 5mm, demodulator maximum segments 20000 steps of step number/circle, can obtain single step displacement
Wherein dis is demodulator single step displacement,
Subdivision step number at maximum speed is
Wherein Cnt is motor with maximum speed operation SmaxStep number needed for being displaced demodulator,
Then one of demodulator important parameter maximum output pulse frequency is
Wherein vpulFor demodulator maximum output pulse frequency.
In feedback regulation described in content 2, using DMA (direct memory access) data acess method, it allows friction speed
Hardware device directly link up, without depend on CPU great amount of terminals load, this mode of operation allow processor by
Again scheduling goes to handle other work.By taking the CPU duty cycle is 1.2us as an example, the memory access period is less than 0.6us, then one
A cpu cycle can be divided into two points of all devices, and vacant point of all device out specializes in DMA access, forms a kind of efficient work side
Formula.
In feedback regulation described in content 2, using back production filtering method, i.e., shake table monitoring data are returned in real time, utilized
Goertzel transformation or Short Time Fourier Transform filter resonance and lateral vibration noise, guarantee shake table output accuracy.
The vibration table uses clipping type fixed structure, and structural schematic diagram is as shown in Figure 5.Specifically, vibration table
It is symmetrically opened on 15 there are two long stripes through hole 31, as the sliding rail for embracing clamping structure.Clamping structure is embraced by symmetrically placed on sliding rail
Two T fonts clasp frame 28, be fixed on T font clasp on frame 28 1 L-type clamping frame 26, adjust bolt 27 and slide bolt
30 compositions.When tested instrument 32 is placed on vibration table 15, T font is slided along guide rail 31 and clasps frame 28, makes its left and right jam-packed
Tested instrument 32, tightens the slide bolt 30 that T font clasps frame bottom, and fixed T font clasps position of the frame 28 on vibration table
It sets.The sliding rail 29 on frame is clasped along T font again and slides up and down L-type clamping frame 26, so that it is compressed tested instrument, is tightened adjusting bolt
27, L-type compression rack position is fixed.To which the consistency for guaranteeing that tested instrument motion profile and vibration table export is good.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope that the embodiment of the present invention discloses, the variation that can readily occur in or
Replacement, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection of claim
Subject to range.
Claims (4)
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| CN201710168699.6A CN106768769B (en) | 2017-03-21 | 2017-03-21 | A feedback control vibration table based on stepper motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2728485C1 (en) * | 2019-12-13 | 2020-07-29 | Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский университет "Московский институт электронной техники" | Method for multifunctional diagnostics of bearing assemblies and device for its implementation in integral version |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655219B (en) * | 2019-01-15 | 2021-06-01 | 武汉菲仕运动控制系统有限公司 | Method and system for controlling vibrating table |
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| CN106768769A (en) | 2017-05-31 |
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