CN110441042B - A HEPS-TF high-precision bracket locking force calibration system and method - Google Patents

Abstract

The invention relates to a HEPS-TF high-precision bracket locking force calibration system and method, belongs to the technical field of locking mechanism calibration, and solves the problem in the prior art that the output compression force of the locking mechanism cannot be directly monitored and controlled. The system includes: a controller for controlling the start, stop, forward and reverse rotation of the brushless DC motor; the brushless DC motor, which is connected with the wedge block through the lead screw, and drives the wedge block to be positive in the direction parallel to the lead screw. Move in the forward direction or in the reverse direction; the pressure sensor fixed at the position where the wedge-shaped block moves forward, measures the pressing force generated by the movement of the wedge-shaped block; the voltage measurement circuit measures the working voltage of the brushless DC motor in real time; the processor, according to the measurement The corresponding relationship between the working voltage and the pressing force of the brushless DC motor can be obtained from the obtained pressing force and working voltage, so that the HEPS‑TF high-precision bracket locking force can be calibrated using the corresponding relationship. High-precision calibration of the HEPS‑TF bracket locking force is achieved, and the entire bracket can be automatically controlled and adjusted.

Description

A HEPS-TF high-precision bracket locking force calibration system and method

technical field

The invention relates to the technical field of locking mechanism calibration, in particular to a HEPS-TF high-precision bracket locking force calibration system and method.

Background technique

The high-precision adjustment bracket in the high-energy synchrotron radiation source verification device (HEPS-TF) is a device used to support, precisely adjust and position various magnets such as quadrupole magnets and hexapole magnets. Sexual requirements are very high, and it is one of the key equipment and technologies that HEPS-TF focuses on.

In the prior art, a locking mechanism is designed between the bracket of the high-precision bracket adjustment system and the side wall of the base, which can meet the requirements of the overall connection rigidity and natural frequency of the device, but cannot determine the actual output of the locking mechanism. force. However, in the HEPS-TF high-precision bracket adjustment system, a total of 8 sets of locking mechanisms are used on both sides of the bracket to increase the connection rigidity between the bracket body and the base, and it needs to be locked after the online adjustment of the bracket is completed. Work. Therefore, for the control of the locking mechanism, it is necessary to not only ensure that the natural frequency of the entire system meets the index requirements after locking, but also ensure that the pressing force output by any one of the eight sets of mechanisms during the locking process and the pressing force of other mechanisms It cannot be too large or too small, and the locking process of each mechanism is synchronized. This requires monitoring and control of the pressing force output by each locking mechanism.

Since the bracket body needs to be adjusted online, the pressure sensor cannot be fixedly installed between the locking mechanism and the bracket body, so the monitoring and control of the output pressing force of the locking mechanism cannot be directly realized.

SUMMARY OF THE INVENTION

In view of the above analysis, the present invention aims to provide a HEPS-TF high-precision bracket locking force calibration system and method to solve the problem of the compression force calibration of the locking mechanism of the high-precision bracket control system.

In one aspect, the present invention provides a HEPS-TF high-precision bracket locking force calibration system, which includes:

The controller is used to control the start, stop and forward and reverse rotation of the brushless DC motor;

The brushless DC motor is connected with the wedge block through the lead screw, and is used to drive the wedge block to move forward or reversely in the direction parallel to the lead screw;

The pressure sensor fixed at the position where the wedge-shaped block moves in the forward direction is used to measure the pressing force generated by the movement of the wedge-shaped block;

Voltage measurement circuit for real-time measurement of the working voltage of the brushless DC motor;

The processor is used to obtain the corresponding relationship between the working voltage and the pressing force of the brushless DC motor according to the measured pressing force and the working voltage, so as to use the corresponding relationship to calibrate the locking force of the HEPS-TF high-precision bracket.

Further, a limit switch is also included. The limit switch includes a forward rotation limit switch and a reverse rotation limit switch, which are respectively fixed at the safe positions of the forward movement and reverse movement of the wedge block to limit all The forward safe moving distance and the reverse safe moving distance of the wedge block.

Further, it also includes a forward and reverse rotation switch, and the controller controls the forward rotation or reverse rotation of the brushless DC motor by controlling the forward and reverse rotation switches;

The controller includes a digital input module for collecting the forward and reverse switching signals:

When the forward/reverse switch is in the forward state, the forward/reverse switch signal collected by the digital input module is "on"; when the forward/reverse switch is in the reverse state, the digital input The forward and reverse switching signal collected by the module is "off".

Further, the digital input module is also used to collect limit switch signals, and the limit switch signals include a forward rotation limit switch signal and a reverse rotation limit switch signal, specifically:

When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal collected by the digital input module is "0"; when the brushless DC motor drives the wedge block When moving to a safe position, the limit switch contacts are closed, and the limit switch signal collected by the digital input module is "1".

Further, the controller also includes a digital output module for controlling the start, stop and forward direction of the brushless DC motor according to the forward and reverse switch signals and limit switch signals collected by the digital input module. , reverse rotation, specifically:

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates forward;

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor;

When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates in the reverse direction;

When the forward and reverse rotation switch signal is "off" and the reverse rotation limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor.

Further, the controller also includes an analog output module, an analog input module and a serial communication module;

The analog input module is used to collect the working voltage of the brushless DC motor measured in real time by the voltage measurement circuit;

The serial communication module is used to collect the pressing force data measured by the pressure sensor in real time;

The analog output module is used to set the starting voltage of the brushless DC motor.

According to the above-mentioned technical scheme, the beneficial effects of the present invention are as follows:

1. The corresponding relationship between the working voltage and the pressing force of the brushless DC motor is determined through this system, and the locking force of the HEPS-TF high-precision bracket is calibrated by adjusting the working voltage according to the corresponding relationship. Under the joint locking action of 8 sets of locking mechanisms, the automatic control and adjustment of the entire bracket can be realized under the condition that the bracket meets the natural frequency requirements.

2. In the HEPS-TF high-precision bracket adjustment system, multiple sets of locking mechanisms need to be used during formal installation. Due to the errors in the process of machining and assembling, the consistency of the output pressing force of each set of mechanisms will be poor. Using this calibration system, all the locking mechanisms produced can be calibrated and calibrated, and a locking mechanism with relatively high consistency can be selected for formal installation to improve the calibration accuracy.

On the other hand, the present invention provides a HEPS-TF high-precision bracket locking force calibration method, comprising the following steps:

Fix the pressure sensor at the position where the wedge block moves forward;

During the working process of the brushless DC motor, the working voltage of the brushless DC motor and the pressing force generated by the movement of the wedge block driven by the brushless DC motor under the working voltage are measured in real time, so as to obtain the working voltage of the brushless DC motor The corresponding relationship with the pressing force;

When adjusting the HEPS-TF high-precision bracket, according to the corresponding relationship, the locking force of each locking mechanism is adjusted by adjusting the working voltage of the brushless DC motor in real time.

Further, the brushless DC motor is connected with the wedge block through a lead screw, and the pressing force generated by the movement of the wedge block is measured by a pressure sensor fixed at the position where the wedge block moves in the forward direction.

Further, it also includes parameter initialization settings before the brushless DC motor works;

During the working process of the brushless DC motor, the method further includes acquiring the start-stop signal, the forward and reverse rotation switch signals and the limit switch signals of the brushless DC motor;

According to the start-stop signal, the forward/reverse switch signal and the limit switch signal, the brushless DC motor is controlled to start and rotate forward or reversely, or the brushless DC motor is controlled to stop.

Further, when in the forward rotation state, the forward and reverse rotation switch signal is "on", and when in the reverse rotation state, the forward and reverse rotation switch signal is "off";

When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal is "0". When the brushless DC motor drives the wedge block to move to a safe position, The limit switch contact is closed, and the limit switch signal collected by the digital input module is "1";

The control of the brushless DC motor to start, and to rotate forward or reversely, or to control the brushless DC motor to stop according to the start-stop signal, the forward/reverse switch signal and the limit switch signal, includes:

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates forward;

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor;

When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates in the reverse direction;

When the forward/reverse switch signal is "off" and the reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor.

Since the HEPS-TF high-precision bracket locking force calibration method in the present invention has the same principle as the above-mentioned HEPS-TF high-precision bracket locking force calibration system, the method also has technical effects corresponding to the above-mentioned system.

Additional features and advantages of the invention will be set forth in the description which follows, and some of the advantages may become apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by means of particularly pointed out in the description and drawings.

Description of drawings

The drawings are for the purpose of illustrating specific embodiments only and are not to be considered limiting of the invention, and like reference numerals refer to like parts throughout the drawings.

Fig. 1 is the schematic diagram of the pressing force calibration system of the locking mechanism;

FIG. 2 is a flow chart of a method for calibrating the pressing force of the locking mechanism.

Detailed ways

The preferred embodiments of the present invention are specifically described below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present application, and together with the embodiments of the present invention, are used to explain the principles of the present invention, but are not used to limit the scope of the present invention.

The high-precision bracket adjustment system in the high-energy synchrotron radiation source verification device (HEPS-TF) mainly includes the base, the bracket body, the cam motion mechanism, the locking mechanism, and the control system. The cam motion mechanism and the locking mechanism are both installed on the base. The cam motion mechanism provides support for the bracket body and cooperates with the universal ball through the cam to realize online adjustment under the drive of the remote control program. When the accelerator is running, in order to increase the stability of the beam current, the support body is required to have high stability, which can avoid the interference of factors such as ground vibration. Therefore, a locking mechanism is designed between the bracket and the side wall of the base to provide a suitable pressing force on the bracket body in the normal direction, so as to meet the requirements of the accelerator on the natural frequency of the bracket. In addition, a total of 8 sets of locking mechanisms are used on both sides of the bracket to increase the connection rigidity between the bracket body and the base, and the locking work should be performed after the online adjustment of the bracket is completed.

The bracket body needs to be adjusted online. However, since the pressure sensor cannot be fixedly installed between the wedge block of the locking mechanism and the bracket body, the locking force of each locking mechanism cannot be directly obtained.

System embodiment

A specific embodiment of the present invention discloses a HEPS-TF high-precision bracket locking force calibration system, as shown in FIG. 1 , the system includes:

The controller is used to control the start, stop and forward and reverse rotation of the brushless DC motor;

The brushless DC motor is connected with the wedge block through the lead screw, and is used to drive the wedge block to move forward or reversely in the direction parallel to the lead screw;

The pressure sensor fixed at the position where the wedge-shaped block moves in the forward direction is used to measure the pressing force generated by the movement of the wedge-shaped block;

Voltage measurement circuit for real-time measurement of the working voltage of the brushless DC motor;

The processor is used to obtain the corresponding relationship between the working voltage and the pressing force of the brushless DC motor according to the measured pressing force and the working voltage, so as to use the corresponding relationship to calibrate the locking force of the HEPS-TF high-precision bracket.

The above-mentioned processor can be arranged in the control computer, and the control computer is connected with the controller through the communication bus, and the controller receives the control command signal sent by the control computer and performs the corresponding operation, and receives the collected pressing force and the collected pressing force sent by the controller. Operating voltage for brushless DC motors.

Considering that in the whole high-precision bracket control system, only the working voltage signal of the brushless DC motor designed and used in the locking mechanism can be directly controlled and measured. Therefore, the calibration system of the output pressing force of the locking mechanism is used to determine The relationship between the pressing force output by the locking mechanism and the working voltage signal of the brushless DC motor, the locking mechanism is controlled by using the above corresponding relationship to ensure that the final natural frequency of the entire system meets the index requirements after locking, and the locking process The pressing force output by any one of the 8 sets of mechanisms is the same or similar to the pressing force of other mechanisms, so that the locking process of each locking mechanism is synchronized.

In order to ensure that the wedge block moves within the maximum movable safety distance, the system is also provided with a limit switch. The limit switch includes a forward limit switch and a reverse limit switch, which are respectively fixed to the forward movement and the reverse limit switch of the wedge block. The safe position of the reverse movement is used to limit the forward safe movement distance and the reverse safe movement distance of the wedge block.

In the calibration system, in order to realize the function of increasing the pressing force or reducing the pressing force, the system is also provided with a forward and reverse rotation switch, and the controller controls the forward and reverse rotation of the brushless DC motor by controlling the forward and reverse rotation switch. Forward rotation or reverse rotation; and forward rotation is the direction of increasing the pressing force, and reverse rotation is the direction of reducing the pressing force.

The controller includes a digital input module for collecting the forward and reverse switching signals:

When the forward/reverse switch is in the forward state, the forward/reverse switch signal collected by the digital input module is "on"; when the forward/reverse switch is in the reverse state, the digital input The forward and reverse switching signal collected by the module is "off".

Specifically, the digital input module is also used to collect limit switch signals, and the limit switch signals include a forward rotation limit switch signal and a reverse rotation limit switch signal, specifically:

When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal collected by the digital input module is "0"; when the brushless DC motor drives the wedge block When moving to a safe position, the limit switch contacts are closed, and the limit switch signal collected by the digital input module is "1".

Preferably, the controller further includes a digital output module for controlling the start, stop and forward direction of the brushless DC motor according to the forward and reverse switch signals and limit switch signals collected by the digital input module , reverse rotation, specifically:

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates forward;

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor;

When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates in the reverse direction;

When the forward and reverse rotation switch signal is "off" and the reverse rotation limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor.

Optionally, the enable switch and the forward/reverse switch can be implemented by a relay switch. Since the high-precision bracket adjustment system includes 8 sets of locking mechanisms, the controller can choose an input and output module including multiple channels, such as an 8-channel digital output module, which is used to output 8 switch signals and control 8 relay switches respectively. . For the control of the enable switch and the forward and reverse switches, an 8-channel digital output module can be used to achieve independent control of the enable switch and the forward and reverse switches.

In order to measure the corresponding relationship between the working voltage of the brushless DC motor and the output pressing force, the controller further includes an analog output module, an analog input module and a serial port communication module;

The analog input module is used to collect the working voltage of the brushless DC motor measured in real time by the voltage measurement circuit; preferably, the voltage measurement circuit selects an I/V conversion circuit to be connected in series with the power supply circuit of the brushless DC motor;

The serial communication module is used to collect the pressing force data measured by the pressure sensor in real time;

The analog output module is used to set the starting voltage of the brushless DC motor.

Specifically, the starting voltage for the normal operation of the DC motor has a certain range. For example, the normal operating range of the brushless DC motor used in this system is 3V-24V. The motor will not be able to move if it is less than 3V, and the equipment may be burned if it is greater than 24V;

The voltage value can be directly set through the analog output module, and the voltage setting when the motor is started can be changed to measure the corresponding relationship between the working voltage of the brushless DC motor and the output pressing force in multiple starting voltage ranges, such as 3V-12V, 5V-8V , 8V-12V, etc. When the brushless DC motor is working, the data of the working voltage is not stable enough. By measuring several working intervals, the corresponding relationship can be more accurate and more accurate calibration can be achieved.

After the analog input module collects the working voltage data in real time, it corresponds to the pressing force data collected in real time by the serial port module for calibration.

The HEPS-TF high-precision bracket locking force calibration system in the embodiment of the present invention, on the one hand, determines the corresponding relationship between the working voltage of the brushless DC motor and the output pressing force, and adjusts the working voltage according to the corresponding relationship. TF high precision bracket locking force is calibrated. The automatic control and adjustment of the entire bracket can be realized under the joint locking action of 8 sets of locking mechanisms to ensure that the bracket meets the natural frequency requirements. On the other hand, in the HEPS-TF high-precision bracket adjustment system, multiple sets of locking mechanisms are required for formal installation. Due to the errors in the process of machining and assembling, the consistency of the output pressing force of each set of mechanisms will be poor. Using this calibration system, all the locking mechanisms produced can be calibrated and calibrated, and a locking mechanism with relatively high consistency can be selected for formal installation to improve the calibration accuracy.

Method embodiment

A specific embodiment of the present invention discloses a HEPS-TF high-precision bracket locking force calibration method, as shown in FIG. 2 , the method includes the following steps:

Fix the pressure sensor at the position where the wedge block moves forward;

During the working process of the brushless DC motor, the working voltage of the brushless DC motor and the pressing force generated by the movement of the wedge block driven by the brushless DC motor under the working voltage are measured in real time, so as to obtain the working voltage of the brushless DC motor The corresponding relationship with the pressing force;

When adjusting the HEPS-TF high-precision bracket, according to the corresponding relationship, the locking force of each locking mechanism is adjusted by adjusting the working voltage of the brushless DC motor in real time.

The above method may include a stage of offline determination of the relationship between the working voltage of the brushless DC motor and the pressing force, and a stage of online adjustment of the locking force.

Preferably, the brushless DC motor is connected with the wedge block through a lead screw, and the pressing force generated by the movement of the wedge block is measured by a pressure sensor fixed at the position where the wedge block moves in the forward direction.

Specifically, before the brushless DC motor works, it also includes parameter initialization settings; the default parameter settings are: the channel corresponding to the enable switch is "off", that is, the movement of the brushless DC motor is prohibited; the channel corresponding to the forward and reverse switches is "on", after starting, the brushless DC motor can rotate forward; the starting voltage is set to "3v"; and the state of the limit switch, the pressure sensor and the working voltage data are read at the initial time. In order to protect the equipment, it is necessary to switch and judge the forward and reverse switches first, and then judge the status of the limit switch. When the limit is not reached, the enable switch signal can be output, and the enable switch is turned on to start the motor movement.

During the working process of the brushless DC motor, the method further includes acquiring the start-stop signal, the forward and reverse rotation switch signals and the limit switch signals of the brushless DC motor;

According to the start-stop signal, the forward/reverse switch signal and the limit switch signal, the brushless DC motor is controlled to start and rotate forward or reversely, or the brushless DC motor is controlled to stop.

Specifically, when in the forward rotation state, the forward and reverse rotation switch signal is "on", and when in the reverse rotation state, the forward and reverse rotation switch signal is "off";

When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal is "0". When the brushless DC motor drives the wedge block to move to a safe position, The limit switch contact is closed, and the limit switch signal collected by the digital input module is "1";

The control of the brushless DC motor to start, and to rotate forward or reversely, or to control the brushless DC motor to stop according to the start-stop signal, the forward/reverse switch signal and the limit switch signal, includes:

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates forward;

When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor;

When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates in the reverse direction;

When the forward/reverse switch signal is "off" and the reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor.

The HEPS-TF high-precision bracket locking force calibration method in the embodiment of the present invention, on the one hand, determines the corresponding relationship between the working voltage of the brushless DC motor and the output pressing force, so as to adjust the working voltage according to the corresponding relationship. TF high precision bracket locking force is calibrated. The automatic control and adjustment of the entire bracket can be realized under the joint locking action of 8 sets of locking mechanisms to ensure that the bracket meets the natural frequency requirements. On the other hand, in the HEPS-TF high-precision bracket adjustment system, multiple sets of locking mechanisms are required for formal installation. Due to the errors in the process of machining and assembling, the consistency of the output pressing force of each set of mechanisms will be poor. Using this method, all the locking mechanisms produced can be calibrated and calibrated, and a locking mechanism with relatively high consistency can be selected for formal installation, so as to improve the calibration accuracy.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention.

Claims (10)

1. A HEPS-TF high-precision bracket locking force calibration system, the HEPS-TF includes a HEPS-TF high-precision bracket, a base, a cam motion mechanism, a locking mechanism and a control system, the HEPS-TF high-precision bracket The bracket is used to support, precisely adjust and position various magnets. It is characterized in that the HEPS-TF high-precision bracket locking force calibration system includes: The brushless DC motor is connected with the wedge block through a lead screw, and is used to drive the wedge block to move forward or reversely in a direction parallel to the lead screw; a controller for controlling the start, stop and forward and reverse rotation of the brushless DC motor; a pressure sensor fixed at the position where the wedge-shaped block moves in the forward direction, for measuring the pressing force generated by the movement of the wedge-shaped block; a voltage measurement circuit for measuring the working voltage of the brushless DC motor in real time; The controller includes an analog output module for setting the starting voltage of the brushless DC motor, so as to measure the working voltage of the brushless DC motor and the corresponding pressing force within a plurality of starting voltage ranges; The processor is used to obtain the corresponding relationship between the working voltage and the pressing force of the brushless DC motor according to the measured pressing force and the operating voltage, so as to use the corresponding relationship to accurately measure the HEPS-TF The bracket locking force is calibrated. 2. A HEPS-TF high-precision bracket locking force calibration system according to claim 1, further comprising a limit switch, the limit switch comprising a forward limit switch and a reverse limit switch , which are respectively fixed at the safe positions of the forward movement and the reverse movement of the wedge block, and are used to limit the forward safe movement distance and the reverse safe movement distance of the wedge block. 3. A HEPS-TF high-precision bracket locking force calibration system according to claim 2, characterized in that, further comprising a forward-reverse switch, and the controller controls the DC brushless by controlling the forward-reverse switch Forward or reverse rotation of the motor; The controller includes a digital input module for collecting the forward and reverse switching signals: When the forward/reverse switch is in the forward state, the forward/reverse switch signal collected by the digital input module is "on"; when the forward/reverse switch is in the reverse state, the digital input The forward and reverse switching signal collected by the module is "off". 4. A HEPS-TF high-precision bracket locking force calibration system according to claim 3, wherein the digital input module is also used to collect limit switch signals, and the limit switch signals include Forward limit switch signal and reverse limit switch signal, specifically: When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal collected by the digital input module is "0"; when the brushless DC motor drives the wedge block When moving to a safe position, the limit switch contacts are closed, and the limit switch signal collected by the digital input module is "1". 5. A HEPS-TF high-precision bracket locking force calibration system according to claim 4, wherein the controller further comprises a digital output module for The forward and reverse switch signals and the limit switch signals control the start, stop and forward and reverse rotation of the brushless DC motor, specifically: When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates forward; When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor; When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the digital output module controls the enable switch to start the brushless DC motor, and the brushless DC motor rotates in the reverse direction; When the forward and reverse rotation switch signal is "off" and the reverse rotation limit switch signal is "1", the digital output module controls the enabling switch to stop the brushless DC motor. 6. A HEPS-TF high-precision bracket locking force calibration system according to claim 5, wherein the controller further comprises an analog input module and a serial communication module; The analog input module is used to collect the working voltage of the brushless DC motor measured in real time by the voltage measurement circuit; The serial communication module is used to collect the pressing force data measured by the pressure sensor in real time. 7. A HEPS-TF high-precision bracket locking force calibration method. The HEPS-TF high-precision bracket is an integral part of the high-energy synchrotron radiation light source verification device HEPS-TF, and is used for supporting, precise adjustment and positioning of various magnets. The HEPS-TF high-precision bracket locking force calibration method includes the following steps: Fix the pressure sensor at the position where the wedge block moves forward; During the working process of the brushless DC motor, the working voltage of the brushless DC motor and the pressing force generated by the movement of the wedge block driven by the brushless DC motor under the working voltage are measured in real time, so as to obtain the working voltage of the brushless DC motor The corresponding relationship with the pressing force; Set the starting voltage of the brushless DC motor to obtain the corresponding relationship between the working voltage and the pressing force of the brushless DC motor in multiple starting voltage ranges; When adjusting the HEPS-TF high-precision bracket, according to the corresponding relationship, the locking force of each locking mechanism is adjusted by adjusting the working voltage of the brushless DC motor in real time. 8 . The method for calibrating the locking force of a HEPS-TF high-precision bracket according to claim 7 , wherein the brushless DC motor and the wedge-shaped block are connected by a lead screw, and are fixed to the wedge-shaped block by means of a lead screw. 9 . A pressure sensor at the position of the positive movement measures the pressing force produced by the movement of the wedge block. 9. A HEPS-TF high-precision bracket locking force calibration method according to claim 8, characterized in that, before the brushless DC motor works, it further comprises parameter initialization setting; During the working process of the brushless DC motor, the method further includes acquiring the start-stop signal, the forward and reverse rotation switch signals and the limit switch signals of the brushless DC motor; According to the start-stop signal, the forward/reverse switch signal and the limit switch signal, the brushless DC motor is controlled to start and rotate forward or reversely, or the brushless DC motor is controlled to stop. 10. A kind of HEPS-TF high precision bracket locking force calibration method according to claim 9, is characterized in that, When in the forward rotation state, the forward and reverse rotation switch signal is "on", and when in the reverse rotation state, the forward and reverse rotation switch signal is "off"; When the brushless DC motor drives the wedge block to move normally, the limit switch contacts are normally open, and the limit switch signal is "0". When the brushless DC motor drives the wedge block to move to a safe position, The limit switch contact is closed, and the limit switch signal is "1"; The control of the brushless DC motor to start, and to rotate forward or reversely, or to control the brushless DC motor to stop according to the start-stop signal, the forward/reverse switch signal and the limit switch signal, includes: When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates forward; When the forward/reverse switch signal is "on" and the forward/reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor; When the forward/reverse switch signal is "off" and the reverse rotation limit switch signal is "0", the control enable switch enables the brushless DC motor to start, and the brushless DC motor rotates in the reverse direction; When the forward/reverse switch signal is "off" and the reverse limit switch signal is "1", the control enable switch will stop the brushless DC motor.

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