阅读说明：本技术 一种使用音圈电机实现力闭环控制的系统和方法 (System and method for realizing force closed-loop control by using voice coil motor ) 是由 江永明 谢淑芳 黄华 苏郑奥希 于 2020-11-12 设计创作，主要内容包括：本发明公开了一种使用音圈电机实现力闭环控制的系统和方法,包括音圈电机、电源、控制器、力传感器,信号放大板、受测设备安装支架和转接板；电源分别与控制器和信号放大板电连接；控制器分别与音圈电机和力传感器电连接；力传感器固定安装于音圈电机的下方,将力传感器信号传输给信号放大板；信号放大板将力传感器信号放大后传输给转接板；转接板将放大后的力传感器信号转发给控制器；控制器根据接收到的力传感器信号发送相应的驱动控制信号给音圈电机。本发明通过直接在音圈电机下方安装力传感器,可以实时反馈力值给控制器,获取实时的力值,并输出力的数据,实现闭环控制。闭环控制下的力输出会更加稳定,还能实时调节力参数。(The invention discloses a system and a method for realizing force closed-loop control by using a voice coil motor, wherein the system comprises the voice coil motor, a power supply, a controller, a force sensor, a signal amplification board, a tested equipment mounting bracket and an adapter plate; the power supply is respectively electrically connected with the controller and the signal amplification board; the controller is respectively electrically connected with the voice coil motor and the force sensor; the force sensor is fixedly arranged below the voice coil motor and transmits a force sensor signal to the signal amplification board; the signal amplification board amplifies the force sensor signal and transmits the amplified signal to the adapter board; the adapter plate forwards the amplified force sensor signal to the controller; and the controller sends a corresponding driving control signal to the voice coil motor according to the received force sensor signal. According to the invention, the force sensor is directly arranged below the voice coil motor, so that the force value can be fed back to the controller in real time, the real-time force value is obtained, the force data is output, and the closed-loop control is realized. The force output under closed-loop control is more stable, and the force parameters can be adjusted in real time.)

1. A system for realizing force closed-loop control by using a voice coil motor is characterized in that: the voice coil motor is connected with the power supply through the power supply, and the power supply is connected with the controller through the power supply; the power supply is electrically connected with the controller and the signal amplification board through lines respectively, and provides stable voltage for the controller and the signal amplification board; the controller is respectively electrically connected with the voice coil motor and the force sensor through connecting wires; the force sensor is fixedly arranged below the voice coil motor, generates pressure with the tested equipment on the tested equipment mounting bracket under the driving of the voice coil motor, and transmits a force sensor signal to the signal amplification board through a connecting wire and the signal amplification board; the signal amplification board amplifies a force sensor signal and transmits the amplified signal to the adapter board; the adapter plate is electrically connected with the controller through a connecting wire and forwards the amplified force sensor signal to the controller; and the controller sends a corresponding driving control signal to the voice coil motor according to the received force sensor signal.

2. A system for closed loop control of force using a voice coil motor as claimed in claim 1, wherein: and an elastic supporting piece is arranged between the voice coil motor and the force sensor.

3. A system for closed loop control of force using a voice coil motor as claimed in claim 2, wherein: the elastic supporting pieces are springs, and the number of the elastic supporting pieces is more than 1.

4. A system for closed loop control of force using a voice coil motor as claimed in claim 1, wherein: the force sensor is a piezoelectric force sensor.

5. A system for closed loop control of force using a voice coil motor as claimed in claim 1, wherein: the power supply is a direct current power supply.

6. A system for closed loop control of force using a voice coil motor as claimed in claim 1, wherein: the controller also comprises a communication circuit, and the communication circuit is connected with the upper computer.

7. A method for realizing force closed-loop control by using a voice coil motor, which is based on the system realization method for realizing force closed-loop control by using the voice coil motor as claimed in any one of claims 1 to 6, and specifically comprises the following steps:

s1, the controller sends an initial motor driving signal to the voice coil motor;

s2, the voice coil motor starts to work according to the driving signal, and the driving force sensor moves towards the direction of the mounting bracket of the tested equipment;

s3, the force sensor sends a force sensor signal to the signal amplifier and the adapter plate in real time and feeds back the force sensor signal to the controller;

and S4, the controller adjusts the motor driving signal according to the received force sensor signal and the closed-loop control formula and transmits the motor driving signal to the voice coil motor.

Technical Field

The invention relates to the technical field of pressure detection, in particular to a system and a method for realizing force closed-loop control by using a voice coil motor.

Background

The Voice Coil linear Motor (Voice Coil Motor) is named because the structure of the Voice Coil linear Motor is similar to that of a loudspeaker, and has the characteristics of high frequency response and high precision. Such motors are classified into a cylindrical voice coil motor and a swing-type voice coil motor. Cylindrical voice coil motors are widely applied in the market. The motor has high acceleration rate, can generate strong power of 0.7N-1000N, and has stroke less than 50 mm. The motor is mainly applied to the fields of medical treatment, semiconductors, aviation, automobiles and the like, and comprises a valve brake, a small-sized precision replacement measuring instrument, a pressure detection, a vibration platform, an active vibration damping system and the like.

In the prior art, the most adopted control form of open loop current is that voice coil motor is used for the force control of pressure detection time, and this kind of mode can't feed back actual power value in real time, and can only return the current value to can not be timely under open loop control according to actual conditions change the output of electric current, lead to the stability of power not enough, the controllability is relatively poor.

Disclosure of Invention

The invention provides a system and a method for realizing force closed-loop control by using a voice coil motor, which solve the problems that in the prior art, the actual force value cannot be fed back in real time, only the current value can be returned, and the output of the current cannot be changed in time according to the actual condition under open-loop control, so that the force stability is insufficient and the controllability is poor.

The technical scheme of the invention is realized as follows:

a system for realizing force closed-loop control by using a voice coil motor comprises the voice coil motor, a power supply, a controller, a force sensor, a signal amplification board, a tested equipment mounting bracket and an adapter board; the power supply is electrically connected with the controller and the signal amplification board through lines respectively, and provides stable voltage for the controller and the signal amplification board; the controller is respectively electrically connected with the voice coil motor and the force sensor through connecting wires; the force sensor is fixedly arranged below the voice coil motor, generates pressure with the tested equipment on the tested equipment mounting bracket under the driving of the voice coil motor, and transmits a force sensor signal to the signal amplification board through a connecting wire and the signal amplification board; the signal amplification board amplifies a force sensor signal and transmits the amplified signal to the adapter board; the adapter plate is electrically connected with the controller through a connecting wire and forwards the amplified force sensor signal to the controller; and the controller sends a corresponding driving control signal to the voice coil motor according to the received force sensor signal.

As a preferred embodiment of the present invention, an elastic support is disposed between the voice coil motor and the force sensor.

As a preferred embodiment of the present invention, the elastic support is a spring, and the number thereof is more than 1.

As a preferred embodiment of the present invention, the force sensor is a piezoelectric force sensor.

As a preferred embodiment of the present invention, the power supply is a dc power supply.

As a preferred embodiment of the present invention, the controller further includes a communication circuit, and the communication circuit is connected to the upper computer.

A method for realizing force closed-loop control by using a voice coil motor is based on the system realization for realizing the force closed-loop control by using the voice coil motor, and specifically comprises the following steps:

s1, the controller sends an initial motor driving signal to the voice coil motor;

s2, the voice coil motor starts to work according to the driving signal, and the driving force sensor moves towards the direction of the mounting bracket of the tested equipment;

s3, the force sensor sends a force sensor signal to the signal amplifier and the adapter plate in real time and feeds back the force sensor signal to the controller;

and S4, the controller adjusts the motor driving signal according to the received force sensor signal and the closed-loop control formula and transmits the motor driving signal to the voice coil motor.

The invention has the beneficial effects that: through directly installing force sensor in voice coil motor below, can real-time feedback power value give the controller, acquire real-time power value to the data of output power realizes closed-loop control. The force output under closed-loop control is more stable, and the force parameters can be adjusted in real time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of an exploded view of one embodiment of a system for closed-loop control of force using a voice coil motor according to the present invention;

FIG. 2 is a schematic diagram of another exploded configuration of an embodiment of a system for closed-loop control of force using a voice coil motor in accordance with the present invention;

FIG. 3 is a circuit schematic of a power supply;

FIG. 4 is a flowchart of one embodiment of a method for implementing closed-loop control of force using a voice coil motor according to the present invention.

In the figure, 1-voice coil motor, 2-power supply, 3-controller, 4-force sensor, 5-signal amplification board, 6-tested equipment mounting bracket and 7-adapter board.

Detailed Description

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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 and fig. 2, the present invention provides a system for implementing force closed-loop control using a voice coil motor 1, which includes a voice coil motor 1, a power supply 2, a controller 3, a force sensor 4, a signal amplification board 5, a tested device mounting bracket 6 and an adapter board 7; the power supply 2 is electrically connected with the controller 3 and the signal amplification board 5 through lines respectively, and provides stable voltage for the controller 3 and the signal amplification board 5; the controller 3 is respectively and electrically connected with the voice coil motor 1 and the force sensor 4 through connecting wires; the force sensor 4 is fixedly arranged below the voice coil motor 1, generates pressure with the tested equipment on the tested equipment mounting bracket 6 under the driving of the voice coil motor 1, and transmits a signal of the force sensor 4 to the signal amplification board 5 through a connecting wire and the signal amplification board 5; the signal amplification board 5 amplifies the signal of the force sensor 4 and transmits the amplified signal to the adapter board 7; the adapter plate 7 is electrically connected with the controller 3 through a connecting wire, and forwards the amplified signal of the force sensor 4 to the controller 3; and the controller 3 sends a corresponding driving control signal to the voice coil motor 1 according to the received force sensor 4 signal.

An elastic supporting piece is arranged between the voice coil motor 1 and the force sensor 4. The elastic supporting pieces are springs, and the number of the elastic supporting pieces is more than 1. Voice coil motor 1 installs in vertical direction, and there is the spring support to prevent to cause unexpected damage to the equipment that receives. In the specific implementation process, still include voice coil motor fixed bolster, voice coil motor fixed bolster is equipped with the draw-in groove that holds voice coil motor 1, and the spring is fixed in the lower junction of voice coil motor fixed bolster and voice coil motor 1, and voice coil motor 1's output drive disk assembly passes the bottom of voice coil motor fixed bolster to contact with force sensor 4.

The system for realizing force closed-loop control by using the voice coil motor 1 can be fixed on a pressure detection platform, the pressure detection platform comprises a horizontal detection platform and a vertical fixing frame vertical to the horizontal detection platform, a controller 3, a signal amplification plate 5, a transfer plate 7 and a power supply 2 can be fixed on the vertical fixing frame, a tested device mounting bracket 6 is fixed on the horizontal detection platform, the voice coil motor fixing bracket can be directly fixed on the vertical fixing frame or can be fixed on the vertical fixing frame through a three-dimensional driving mechanism, the three-dimensional driving mechanism comprises a horizontal driving mechanism and a vertical driving mechanism, and the voice coil motor 1 and the force sensor 4 are driven to horizontally and vertically move. The specific structure of the stereo driving mechanism is the prior art, and is not described in detail.

The force sensor 4 is a piezoelectric force sensor 4. Force sensor 4 and voice coil motor 1 demountable fixing installation, be convenient for change damage or the precision does not accord with the force sensor 4 of standard for pressure measurement result is more accurate.

The power supply 2 is a direct current power supply 2. As shown in fig. 3, the input power 2 of the power supply 2 may be a 220V ac power 2, and the ac power 2 is rectified, filtered, transformed and output a dc voltage, and then the dc voltage with a stable voltage value is output to the controller 3 and the signal amplification board 5 through the voltage stabilization chip. The power supply 2 comprises a shell of the power supply 2, a lithium battery can be arranged in the shell, and if the external power supply 2 does not exist, the lithium battery outputs direct current voltage to the controller 3 and the signal amplification board 5 through the voltage stabilization chip.

The controller 3 further comprises a communication circuit, and the communication circuit is connected with an upper computer. The communication circuit can be a wired communication circuit such as an RS485 communication circuit or an Ethernet communication circuit or a wireless communication circuit which can be a 4G/5G communication circuit. The model of the wired communication circuit or the wireless communication circuit can be selected by technicians according to user requirements.

The mounting bracket 6 of the tested equipment can be formed by a metal platform, and the surface of the mounting bracket is a horizontal surface, so that the tested equipment is horizontally fixed on the upper surface.

As shown in fig. 4, the present invention further provides a method for implementing force closed-loop control by using the voice coil motor 1, and based on the system implementation for implementing force closed-loop control by using the voice coil motor 1, the method specifically includes the following steps:

s1, the controller 3 sends an initial motor driving signal to the voice coil motor 1;

s2, the voice coil motor 1 starts to work according to the driving signal, and the driving force sensor 4 moves towards the direction of the mounting bracket 6 of the tested equipment;

s3, the force sensor 4 sends a signal of the force sensor 4 to the signal amplifier and the adapter plate 7 in real time and feeds back the signal to the controller 3;

and S4, the controller 3 adjusts the motor driving signal according to the received force sensor 4 signal and the closed-loop control formula and transmits the motor driving signal to the voice coil motor 1.

The invention has the beneficial effects that: by directly installing the force sensor 4 below the voice coil motor 1, the force value can be fed back to the controller 3 in real time, the real-time force value is obtained, the force data is output, and the closed-loop control is realized. The force output under closed-loop control is more stable, and the force parameters can be adjusted in real time.

It can be clearly understood by those skilled in the art that, for convenience and brevity, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method examples, and are not described herein again.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.