Multichannel constant-force intelligent controller based on DSP (Digital Signal Processor)

Abstract

The invention discloses a multichannel constant-force intelligent controller based on a DSP (Digital Signal Processor), and belongs to the technical field of multi-suspension-point constant-force control. The multichannel constant-force intelligent controller based on the DSP aims to solve the problem existing in a current constant-force control system. The scheme adopted by the invention is characterized in that multiple channels of constant-force devices are controlled by the controller at the same time; each channel of constant-force device is provided with a motor; an output rotary shaft of each motor is connected with a roller; a sling hanging a load is wound around each roller; each sling is provided with a pulling force sensor which is used for monitoring a pulling force signal applied to the corresponding load; the multichannel constant-force intelligent controller based on the DSP comprises a DSP module and a network communication module; the DSP module sends starting and stopping commands to the n motors of the multiple channels of constant-force devices through Can buses; the pulling force signal monitored by the pulling force sensor of each channel of constant-force device is sent to the DSP module through the corresponding Can bus, the DSP module outputs an analog control quantity to a motor driving module of the corresponding motor according to the pulling force changing value of the channel of constant-force device, and the corresponding motor is controlled to drive the corresponding sling to extend or contract to compensate for the change of the pulling force of the corresponding sling, so that the pulling force applied to the corresponding load is constant.

Description

technical field [0001] The invention belongs to the technical field of multi-hanging point constant force control. Background technique [0002] The constant force control system is widely used in the field of industrial production, such as maintaining the uniformity of tension in metallurgy and wire rods, and using the constant force system to simulate the low-gravity environment of the equipment in the aerospace field. value. The traditional constant force system has the following problems: [0003] (1) The current constant force control technology is only applicable to the constant force control system of a single lifting point. With the development of industrial technology and the more and more complex load structures being tested, such as multi-degree-of-freedom manipulators, the constant force system is required to be able to complete the Requirements for constant force control with multiple lifting points. [0004] (2) The existing constant force control systems of...

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Problems solved by technology

[0003] (1) The current constant force control technology is only applicable to the constant force control system of a single lifting point. With the development of industrial technology and the increasingly complex load structure to be tested, such as multi-degree-of-freedom mechanical arms, etc., it is required that the constant force system can be completed simultaneously. Requirements for multi-lift constant force control

[0004] (2) The existing constant force control system often uses an industrial control machine. With the increase of the number of lifting points, the shape of the control machine will become larger and the anti-interference ability will become worse; the traditional method of collecting tension signals uses serial port communication. The transmission rate is low, so that the system does not have fast real-time control function

[0005] (3) The traditional constant force control system does not have the ability to upload real-time tension data to the computer for on-site monitoring and analysis by the operator, which is a great constraint on the use and development of the constant force system

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