十字滑台式多维不倒杆自主纠偏实验装置设计

Design of multi-dimensional non-falling pole self-correcting experimental device based on cross-slide table

为了让学生理解海洋风力发机不倒杆结构,该文设计了基于十字滑台的多维不倒杆自主纠偏实验装置,上位机测量并绘制不倒杆在三维空间中的角度、角速度和角加速度的变化,探究抵御外部干扰的相关物理量。通过研究不同受风力面积、不同材料的杆的平衡性,得出选用密度较大、迎风面积小的杆可较好抵御外界干扰。该装置的灵敏度较高,能够作为应用物理和新能源等专业的实验教学装备,有助于深入理解新能源领域的控制理论,提高学生动手能力。

[Objective]Research on the self-balancing of nonfalling poles is a classic topic with significant applications in fields such as architecture,robotics,aerospace,and new energy.However,existing solutions often constrain the structures to one-dimensional directions,limiting their practical use.This paper aims to develop an unconstrained two-dimensional nonpole self-balancing mechanism tailored for offshore floating power generation,thereby accelerating the promotion of new energy technologies in deep-sea environments.[Methods]This study introduces a mechanical model designed to maintain the balance stability of a rod.The model leverages a DC motor and a dimensionality reduction angle sensor.Employing a PID algorithm,the research designs a multi-dimensional nonvertical rod self-correcting experimental device based on a cross-slide table,enabling the rod to maintain stability under wind and other interference factors.The rod angle,angular velocity,and angular acceleration of the bar in three-dimensional space are measured and drawn by an upper computer.The related physical quantities to resist external interference are explored.The experimental platform comprises three integrated systems,namely a wind system with a variable speed fan to provide different degrees of wind interference,a nonpole mobile platform with a dual-axis self-control device driven by dual motors to adjust the plane displacement and three-dimensional angle of the rod,and a data acquisition terminal consisting of a host computer and power supply system for real-time monitoring and recording of experimental data.This setup allows the rod to self-correct and maintain a vertical state under external interference.[Results]By studying the balance of rods with different wind areas and different materials in this device,we concluded that rods with higher density and smaller windward areas can better resist external interference.Materials tested include iron,wood,and plastic.The results show that for rods with the same windward area,those with higher density displayed stronger resistance to wind.Then,the rod with the same density and different windward areas are used for testing.Under the same density,the rod with the larger windward area has a smaller tilt angle.This means the larger the mass,the smaller the tilt angle.Experimental data validate the effectiveness of the PID algorithm,achieving the design goals.[Conclusions]The study introduces a set of cross-slide type nonvertical rod experimental devices featuring a three-dimensional rotation device that converts the solid angle into a planar angle.This design offers higher sensitivity compared to traditional devices and provides more comprehensive data.The experimental device also serves as an excellent training platform for students,improving their practical skills in model design,circuit construction,algorithm development,and application.