巡检机器人机械臂伺服系统的设计
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摘要
为使巡检机器人机械臂在满足精度的前提下提高灵活性,文章提出了一种具有良好动态随动特性的无刷直流伺服系统。该系统以功率驱动电路、保护电路及以AVR微处理器为核心的逻辑控制电路等搭建了硬件控制系统,以改进的数字型离散化PID控制算法、三闭环控制及多种数字滤波优化算法搭建了软件控制系统,采用了对位置与速度进行双追踪的计算方法,使电机输出在满足定位精度的同时兼具速度跟随特性。在Arduino IDE软件平台对该伺服系统的性能进行了测试,实验结果表明本系统具有良好的精度和动态随动特性。
In order to improve the flexibility of the inspection robot arm on the premise of accuracy, a brushless dc servo system with good dynamic servo characteristics is presented in this paper. In this system, hardware control system is set up with power drive circuit, protection circuit and logic control circuit with AVR microprocessor as the core, and an improved digital discretization PID control algorithm, three-closed loop control and a variety of digital filtering optimization algorithms are used to build a software control system, which adopts the calculation method of tracking of position and speed, so that the motor output can satisfy the positioning accuracy and simultaneously have the speed following characteristics. The performance of the servo system was tested on the Arduino IDE software platform. The experimental results show that the system has good precision and dynamic characteristics.
In order to improve the flexibility of the inspection robot arm on the premise of accuracy, a brushless dc servo system with good dynamic servo characteristics is presented in this paper. In this system, hardware control system is set up with power drive circuit, protection circuit and logic control circuit with AVR microprocessor as the core, and an improved digital discretization PID control algorithm, three-closed loop control and a variety of digital filtering optimization algorithms are used to build a software control system, which adopts the calculation method of tracking of position and speed, so that the motor output can satisfy the positioning accuracy and simultaneously have the speed following characteristics. The performance of the servo system was tested on the Arduino IDE software platform. The experimental results show that the system has good precision and dynamic characteristics.
引文
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[2] 吴功平,肖晓晖,肖华,等.架空高压输电线路巡线机器人样机研制[J].电力系统自动化,2006,30(13):90-93,107.
[3] 王鹏,刘锋,梅生伟,等.高压输电线巡线机器人控制体系构建及动作控制器设计[J].清华大学学报(自然科学版),2011,51(7):921-927.
[4] 韩成浩,高晓红.CAN总线技术及其应用[J].制造业自动化,2010,32(2):146-149.
[5] 韩庆瑶,洪草根,朱晓光,等.基于AVR单片机的多舵机控制系统设计及仿真[J].计算机测量与控制,2011,19(2):332-334,349.
[6] 张立勋,沈锦华,路敦民,等.AVR单片机实现的直流电机PWM调速控制器[J].机械与电子,2004(4):29-32.
[7] 夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009.
[8] 乔永伟.可控IPM的PWM信号源及IPM测试系统的研究[D].合肥:合肥工业大学,2006.
[9] 王志宏.一类伺服系统驱动与控制关键技术研究与实现[D].南京:南京理工大学,2015.
[10] 王晓明.电动机的单片机控制[M].4版.北京:北京航空航天大学出版社,2015.