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基于嵌入式的六自由度并聯(lián)機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì)
2020年電子技術(shù)應(yīng)用第10期
許新建,,胡自飛,周建瑜,,程江濤,,謝 強(qiáng)
武漢摩鳴科技有限公司,湖北 武漢430000
摘要: 針對(duì)采用PLC方案控制六自由度并聯(lián)機(jī)構(gòu)時(shí)現(xiàn)場(chǎng)裝配走線復(fù)雜、整體體積較大等缺點(diǎn),,設(shè)計(jì)了一種基于嵌入式的六自由度并聯(lián)機(jī)構(gòu)控制系統(tǒng),。該系統(tǒng)以STM32F407ZE與PCL6045BL為核心芯片,其運(yùn)動(dòng)控制模塊可實(shí)現(xiàn)電動(dòng)缸運(yùn)動(dòng)指令的生成以及伺服電機(jī)編碼器和行程開(kāi)關(guān)等傳感器的信號(hào)采集與處理,,并引入PID算法來(lái)提高控制精度,。結(jié)果表明,系統(tǒng)運(yùn)行穩(wěn)定,,控制精度高,,裝配體積小。
中圖分類(lèi)號(hào): TP273
文獻(xiàn)標(biāo)識(shí)碼: A
DOI:10.16157/j.issn.0258-7998.200365
中文引用格式: 許新建,,胡自飛,,周建瑜,等. 基于嵌入式的六自由度并聯(lián)機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì)[J].電子技術(shù)應(yīng)用,,2020,,46(10):110-113.
英文引用格式: Xu Xinjian,Hu Zifei,,Zhou Jianyu,,et al. Design of control system of 6-DOF parallel mechanism based on embedded technology[J]. Application of Electronic Technique,2020,,46(10):110-113.
Design of control system of 6-DOF parallel mechanism based on embedded technology
Xu Xinjian,,Hu Zifei,Zhou Jianyu,,Cheng Jiangtao,,Xie Qiang
Wuhan Moming Technology Co.,Ltd.,,Wuhan 430000,,China
Abstract: In view of the disadvantages of programmable logic controller(PLC) scheme in controlling six-degree-of-freedom(6-DOF) parallel mechanism, such as complex assembly and large overall volume, an embedded 6-DOF parallel mechanism control system is designed. The system uses STM32F407ZE and PCL6045BL as the core chips. Its motion control module can realize the generation of electric cylinder motion commands, as well as the collection and processing of signals from sensors such as servo motor encoders and stroke switches, and the introduction of proportion integration differentiation(PID) algorithms to improve control accuracy. The results show that the system is stable in operation, high in control accuracy and small in assembly volume.
Key words : embedded; six-degree-of-freedom; parallel mechanism; motion control

0 引言

    六自由度并聯(lián)機(jī)構(gòu)由驅(qū)動(dòng)組、鉸鏈和上下平臺(tái)組成,,在六個(gè)驅(qū)動(dòng)組的作用下,,可以實(shí)現(xiàn)六個(gè)自由度的運(yùn)動(dòng)[1]。六自由度并聯(lián)機(jī)構(gòu)具有承重強(qiáng),、易反解,、加速度高和誤差小等特點(diǎn),廣泛應(yīng)用于各種訓(xùn)練模擬器,、并聯(lián)機(jī)床以及動(dòng)感電影座椅等設(shè)備上[2],。

    吳上泉提出了一種新型的伺服控制結(jié)構(gòu),引入PID算法[3],。鄧哲等人設(shè)計(jì)了基于DSP的控制系統(tǒng)[4],。陳潤(rùn)六等人介紹了以STM32為控制卡的控制系統(tǒng)[5-6],。金偉建立了一種帶故障保護(hù)系統(tǒng)的六自由度平臺(tái)控制系統(tǒng)[7]。馬光等人設(shè)計(jì)了六自由度并聯(lián)平臺(tái)多軸控制系統(tǒng)[8],。

    本文設(shè)計(jì)了基于嵌入式的六自由度并聯(lián)機(jī)構(gòu)控制系統(tǒng),,可減少六自由度并聯(lián)機(jī)構(gòu)投入使用時(shí)的裝配體積,提升六自由度并聯(lián)機(jī)構(gòu)的便攜性,。




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作者信息:

許新建,,胡自飛,周建瑜,,程江濤,,謝  強(qiáng)

(武漢摩鳴科技有限公司,湖北 武漢430000)

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