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运动控制系统设计是武装机器人设计中的重要内容,控制驱动电机的转速是进行运动控制的常用方法,所研究的武装机器人就是运用控制电机转速这种方法来实现运动控制的。在电机的运动控制过程中容易出现超调、振荡、丢步和两电机不同步的问题,运用先进的控制算法实现电机转速精确控制是运动控制的一种有效途径,设计了一种利用模糊自适应整定PID原理实现对步进电机速度控制的运动控制系统,然后在两驱动电机控制系统中间设计了速度同步补偿器,来保证武装机器人的直线运动性能。通过仿真和试验证实,该运动控制系统具有良好的响应速度、稳定性和控制精度,在两电机负载和干扰输入信号有所差异的情况仍然能够实现电机的同步控制,能够满足武装机器人运动控制的设计要求。
Motion control system design is an important part of the design of armed robots. Controlling the rotation speed of the driving motor is a common method to control the motion. The research of the armed robots uses the method of controlling the motor speed to realize the motion control. In the motion control process of the motor, overshoot, oscillation, lost motion and asynchronous motor are prone to occur. Using the advanced control algorithm to realize precise control of the motor speed is an effective way of motion control. Adapt to the PID control theory to realize the speed control of the stepper motor control system, and then in the two drive motor control system design speed synchronization compensator, to ensure that the robot’s linear motion performance. The results of simulation and experiment show that the motion control system has good response speed, stability and control accuracy. When the load of two motors is different and the input signal of interference is different, the motor can still be controlled synchronously. Design requirements.