摘要
针对一台2功能无刷直流电机驱动的深海作业机械手系统,论述了其结构和原理,重点研究了其控制系统的实现.在以PC104和VxWorks为硬、软件平台,以网络为信息交换手段的基础上研制了一套机械手关节伺服控制系统,试验证明该系统结构简单、体积小、控制效果达到要求,非常适用于深海作业机械手关节伺服控制.
In this paper, a 2 - function deep - sea operating manipulator which is drived by brushless DC motors is introduced. After discussing the structure and principle of it, we focus on the development of the control system, Based on PC104 and VxWorks as the hardware and software platforms respectively,and network as the communication manner, a whole set of embedded servo control system was developed： Experiments indicate that this system is simpler in structure, smaller in size also. All the merits including the effective control ability make the system qualified for deepsea operating manipulator＇s servo control.
出处
《机械与电子》
2007年第2期49-52,共4页
Machinery & Electronics
基金
十一五"重大专项水下作业共性技术"
