基于步进电机的平面曲线运动控制设计

Design of the Plane Curvilinear Movement Control System Base on Step Motor

根据仿生扫描探测运动系统开发平台的环境条件和技术要求,设计了在有限平面内的曲线运动控制系统。提出了在特殊运动需求的情况下,步进电机可忽略失步的优化起动及基于经验的位移补偿方案。通过对质点运动学分析,提出了任意曲线运动算法及仿真。本运动控制模块的设计有效地解决有限平面范围内任意曲线运动的实现问题,对仿生探测研究开发具有重要的推动作用。

According to the environment condition and technique request of the development foundation of the flexible bionic scanning detection system, the curvilinear motion control system in finite plane is designed, the optimal starting solutions which can neglect lost steps in special motion request situation to Stepping Motor and displacement compensative method based on experience are presented. Through the analyzing to particle kinematics, it presents discretional curvilinear motion solutions. This design of motion control module effectively solves discretional curvilinear motion implement problems in finite plane, which takes important promotion effects on bionic detection.