基于运动控制卡的爬壁机器人集成控制研究

Research on Integration Control of Wall-climbing Robot Based on Motion Controller

为了全面提升爬壁机器人系统的集成化程度和自动化程度,提出了一种机电系统控制集成方法:采用基于运动控制卡的上下两层分布式控制结构,合理配置和有效利用运动控制卡的硬件资源,借助于运动控制卡随卡软件的控件编程功能,开发出集成化的用户图形操作界面,将系统的各项控制任务有机地整合为一体。该方法完全可以实现爬壁机器人系统软硬件控制集成。控制集成可靠有效,明显提高了系统的自动化程度。还对一台直流电机控制集成的实施做了详细介绍。

For the purpose of overall upgrading the integration and automation degree of wall-climbing robot, a method for control integration of electromechanical system was presented. The method is as follows： adopting two-layer distributed control architecture based on motion controller, reasonably collocating and effectively utilizing the abundant hardware resources of the controller, and supported by ActiveX control programming function of software attached to motion controller, the integrated user graphic interface was developed and different control tasks of system were integrated. By the method, the software and hardware＇s control integration of wall-climbing robot system was implemented completely. The control integration is reliable and efficient, and it can significantly increase the automation degree of system. In addition, how to put a DC motor＇s control integration into effect was introduced in details.