多轴运动控制器研制及其在机械手上的应用

Design of multi-axis motion controller and its application on manipulators

针对数控机床、机械手等系统的发展需要,设计了基于DSP的开放式运动控制器。控制器通过PCI总线与上位机通信,采用DSP和CPLD完成了运动控制功能,实现了机械手关节运动的伺服控制。考虑机械手的动力学特性,设计了单神经元自适应PID控制器,在开放式控制平台上实现了机械手的精确轨迹跟踪。试验结果表明,该系统具有良好的开放性、通用性和可扩展性,在其中移植先进控制策略,获得了比传统的PID控制更好的轨迹跟踪性能。

According to new developing requirements of CNC and manipulators,a motion controller with open architecture was designed based on DSP.The communication with the upper computer was realized through PCI bus,DSP and CPLD was used to achieve motion control of manipulator＇s joints.The dynamic model of the manipulator was deduced,the neuron adaptive PID controller was designed,and servo control with high accuracy was achieved.Experiment results show that,the proposed system has nice openness,generality and portability,and higher trajectory tracking accuracy is gained with the advanced control algorith planted in it comparing to classical PID control.