基于PC-104的运动控制器核心算法研究及实现

采用PC-104作为运动控制器,实现三轴转台的位置闭环控制,其中关节角的多项式插补算法和增量型积分分离PID控制算法是研究的重点。详细阐述算法思想,给出数学方程,制定程序控制流程,编写算法程序。在Matlab/Simulink搭建的永磁同步电机位置闭环控制程序框图中进行仿真并加以验证。仿真结果表明:三轴转台位置闭环控制系统在该算法调节下具有良好的伺服性能。

This paper introduce PC-104 as a motion controller.The PC-104 realize three-axis platform closed-loop control.The key of this paper is the position of the joint Angle of polynomial interpolation arithmetic and increment integral apart PID control arithmetic.This paper not only describes the arithmetic ideas,but also provides mathematical equations,the program control flow chart and the arithmetic program.This paper simulates and verifies the arithmetic in the permanent magnet synchronous motor position closed-loop control program diagram which is builded by Matlab/Simulink.