基于虚拟仪器技术的无线式柔性臂振动控制系统设计

Design of Wireless Vibration Control System for Flexible Manipulator Based on Virtual Instrument

传统的振动控制系统线路复杂、安装繁琐,不适合远程控制。设计了基于虚拟仪器技术的无线式压电柔性机械臂振动控制实验系统,由压电双杆柔性臂、现场振动控制端以及主控制端三大部分组成。其中AT89S52单片机控制步进电机运动,采用电磁线圈作为传感器检测振动信号,压电元件为作动器,并利用SRWF-1021-50无线模块实现振动控制端与主控制端之间信号的无线传输。结合PID控制算法,设计了无线式振动控制通信协议。采用LabVIEW软件编制控制系统,对整套实验系统进行了调试。结果表明:该系统运行正常,采用的控制算法能有效地抑制柔性臂的振动。

The traditional vibration control system is not suitable for remote control because of complex circuit and troublesome installation. A set of wireless vibration control experiment system based on virtual instrument was designed,which was composed of two-link piezoelectric flexible manipulator,field control terminal and main control terminal. AT89S52 single-chip computer was em-ployed to control stepping motor. Magnetic coils were used as sensor to detect vibration signal,piezoelectric element was served as ac-tuator. SRWF-1021-50 was employed to realize the wireless transmission between the field control terminal and main control terminal. Combining with PID control algorithm,communication protocol of wireless vibration control was developed. Software of the system was programmed by using LabVIEW. The control system was debugged. The experimental results show the system runs normally and the control algorithm can effectively suppress vibration of flexible manipulator.