机械臂位置控制的研究

Research on the Position Control of the Mechanical Arm

该文设计组建了以直流力矩电机为执行元件,LMD18200为电机驱动器件,增量式光电旋转编码盘作为位置检测元件,TMS320F2812为控制器的位置控制系统,实现对机械臂运行模式的简单仿制和模拟。同时根据机械臂位置控制的原理和系统组成,编写了系统的软件测试程序,并从动力学的角度在MATLAB环境下,进行了性能分析仿真,得出了仿真结果。

The design formed a position control system which used the DC torque motor as the action element,LMD18200 as the motor device driver,photoelectric incremental rotary encoder disc as the position detector and the TMS320F2811 as the controller.According to the principles and system composition of manipulator position control,the software test procedure was compiled,and from the perspective of the dynamics in the MATLAB environment,the simulation performance analysis was conducted.