摘要
设计了一种无刷直流电机控制器,用来驱动机械手关节.控制器硬件以单片机和运动控制芯片LM629为核心,控制策略采用模糊PID算法,实现电机的位置控制.给出了系统的硬件结构框图、控制算法原理以及软件流程图.运行试验表明该控制器具有较高的控制精度和抗干扰性,与传统机械手控制系统采用伺服电机集中控制的方式相比,更加灵活,性价比更高.
A controller of brushless DC motor used to drive manipulator joints is designed. The controller adopts single-chip computer and motion control chip LM629 as core of hardware and fuzzy PID algorithm as control strategy to realize the position control of motor. The paper gives the hardware structure chart, the principle of the algorithm and the software flowcharts. The operating experiments show that the controller provides good precision and anti-interference, and is more flexible and cost-effective compared with traditional manipulator control system adopting centrally-controlled servo motors.
出处
《湘潭大学自然科学学报》
CAS
北大核心
2014年第4期104-109,共6页
Natural Science Journal of Xiangtan University
基金
常州工学院自然科学基金项目(YN1114)
