基于CRIO的机械臂测控系统设计

Design of Mechanical Arm Measurement and Control System Based on CRIO

为了快速验证机械臂控制系统的操控准确性与执行机构稳定性,研制了一套机械臂测控与状态监测系统;在介绍基于NI CompactRIO平台的Profibus、CANopen、485总线以及快速IO总线技术应用的基础上,阐述了基于LabVIEW FPGA技术的测试数据高速采集、分析与处理等软件模块的具体实现方法;为了验证测试与显控平台的性能,针对摇摆试验台上的机械臂进行了摇摆状态PID控制与姿态显示测试,结果表明,机械臂的稳定控制角度误差为±0.4°,控制信号传输延迟为0.3 ms,姿态反馈延迟时间为50 ms,PC端显控画面刷新时间为0.04 s,系统可不间断持续运行,性能优越,满足机械臂状态监测与性能测试要求。

In order to quickly verify the accuracy of the manipulator control system and the stability of the actuator, we developed a set of control and test monitoring system for mechanical arm. This paper introduced the application of Profibus, CANopen, 485 bus and fast IO bus technology , which were based on CompaetRIO with NI platform, and we also expanded the realization method of the software module of test data acquisition, analysis and processing with the technology of LabVIEW FPGA. In order to verify the performance of the test and display control platform, we did the PID control and attitude display test when mechanical arm mounted on a swing test bench . Results show that the angle error of the stability control of the manipulator is^0. 4o, the delay of control signal transmission is 0. 3 ms, attitude feedback delay time is 50 ms, the PC view screen refresh time is 0.04 s, and the system is capable of continually running with excellent per formance which meets the requirements of the state monitoring and performance testing of the mechanical arm.