摘要
熟悉机械手,特别是电动式机械手的驱动原理,理解各个自由度的独立驱动和机械手协调工作的一致性。课题主要利用了STC89C52单片机,L298N和HEDS9000(两通道高分辨率光学增量编码器模块),构建闭环负反馈控制系统实现了对直流电机的正反转停,精确调速控制。在控制软件设计中引入数字控制策略,并用电力电子的PWM方式实现。用12864液晶和键盘作为人机界面显示直流电机的运行状态并可以实现输入控制。
Understanding the mechanical arm, especially understand the theory of drive of electric mechanical arm, and grasp consistency of mechanical arm during work. The design uses STC89C52, L298 N and HEDS9000(two channel high resolution optical incremental encoder modules) to make up a close-loop control system. The system can control rotation direction of DC motor and stop, and can also control speed accurately. Adding digital control way, such as PWM. Human machine interface is12864 that can display running status and speed of DC motor, these can be changed by keys.
出处
《电脑知识与技术》
2014年第12X期8837-8838,共2页
Computer Knowledge and Technology
