基于cRIO平台的电动缸位移与力伺服控制系统设计

Design of Position and Force Servo Control System Based on cRIO for Electric Cylinder

为满足电动缸的控制需求,设计了一套基于cRIO(compact-RIO)嵌入式系统平台的电动缸位移与力伺服控制系统。为提高系统的动态响应性能,设计了带前馈的PID闭环控制器。通过软件设计,实现了控制器算法并进行了直线和循环正弦伺服运动轨迹规划。在具体的电动缸系统上进行了试验,试验结果表明,位移与力伺服控制均具有较好的跟踪效果,验证了设计系统的有效性。

To meet the control demand of electric cylinder, a system for position and force control based on cRIO (compact-RIO) was designed. PID with feedfoward controller was degsigned to improve dynamic response performance of the system. The control algorithm, as well as stright-line and sine-cycle trajectory planning, was achieved by software design. An electric cylinder system was put into an actual test, and the results show good tracking effects for both position and force servo control, which verify the effectiveness of the control system.