基于51单片机的液压机械臂闭环控制系统设计

Design of Closed Loop Control System of Hydraulic Manipulator Based on 51 MCU

针对多关节液压机械臂开环控制精度低的问题,设计了一套基于51单片机控制的液压机械臂闭环控制系统。在上位机图形界面上输入控制数据,经串口通信到51单片机,通过控制电磁阀的导通来驱动机械臂运动;同时单片机可根据光电编码器实时采集的各关节运动角度,进行反馈控制,形成一个闭环控制系统,以减小机械臂运动误差。

Aiming at the problem of low accuracy of open loop control of multi-joint hydraulic manipulator,a set of closed loop control system of hydraulic manipulator based on 51 Micro Controller Unit(MCU)control is designed.Control data was input on the graphical interface of the upper computer,and communicated to the 51 MCU through the serial port,to drive movement of manipulator by controlling on and off of electromagnetic valve.At the same time,according to the real-time motion Angle of each joint collected by the photoelectric encoder,the MCU was carried on the feedback control.It reduces the motion error of the manipulator,and forms a closed loop control system.