自驱动关节臂测量机双电机同步控制系统研究

Research on Double Motor Synchronous Control System of Self-driven Articulated Arm Measuring Machine

针对自驱动关节臂测量机双电机的同步控制问题,设计了一套适用于双电机同步运动控制系统。该系统以FPGA为主控芯片,STM32为辅助芯片,通过CAN总线通信,采用LabVIEW软件编写上位机软件,并搭建了双电机控制调试界面。通过对双电机设定不同的位置和速度参数进行了正、反转实验,对实验结果进行分析计算,得到电机转角的最大误差值为0.684rad,经谐波减速器后转角的最大误差为0.39°,双电机同步时间控制精度为1ms,满足系统的技术指标要求,保证了双电机的同步控制,为后续开发自驱动关节臂测量机整体的控制系统奠定了基础。

Aiming at the problem of synchronous control of two motors,a set of synchronous motion control system of two motors for self-driven articulated arm measuring machine is designed.The system takes FPGA as the main control chip,STM32 as the auxiliary chip,communicates through CAN bus.The upper computer software is written by LabVIEW and the control and debugging interface of double motors is built.By setting different position and speed parameters of the double motors,forward and reverse experiments are carried out,and the experimental results are analyzed and calculated.The maximum error value of the motor rotation angle is 0.684rad,and the maximum error of the motor rotation angle after the harmonic reducer is 0.39°.The synchronization time control precision of the double motors is 1ms,which meets the technical index requirements of the system.The synchronous control of the two motors is guaranteed,which lays a foundation for the development of the whole control system of the self-driven articulated arm measuring machine.