多臂多自由度动物离心机控制系统设计

Design of Animal Centrifuge Control System for Multi-Arm and Multi-Degree of Freedom

针对多臂多自由度载物台的动物离心机主轴转速调节和多自由度载物台组合运动的问题,详细介绍了控制系统的硬件配置和总体设计方案。采用主从站控制架构,通过伺服控制器和多轴运动控制器实现对动物离心机的整体控制,以获得X、Y、Z三轴复合加速度。实验结果表明,多轴运动控制器控制的载物台可实现不同形式的运动组合,同时能够实现动物离心机主轴转速精确控制,且使其运行平稳可靠。

Aiming at the problem of the spindle speed adjustment of the animal centrifuge with the multi-arm multi-degree-of-freedom stage and the combined movement of the multi-degree-of-freedom stage, the hardware configuration and overall design scheme of the control system are introduced in detail. Using the master-slave control architecture, the overall control of the animal centrifuge is realized through the servo controller and the multi-axis motion controller to obtain the X, Y, and Z three-axis compound acceleration. The experimental results show that the stage controlled by the multi-axis motion controller can realize different forms of motion combination, and at the same time can realize the precise control of the animal centrifuge spindle speed, and make it run smoothly and reliably.