基于STM32的比例阀控气缸位置伺服控制器

Position servo controller for proportional valve-controlled pneumatic cylinders based on STM32

传统的工控机控制系统具有成本高、功耗高、体积大、操作复杂等特点,针对这些问题,提出了一种基于嵌入式技术的比例方向阀控气缸位置伺服控制方法。首先,分析了气动位置伺服控制器的实际需求,设计了控制器的最小系统、主控板、模数扩展板和数模扩展板的硬件电路;然后,在集成开发环境Keil MDK下,使用C语言进行了嵌入式软件编写,在跨平台嵌入式软件编程环境Qt下,使用Visual C++语言进行了上位机软件编写;最后,为了验证气动位置伺服控制器的有效性,搭建了比例方向阀控气缸位置伺服控制实验平台,利用所开发的嵌入式气动位置伺服控制器,分别进行了气缸的定位控制和轨迹跟踪实验。实验结果表明:该伺服控制器能够简单、有效地实现气缸位置控制的目的,在跟踪频率为0.5 Hz的参考轨迹时,轨迹跟踪最大误差约为4.6 mm;在跟踪频率为0.25 Hz的参考轨迹时,轨迹跟踪最大误差约为3.1 mm。研究结果表明:该位置伺服控制方法具有良好的控制性能,能够适用于对控制精度要求不是特别苛刻的场合。

Aiming at the problem of expensive cost,high power consumption,large volume and complicated operation for industrial personal computer control system,a position servo control method of proportional directional valve-controlled pneumatic cylinder based on embedded technology was proposed.Firstly,the actual requirements of the pneumatic position servo controller were analyzed,and the hardware circuits of the minimum system,main control board,analog to digital expansion board and digital to analog expansion board for the controller were designed.Then,the embedded software was written in the integrated development environment Keil MDK using combined programming language,and the upper computer software was written in the cross-platform embedded software programming environment Qt using Visual C++language.Finally,the position servo control test platform of proportional direction valve-controlled pneumatic cylinder was built,and the positioning control and trajectory tracking test of the pneumatic cylinder were carried out using the developed embedded pneumatic position servo controller.The research results show that the servo controller can effectively and simply realize the position control of the pneumatic cylinder.When tracking the 0.5 Hz sinusoidal reference trajectory,the maximum error is about 4.6 mm;and when tracking the 0.25 Hz sinusoidal trajectory,the maximum error is about 3.1 mm.The proposed method has good control performance and can meet the occasions where the control accuracy is not particularly demanding.