基于CRIO的机械臂测控系统设计研究

Design and Research of Measurement and Control System of Manipulator Based on CRIO

为解决机械臂在大风、水上等极端工况下,因采集的角度、位置数据偏差导致抓取物体失败、诱发安全风险等问题,引入CRIO系统与LabVIEW开发工具建立基于FPGA技术的机械臂测控系统设计方案,集成多种类型传感器、计算机PC端与CRIO硬件装置,并融合CANopen、Profibus、RS485等多种总线通信协议,实现对机械臂移动位置、姿态等测试数据的采集、传输、处理、存储等功能。通过搭建实验平台进行机械臂产品在高频摇摆状态下的PID控制及姿态显示情况测试,最终测试结果显示,该机械臂的稳定控制角度偏差不超过±0.4°,且控制信号、姿态反馈信号的延迟时长分别为0.3ms和50ms,在计算机显控设备端仅需0.04s即可实现监控画面的实时刷新,满足机械臂姿态性能测试与状态监控需求。

In order to solve the problems such as the failure of grasping objects and the induced safety risks caused by the deviation of collected angle and position data under extreme working conditions such as strong wind and water,the CRIO system and LabVIEW development tools are introduced to establish a design scheme of the measurement and control system of the manipulator based on FPGA technology,integrate multiple types of sensors,computer PC and CRIO hardware devices,and integrate CANopen,Profibus,RS485 and other bus communication protocols,It can collect,transmit,process and store the test data of the moving position and attitude of the manipulator.An experimental platform was built to test the PID control and attitude display of the mechanical arm product in the high-frequency swing state.The final test results show that the stability control angle deviation of the mechanical arm does not exceed±0.4°,and the delay time of the control signal and attitude feedback signal is 0.3ms and 50ms respectively.The real-time refresh of the monitoring image can be achieved in 0.04s at the computer display and control equipment end,it meets the requirements of attitude performance test and state monitoring of the manipulator.