自驱动关节臂测量机多电机同步控制系统

Multi-Motor Synchronous Control System for Self-Driving Articulated Arm Measuring Machine

为了解决自驱动关节臂坐标测量机的多电机同步转动问题,设计了一套多电机同步控制系统。该系统选用以TMS320F28335为核心的DSP处理器,依次设计了双CAN通信电路、功率逆变电路、电机驱动电路等驱动板接口电路;利用Simulink建立了六电机同步转动控制仿真模型,将电机控制模型转化为工程代码,对六电机设定不同的位置角度进行点到点位置同步实验,以及多电机轨迹跟踪实验。实验结果分析得到同步控制时间精度在10ms以内,验证了六电机的同步控制有效性,为提高测量机的运动平稳性和测量效率提供参考依据。

To solve the problem of multi-motor synchronous rotation of self-driven articulated arm measuring machine,a set of multi-motor synchronous control system is designed.The DSP processor with TMS320F28335 as the core is selected by the control system.And the driver board interface circuits,such as dual CAN communication circuit,power inverter circuit,motor drive cir⁃cuit,are designed orderly.Then,the simulation model of multi-motor synchronous control is established by Simulink.The above motor control model is converted into engineering code.Accordingly,point-to-point position synchronization experiments with different position angles set for six motors are performed,as well as multi-motor trajectory tracking experiments.Experimental re⁃sults show that the synchronous control time accuracy is within 10ms,which can not only verifies the synchronous control effec⁃tiveness of the six motors,but also provide references for improvement of motion stability and measuring efficiency of measuring machine.