船舶除锈机器人驱动控制系统优化设计

Optimization design of drive and control system for ship rust removal robot

传统系统缺少硬件驱动电路和软件系统调速功能设计,导致系统驱动控制效率较低,为了解决该问题,优化设计了船舶除锈机器人驱动控制系统。根据系统硬件总体结构,设计下位机伺服控制器,采用AT89C51型号单片机,对电机运转进行控制,依据控制器接线情况获取相应脉冲信号。由接口相向传送该信号,通过电机驱动电路控制原理,从光电隔离电路中获取最终脉冲信号,引进电机驱动器之中进行控制,由此完成系统硬件设计。使用C语言维护软件功能,通过RS-485串口接收到来自上位机系统指令,设计系统调速功能,通过脉宽控制除锈机器人左右2个伺服驱动器在相应状态下运转,由此完成软件部分的优化设计。通过实验对比结果可知,该系统最高控制效率可达到95%,为大型船舶除锈高效工作提供支持。

The traditional system lacks hardware drive circuit and software system speed control function design, resulting in low efficiency of system drive control. To solve this problem, the ship derusting robot drive control system was optimized and designed. According to the overall structure of the system hardware, the servo controller of the lower computer is designed. The AT89 C51 single chip microcomputer is used to control the motor operation, and the corresponding pulse signal is obtained according to the connection of the controller. The signal is transmitted from the interface to the phase, and the final pulse signal is obtained from the photoelectric isolation circuit by the control principle of the motor driving circuit. The system hardware design is completed by introducing the motor driver to control the signal. Using C language to maintain the software function, through RS-485 serial port to receive from the host computer system instructions, design the system speed control function, through the pulse width control derusting robot left and right two servo drivers in the corresponding state of operation, thus completing the optimization design of the software part. The experimental results show that the maximum control efficiency of the system can reach 95%, which can provide support for the efficient work of large-scale ship rust removal.