摘要
本文设计了一种二维平台自动定位系统及控制方案,该系统利用光栅位移传感器的光电转换原理产生平台位置信息,利用电机驱动器控制电机旋转.光栅尺数显表和电机驱动器通过串口与计算机相连,计算机利用LabVIEW软件编写控制程序并控制平台移动,然后把平台的位置变化实时显示出来并保存相关数据,最后使用MATLAB软件对位置数据进行分析、处理.该系统使用位置式PID、速度积分式PID以及模糊控制技术分别对二维平台进行自动定位控制,最后通过稳定时间及稳定精度的比较,选择最适合的速度积分式PID控制技术作为本系统最终采用控制方案.实验结果证明,本文所设计的定位系统实时性高,定位精度可达微米级.
A two-dimensional platform and control scheme for automatic positioning system are presented In this paper.The designed system employs grating displacement sensors to generate the position values of platform according to their photoelectric conversion principle,and its drive motors are responsible for the rotation of the motors.The grating DRO and drives are connected to computer via the serial port.The control program is implemented by LabVIEW software,and used for the movement control of the platform.In addition,the location changes of platform could be real-time displayed,and the related data could be conserved.Finally,the location information is analyzed and processed by MATLAB software.Furthermore,the designed system adopts a position-type PID model,velocity integral PID model and fuzzy control model,respectively,to realize platform automatic positioning control.Finally,comparisons with the models have demonstrated the superior settling time and accuracy of velocity integral PID model,which has been chosen as the ultimate model in this system.Experiment result shows that the positioning system designed in this paper has perfect real-time,and the positioning accuracy can reach micro-scale.
出处
《测试技术学报》
2015年第6期540-545,共6页
Journal of Test and Measurement Technology
关键词
定位平台
设定位置
控制算法
光栅位移传感器
定位精度
positioning platform
presetting position
control algorithms
grating displacement sensor
positioning accuracy
作者简介
包建东（1979-），男，讲师，博士，主要从事测试信号分析与处理、智能传感器、智能仪器控制的研究．
