针对目前工业测控需求,设计了一个分布式IPC(工业PC:industry personal computer)工业测控系统,并阐明了系统的设计思想、结构和实现的功能。该系统下位机选用IPC,并采用C语言编写的简化的多任务实时操作系统MROS(Multi-task Real-time ...针对目前工业测控需求,设计了一个分布式IPC(工业PC:industry personal computer)工业测控系统,并阐明了系统的设计思想、结构和实现的功能。该系统下位机选用IPC,并采用C语言编写的简化的多任务实时操作系统MROS(Multi-task Real-time Operating System)对多路模拟量、开关量进行采集、存储和控制,具有较高的实时性和可靠性。系统的上位机采用VB6.0编程,对其所管理的下位机运行参数进行定时采集、显示和报表打印,具有人机界面友好,功能强大等特点。上下位机通信系统设计选用抗干扰能力强大的RS-485网络标准以及智能通信控制器进行通信管理,并采取了一定的软硬件抗干扰措施,通信可靠,维护简单。实验证明,系统经济、实用,具有一定的推广应用价值。展开更多
To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
