【作者】 李可；

【导师】 倪雁冰；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2005， 硕士

【摘要】 本文针对适于并联机构控制的新型运动控制卡的开发需求,密切结合天津市自然基金项目,以高速、轻型、低成本并联机械手为控制目标,运用计算机技术、电子技术和控制理论,系统研究了研发运动控制卡的若干关键技术。主要工作和成果可以概括为:(1)在分析和借鉴国内外商用运动控制卡的基础上,提出了运动控制卡的软硬件的总体结构,并按照结构化和模块化的设计方法,确定了系统的各子模块的功能。(2)在硬件电路设计中,基于分层阶递的设计思想,采用主从方式搭建控制卡的核心处理单元,并设计了相应的硬件电路。该设计可以提高控制系统处理速度和能力。(3)设计了相应的通讯接口电路,开发了接口程序,保证控制卡和PC之间的信息的高速传输。(4)以伺服电机作为控制对象,设计了电机控制模块的电路,开发了基本的系统控制软件,搭建硬件调试平台,为整个系统的开发奠定了基础。更多还原

【Abstract】 To meet with the requirement of the parallel kinematic mechanism, thisdissertation investigates the key issues in the development of a novel MotionController systematically, for a high-speed, light-weighted and low cost parallelmanipulator. With the aid of computer technology, electric technology and controltheory, the following creative work has been completed. Based on a thorough analysis of the architecture of commercial motioncontrollers, the systematic scheme of the Motion Controller is proposed. Thehardware is separated into independent functional modules, and the functions ofeach module are designed. With the aid of hierarchical design methodology, the central control unit isconstructed in the master-slave mode. The hardware circuit is designedaccordingly, which greatly improves the control speed and enhance the controlability. The communication interface circuit design is also completed, together with theinterface program. Thus, the information can be transmitted between thecontroller and PC at high speed. Aiming at the control of servomotors, a motor control module is developed.Motor servo driver is used to drive the motor. As a result, a four-axis motioncontroller is developed, which lays a solid foundation for further research onhigh speed and high precise servo control methodology and advanced controlstrategy.更多还原