摘要
机械手运动过程相对复杂,而各机构的运行力量会对机械手控制造成影响,导致机械手电气控制效果较差,为此设计基于PI控制策略的生产线搬运机械手电气控制系统。在系统硬件部分,重点设计电源模块、数据存储模块和电机驱动器;在系统软件部分,对生产线搬运机械手进行运动学建模,采用PI控制策略建立控制模型,以此实现生产线搬运机械手电气控制。实验结果表明,该系统稳定性较好、运动精度高,并且在各个功能的控制上花费的时间较少,有效提高了机械手电气控制效果。
The motion process of the manipulator is relatively complicated,and the operating power of each mechanism will affect the control of the manipulator,resulting in poor electrical control of the manipulator.For this reason,the electrical control system of the production line handling manipulator based on the PI control strategy is designed.In the system hardware part,the focus is on designing power modules,data storage modules and motor drivers.In the system software part,the kinematics of the production line handling manipulator is modeled,and the PI control strategy is used to establish a control model to realize the electrical control of the production line handling manipulator.The experimental results show that the electrical control system of the production line handling manipulator based on the PI control strategy studied in this study has good stability and high motion accuracy,and spends less time on the control of various functions,which effectively improves the electrical control effect of the manipulator.
作者
张磊
ZHANG Lei(Shaanxi Polytechnic Institute,Xianyang 712000,China)
出处
《机械与电子》
2022年第5期48-51,共4页
Machinery & Electronics
基金
陕西省教育厅2021年度重点科研计划项目(哲社重点研究基地项目)(21JZ010)。
关键词
PI控制策略
生产线
搬运机械手
电气控制
驱动器
转数
PI control strategy
production line
handling manipulator
electrical control
driver
revolutions
