机械臂运动控制系统设计与实现研究-电子与通信工程专业论文.docx

摘要随着科技的发展，很多实际生产中也对机械臂功能要求也越来越精细化，特别是在高端研 摘要 随着科技的发展，很多实际生产中也对机械臂功能要求也越来越精细化，特别是在高端研 究领域。比如医疗器械、汽车制造业、深海潜艇、火炮、空间站维修等等，对它提出了更高的 要求，在小型化、精密化等方面，能满足科研和实际生产的需求。而这些都离不开运动控制系 统技术实现的问题。 首先了解机械臂的现状，针对机械臂的实际要求选择执行机构为无刷直流伺服电机，因为 具有结构简单、运行稳定性好、维护方便等优点，满足设计要求。通过了对生产要求分析选择 了伺服系统的，然后对无刷直流电机的工作原理、数学模型、PWM调制方式深入的学习，然 后建立了无刷直流伺服系统的动态模型，最后利用了MATLAB中SIMULINK验证理论的可行 性。 其次对系统硬件进行了设计，以意法半导体(ST)公司生产的S1M32F103VCT6芯片为主， 结合1R2136功率模块设计了电机的驱动电路；在通信上是STM32F103VCT6芯片和 MAX232ACSE芯片完成数据通信及程序烧写，为验证理论研究提供硬件支持。 最后针对调速系统和位置的闭环，选择实际生产中要求稳定性高的算法，分别是PI和积分 分离PID这两种算法；具有检测、电机启动、串口通信程序等等。通过上述工作完成，机械臂 运动控制系统得以实现，满足一些基本的运动需求。 关键词：机械臂，无刷直流电机，伺服系统，Cortex-M3 AbstractWith Abstract With the development of science and technology，the requirement in practical production of mechanical arm is becoming higher．Especially in those high-end research regions，such medical apparatus and instruments，motor industry，Deep-Sea Submarine，artillery aiming and the maintenance of space station,the requirement of the mechanical arm is higher．In the aspect of miniaturization and high precision，the mechanical arm should satisfy the needs of practical production．All the above requirements are based on the technique realization of motion control system． In this paper，some research to the current situation of mechanical arnl was done firstly． According to the materials’transmitting way and the accuracy demand，the mechanical arm GSF500 Was selected as the control system；The design in this paper如iI唱at doing the simulation of both software and hardware．On the basis of the accuracy demand of the mechanical arnl control system， we choose the brushless direct current and choose the brushless direct current servomotor as actuator．Because the construction is simple，the stability is good and the maintenance is convenient, the brushless direct current servomotor meet design requirement．Then do detailed introduction to the transfer function,the operating principle and the mathematical model of the brushless direct current servomotor and the PWM modul