微小型救援机械手控制系统设计

Design of Control System of Microminiature Rescue Manipulator

摘要:

通过研究分析微小型救援机械手的工作原理和救援要求,设计了微小型救援机械手的控制系统;基于PC机为上位机、ATmega16单片机为下位机,设计了控制系统硬件电路,利用无线传输模块进行指令传输、图像信息和关节角度反馈；采用模糊PID控制算法对输出信号进行处理,使关节运动平滑稳定,同时提高了电机转角精度,降低了系统误差,提高救援效率；基于VC++语言,开发了上位机机械手控制界面,并能够通过上位机界面遥控操作机械手动作;仿真实验表明,该系统响应速度t＜1 s、稳态误差δ≤0.4°,有良好的动态性能。

Abstract:

Via studied the microminiature rescue manipulator’s working principle and requirements of rescue manipulator, the control system of microminiature rescue manipulator is designed. The hardware connection of the system is designed with PC computer as upper computer and ATmega16 SCU as lower computer. The information of instruction transmission, image and joint Angle feedback were transmitted using wireless transmission module; The output signal was processed for making the movement of joints steady using the fuzzy PID algorithm, the accuracy of the motor’s rotation is improved, the error of the system is reduced and the rescue efficiency is also improved. The PC interface of manipulator which can control the manipulator is developed based on VC++. Experiments showed that the response speed t＜1s and steady-state error δ≤0.4° having good dynamic performance.