小型电机高精度重复定位测量研究与测试平台设计

High-precision repeated positioning accuracy measuring study and test platform design for small-sized motorSU Yan-rui1,2,3, WANG Qiang1,3, YAN Fa-bao3,4, LIU Xiang1,3, HUANG Yong-mei1,3

摘要:

针对高精度智能控制和光电跟踪控制等系统对小型电机重复定位控制的高精度要求,首先定义了电机重复定位精度,提出采用等效近似算法测量电机重复定位精度的方法,设计了一种快速简便易行的小型电机重复定位测试平台。测试平台以ARM和DSP控制核心,设计并实现了带有电流环,速度环和位置环的控制器,以设置被测电机转动角度、速度以及加速度等运动状态,光栅尺测微仪获取电机的重复定位数据,并利用以太网送给PC机。实验结果表明,该平台能够实现并测试小型电机重复定位精度,重复定位方法简单有效,可快速准确的得出重复定位精度结果。经综合测试,可找到被测电机达到最佳重复定位精度的工作状态。

Abstract:

For high-accuracy intelligent control system and photoelectric tracking control system having a high demand on the repeated positioning accuracy for small-sized motor control. The definition of repeated positioning accuracy for the small-sized motor is given fist. Then the equivalent approximation algorithm to measure the repeated positioning precision is proposed, according which an efficient repositioning test platform of small-sized motor is designed. The test platform employs ARM and DSP as the control core. The controller is with the current loop, speed loop and position loop is designed and implemented to set the position, speed and acceleration of the small-sized motor. The repeated positioning data measured by grating micrometer is send to PC through Ethernet. The experimental results show that the platform can implement and test the repeated positioning accuracy, and the measuring method of repeated positioning accuracy is simple and effective. And the repeat positioning accuracy results can be displayed fast and accurately. Through comprehensive test, the best working condition of the repeated positioning for the motor can be obtained.