多功能调试台控制系统设计与实现

Control System Design and Implementation for Multifunctional Testing Platform

摘要:

多功能调试台为被试系统的试验提供稳定支撑平台，能够实现升降和两维旋转功能，可用于大型无人作战机器人的各种组装和调试。针对大型无人作战机器人装配、调试和性能测试需求，设计了一套基于PLC、触摸屏和伺服电机的控制系统，完成了控制系统的总体方案设计、硬件设计和软件设计，能够实现手动操控以及自动控制的要求；在驱动方案上采用基于交流伺服电机的全电动方案，设计了一种新的框架式大负载旋转机构的驱动装置，相比传统轴驱动系统来说，大大减小了对电机驱动力矩的要求，减小了电机体积和重量，增加了设备运行的安全性与可靠性；完成了PLC控制程序和触摸屏控制程序的编写和改进，经系统整体性能调试与试验，验证了控制系统的可靠性和可行性。

Abstract:

Providing a stable support platform for test system, multifunctional testing platform can realize lifting and two-dimensional rotation function. It may be used for a variety of assembly and commissioning of large unmanned combat robots. Multifunctional testing platform control system for large unmanned combat robots is designed based on PLC, touch-screen and servo motor. The overall scheme, the hardware part and the software part of the control system are designed and implemented, which can meet the requirement of both manual control and automatic control. Driving scheme adopts the electric scheme based on AC servo motor. A new framework-style drive equipment is designed for rotating mechanism with heavy load. Compared with shaft drive, it can reduce the driving torque requirements of the motor greatly, thus reducing the motor volume and weight, which increases the safety and reliability of equipment operation. The PLC control program and touch screen control program have been written and improved. The hardware installation and system debugging experiments are implemented as well, which verifies the reliability and feasibility of the control system.