基于位移控制的线圈自动绕线系统研究

Research on automatic winding system based on precision cable control algorithm

摘要:

在电磁式力触觉再现系统中,电磁铁线圈绕制质量的好坏直接决定了力触觉再现的真实感和沉浸感。该系统基于手摇绕线机、步进电机、电缸平移台、张力控制器、STM32单片机等模块,设计开发了大尺寸电磁铁线圈自动绕制系统。研究了以STM32为核心的精准排线控制算法,实现了大尺寸空盘片骨架自动绕线排线工作。以实际绕制的线圈为研究对象,通过与人工绕制线圈的效果对比,验证了排线算法的可靠性和稳定性；通过测量线圈的电阻值与理想值的对比,证明了线圈绕制质量的可行性。该系统为大尺寸线圈绕制提供了有效的解决方案,对促进力触觉的发展具有重要的研究意义。

Abstract:

In the magnetic haptic rendering system, the quality of the electromagnet coil winding determines the authenticity and immersion of the haptic rendering. This paper designs and develops an electromagnet large coil automatic winding system based on hand winding machine, stepping motor, electric cylinder, tension controller, STM32 and other modules. The cable control algorithm based on STM32 is studied, which realizes the automatic winding and wire arranging of large-size coil. Taking coils as the research object, the reliability of the automatic winding system was verified by comparing with the effect of manual winding. The feasibility of coil winding quality is proved by comparing the resistance value of the actual measuring coil with the theoretical value. The system provides an effective solution for large-frame multi-strands winding. It has important research for magnetic haptic rendering.