基于JAVA技术平台的气动轻量机械臂伺服控制系统设计

Design of pneumatic lightweight manipulator servo control system based on JAVA technology platform

摘要:

针对目前设计的气动轻量机械臂伺服控制系统存在控制稳定性较差、控制效果不理想,无法应对外界环境的变化等问题。设计了基于JAVA技术平台的气动轻量机械臂伺服控制系统。系统硬件主要设计了电机模型、关节双闭环控制器、速度环、位置环。确定直流电机等效电路,分析电机常数,调整机械臂灵敏度,确保电机正常运行。设置关节双闭环控制器,通过PCI1711数据传输器传输数据,速度环以PI控制为基础。调节带宽比例项,采用微分控制法增加系统阻尼,消除局部静差,在位置环外环上串联一个适当比例的校正环节,以抵消系统主回路中的局部静差。设计数据采集器,实现信息转换和读取,通过数据处理器、微控制器和串行通信模块,设计数据处理单元,保证数据处理效率和精度。系统软件利用JAVA平台实现补偿控制,建立机械臂模型控制机械臂运动,根据采集的图像,提取目标物体的显著性特征,并在数据库中进行特征匹配,从而实现高精度、高效率的目标物体识别。实验结果表明,设计的基于JAVA技术平台的气动轻量机械臂伺服控制系统具有较好的控制稳定性和控制效果,能够更好地适应外界环境变化,完成抓取动作。

Abstract:

The servo control system of pneumatic lightweight manipulator has some problems, such as poor control stability, unsatisfactory control effect and being unable to deal with the changes in the external environment. The servo control system of pneumatic lightweight manipulator based on JAVA technology platform is designed. The system hardware mainly designs the motor model, joint double closed-loop controller, speed loop and position loop. Determine the equivalent circuit of DC motor, analyze the motor constant and adjust the sensitivity of manipulator to ensure the normal operation of motor. The joint double closed-loop controller is set to transmit data through PCI1711 data transmitter, and the speed loop is based on PI control. Adjust the bandwidth proportion term, use the differential control method to increase the system damping and eliminate the local static error, and connect an appropriate proportion correction link in series on the outer ring of the position loop to offset the local static error in the main loop of the system. The data collector is designed to realize information conversion and reading. The data processing unit is designed through the data processor, microcontroller and serial communication module to ensure the efficiency and accuracy of data processing. The system software realizes the compensation control by using JAVA platform, establishes the manipulator model to control the movement of the manipulator, extracts the salient features of the target object according to the collected images, and carries out feature matching in the database, so as to realize high-precision and efficient target object recognition. The experimental results show that the servo control system of pneumatic lightweight manipulator based on JAVA technology platform has good control stability and control effect, and can better adapt to the changes in the external environment and complete the grasping action.