基于LabWindows/CVI的单关节机械臂随动控制研究
殷凤龙，梁小冬，廖洪波，孙野，陈忠凯
（西北核技术研究所，陕西 西安 710024）
摘要：基于LabWindows/CVI对单关节机械臂随动控制系统进行了设计。以交流伺服电机、伺服驱动器、控制器和编码器构成控制系统硬件部分；基于LabWindows/CVI编写上位机控制软件，DMC1410运动控制卡编写下位机控制软件，共同构成控制系统软件部分。以编码器检测机械臂旋转角度，并将信号反馈到上位机与指令信号求差作为控制器输入信号，以控制器输出信号作为伺服驱动器驱动信号控制伺服电机运动，从而实现位置闭环控制。对所设计的控制系统进行了实验验证，结果表明，机械臂能够精确的跟随指令信号，位置跟随误差小于0.5°。
关键词：LabWindows/CVI；机械臂；随动控制；增量式PID算法
中图分类号：TP242.2 文献标志码：A doi：10.3969/j.issn.1006-0316.2019.05.008
文章编号：1006－0316 (2019) 05－0037－05
Single Mechanical Arm Research of Accompanied Control Based on LabWindows/CVI
YIN Fenglong，LIANG Xiaodong，LIAO Hongbo，SUN Ye，CHEN Zhongkai
( Northwest Institute Nuclear Technology, Xi’an 710024, China )
Abstract：This paper introduces a method of accompanied control based on LabWindows/CVI, including hardware design and software design. The hardware selects AC servo motor, servo controller, encoder and so on. The design software include upper computer control software and lower computer control software，based on LabWindows/CVI and DMC1410 motion control card separately. The encoder is used to detect the rotating angle of the mechanical arm, and the D-value between feedback signal and the instruction signal of upper computer is used to control the servo motor movement, thus realizing the position closed-loop control. The experimental verification of the control system shows that the mechanical arm can accurately follow the command signal, and the position tracking error is less than 0.5°.
Key words：LabWindows/CVI；mechanical arm；accompanied control；incremental PID algorithm
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收稿日期：2018－11－16
作者简介：殷凤龙（1987－），男，山东安丘人，硕士研究生，主要研究方向为自动控制系统。
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