基于移动车辆专用控制器的机械手控制系统-控制工程专业论文.docx

摘要本课题设计了一个基于移动车辆专用控制器的机械手控制系统，它的主要功能就是 为机械手完成各种预先制定任务提供一个完整的控制方案。该控制系统所用的主控制器 是由 Inter Control 公司的 Digsy Compact，其主要优点是该控制器是为移动车辆上的控制 系统专门设计，在一些移动车辆工作的环境中其稳定性非常高。该论文以机械手为研究对象，设计了基于移动车辆专用控制器的机械手控制系统。 首先介绍了控制系统与机械手背景、现状和发展趋势，提出了基于移动车辆专用控制器 的机械手控制系统的实际的意义。接着根据所选的控制器结构特点做出了控制系统总体 结构的设计，并且详细介绍了控制系统所选用的控制器和执行器。然后详细介绍了硬件 的设计方案，具体来说介绍了上位机与 PC 机的通讯硬件连接设计，电机的驱动电路选 用的是 LMD18200 驱动芯片，能够对下位节点的输出控制信号起到很好的放大作用，驱 动电机使机械手实现关节的精确转动。多路闭环反馈的设计中选用了速度传感器 CPA425、直线位移传感器 AF145、角度传感器 BCE66BS10，这些多路闭环的设计能够 实现对机械手的实时控制，从而实现机械手的伸缩等更为精准的动作。最后设计出了控 制系统的初始化软件设计。关键词：移动车辆专用控制器；机械手；驱动芯片；传感器ABSTRACTA manipulator- control system is designed .It is based on special controller of mobile vehicles . Its main function is to provide a complete control scheme, in order that manipulator complete all prescribed tasks. The main controller used by the control system is Digsy Compact from Inter Control company. its main advantage is that it is the special design for the mobile vehicle control system, its stability is very high in some mobile vehicles working environment.The papers design manipulator control system based on special controller of mobile vehicles，and manipulator is the research object. Firstly the background，present situation anddevelopment trends of the control system and the manipulator are introduced, and meaning of manipulator control system of mobile vehicles special controller is put forward. And the general structure of control system is introduced, and controller and actuators choosed for control system is introduced detailedly. Then the hardware design is introduced detailedly. It includes the technology of hardware interface-design, the position control, angle measurement and control, and so on. Specificly, The driver-circuit of Motor is LMD18200 drive chip.It can magnify output control signal of the node below. The drive motor can help the manipulator to realize the precise turn. The power-drive circuit of Hydraulic proportional valve is designed according to the textbook knowledge.It can