基于DSP的步进电机细分控制器设计-模式识别与智能系统专业论文.docxVIP

AbstractAbstract Abstract Abstract Robot has an advantage in surgery area because of its endurance，high-precision and the ability to adapt adverse circumstances．Foreign research institutions have been doing such research for several years。and made substantial achievements．Their products have been realized commercially．Domestic related research also has been started．Institute of Robot and Information System in Nankai university takes on the task of national 863 program project—— Robot Assistant Micmsurgery System(RAMS)．RAMS adopts master．slave．hand systematic structure．Doctors send commands to the system through the master hands，these commands are executed by the slave hands after they are processed by the control system，which makes the surgical actions more accurate and steadier． Compared with human beings，RAMS’superiority dues to its high．precision，and system precision mainly depends on the resolution of the executing mechanism-1noton This article regards improving the control precision of stepping motors as the goal．After deeply 8“81yzing 8nd rese“ching principles and control methods of stepping motor,we p[opose a subdivision control strategy,which controls the currents of the two phases of the motor,making them change according to the orthogonal sinusoidal scalar-form curve． Based on the requirement of performance and security,our systematic solution selects TMS320LF2407A DSP of T1’s as the core control chip to finish the design of systemic sofiware and hardware．PID digital control method is used to real．time control the currents of moto￡At the same time，implementation of over speed locking，Subdivides auto．adapted and steadily going back to zeIo location is illustrated in detail．Finally,based on the dynamic characteristics of stepping motor,we studied the process ofaccelerating and decelerating ofmotor． The experimental results suggest that the solution in this article reached the expected target Through this solution，system precision is improved by hundreds of t