基于浮力的三维实体非接触测量的精密运动定位控制系统设计与分析-机械电子工程专业论文.docxVIP

摘要 摘要 万方数据 万方数据 摘 要 现代制造工业对三维实体测量的要求越来越高，目前采用的测量方法都存在某 些不足之处，如测量精度不够、测量速度太慢、破坏被测物体等。为此提出了一种 基于浮力的三维实体非接触测量方法。这是一种全新的测量方法，通过测量物体在 液体中浮力变化，计算相应片层的质量、重心等信息，在计算机中重构出被测物的 三维模型。 在三维测量过程中，对整个系统的精度要求很高，尤其是其关键运动控制系统 ——垂直定位运动控制系统提出了很高的要求，其运动精度将直接影响到测量精度 和三维模型的重构。为了提高垂直运动控制系统的精度，及获得良好的系统综合性 能指标，必须设计一个高精度的机电伺服平移运动控制系统。 首先对机电控制的多种控制方法和控制器进行研究比较，选择了功能强大的 Universal PMAC Lite 型多轴运动控制器作为其实时控制核心。并采用高性能的安 川交流伺服驱动系统，引入了先进的控制策略，利用伺服系统光电编码器和长光栅 形成双闭环系统。软件系统包含下位机实时控制模块和上位机系统管理模块两部 分，实现了伺服驱动系统的实时控制，参数输入和运动位置检测的人机界面。 通过对该定位运动控制系统的误差分析和和补偿，提高了伺服系统的性能，实 现了工作台的高精度控制，其精度完全满足三维实体测量的特殊要求。该系统具备 了完备的软、硬件控制功能，此外具有高度的开放性，为软、硬件系统的功能扩展 提供了广阔平台，为课题组研制基于浮力的三维测量机做好了必要的准备。 关键字：三维实体，浮力，PMAC，PID，误差分析 英文摘 英文摘要 Abstract In modern manufacture industry，it has more and more high request to the 3D(three-dimensional) entity measure. The methods of measure that adopt currently all have some shortage，such as the wanting measure accuracy, the low measure rate, the broken measured object, and so on. For this, a fire-new method of the 3D entity Measure which is based on flotage and non-touch was put forward. By measuring the transformation of the objects flotage in liquid, it calculates information of the relevant slices such as its quality, its c.g.(center of gravity), etc., and then restructures the measured objects 3D model. In the 3D entity Measure process, it requests that the entire system has good accuracy very much, especially its pivotal movement control system-the vertical orientation movement control system. The accuracy will directly influence the measure accuracy and the 3D models restructure. It has to devise a level movement control system with machine-electron servo which has a good accuracy, for the sake of improving the accuracy of the vertical orientation movement control system, and obtainning well index for system integrative capability. First, comparing the various machine-electron control methods and the research for controller of machine-electron control, Universal PMAC Lite Type of multi-axis mo