两自由度步进电机的微机控制系统-电机与电器专业论文.docxVIP

浙江大学硕：仁学位论文摘要 浙江大学硕：仁学位论文 摘要 两自由度电机有较高的性价比，应用前景广泛。本文总结了当前国内外两自 由度电机的研究成果，并在此基础上提出了种正交圆柱结构的两自由度步进电 机，突破了以往两自由度电机一贯采用的球形结构。 在该样机模型的基础上，设计出一套适用于该两自由度电机的控制系统。本 控制系统由上位机和下位机两级控制组成。上位机提供人机界面，进行电机运行 轨迹的规划，下位机按照接收的命令和数据对电机进行具体的控制，二者之间通 过串行口进行命令和数据的通讯。 上位机的轨迹规划影响到最终电机的运行状态，本文详细讨论了轨迹规划的 算法。首先定义了球面上任意两点之间的最佳路径，然后通过对最佳的弧线段进 行插补，将整条弧线插补成若干的小段，在每一个小段中进行点对点运动的控制， 最终连接成光滑的球面曲线。并在此研究基础上导出了该两自由度步进电机的运 动学方程。 关键字： 两自由度步进电机轨迹规划插补单片机串口Del。hi |II 塑坚查堂堡!：!堡堡兰 塑坚查堂堡!：!堡堡兰 一一—— Abstract The performance of the two—degree··of-freedom motor is higher than COnlInon motoL SO its fields of application is much more comprehensive This paper presents a new two．．degree．．of-freedom step motor which has orthogonal cylindrical structure based on the generalization of the research production about the two—degree—of- freedom motor in the world，and break through the conventional globe structure． According to this two—degree—of-freedom step motoL this paper introduces a control system for this step motor．This control system can be divided into two parts， the PC control system and the singlechip control system．The PC control system presents the interface between people and computer，and plans the motor’S motion trace．The singlechip control system receives the command and data from the PC and control the motor’S motion．The twO control systems’communication is realized through the serial port． The PC control system’S plans about the motor’S motion trace can influence the effect of the motor’S practicable motion trace．This paper discusses the algorithm of the motion planning detailed．At first defines the optimal path between the two points on a sphere，and then starts interpolation calculation based on the optimal path(it is a curve)After the calculation，the path has been interpolated to many small segment of a curve．Then starts the PTP(point to point)control in every small segment till the small segment link to a complete smooth curve．And based these calculation，this paper deduces the kinematic equations ofthis