一种数字伺服驱动的多元电机控制系统设计  

Deign of Multi-motor Control System Driven by Digital Servo

作　　者：董宇[1] 王广龙[1] 陈建辉[1] 乔中涛[1] 

机构地区：[1]军械工程学院导弹工程系,河北石家庄050003

出　　处：《自动化仪表》2013年第2期42-45,共4页Process Automation Instrumentation

摘　　要：针对目前大多数伺服控制系统运算能力较弱、无法执行复杂算法的问题,设计了一种数字伺服驱动的多元电机控制系统。介绍了系统硬件平台的搭建,并以该硬件平台为基础,基于Ubuntu Linux操作系统设计了上层控制软件。对软件设计思想进行了介绍,重点讨论了变速积分PID算法和电机速度控制、角度控制等算法的设计,并对系统的软件流程进行了分析。试验结果表明,系统运行正常,具有较高的可靠性和较好的鲁棒性。At present, most of the servo control systems feature weak operation capability, and impossible to execute complicated algorithms. To solve these problems, the multi-motor control system driven by digital servo has been designed. The set up of the hardware platform of the system is introduced. With this platform as the foundation, the high-level control software based on Ubuntu Linux operating system is designed. The design concept of the software is presented, and the designs of the variable integral PID algorithm, motor speed control algorithm, motor angle control algorithm are discussed emphatically ; and the flowchart of the systematic software is analyzed. The experimental result shows that the system runs normally with high reliability and robustness.

关 键 词：数字伺服 电机控制 PID控制 CAN总线 LINUX系统 USBcan转换器 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]