运动控制中电机速度跟踪曲线教学系统设计  

Design on teaching system for velocity tracking curve of motor in motion control

作　　者：朱晓明 李欣[1] 张淑芝[2] 徐岩[1] 

机构地区：[1]哈尔滨工程大学工程训练中心,黑龙江哈尔滨150001 [2]大庆石化公司乙烯工程指挥部,黑龙江大庆163714

出　　处：《实验技术与管理》2013年第11期111-114,共4页Experimental Technology and Management

基　　金：哈尔滨工程大学2012年度基础课程教学改革研究计划项目"TRIZ创新理论在‘工程综合’实践教学中的应用研究"

摘　　要：速度跟踪是运动控制系统设计中的重要内容。以电机为研究对象,结合互动性、实用性、趣味性等教学理念,设计了电机速度跟踪曲线教学系统,将其分为5个软件模块。系统以四轴运动平台为硬件平台,利用随机库函数完成硬件控制功能,使用VC++6.0完成其软件系统开发。对于重要的速度曲线显示模块,利用继承已有类CStatic方法完成类示波器风格界面设计;对于较复杂S曲线模式仿真设计,主要采用离散化方法,利用定时器和运动物理规律,周期更新离散速度、加速度和加加速度,完成速度曲线更新。经过实际教学中仿真和联机测试,两种模式的速度跟踪结果符合要求,证明系统设计合理、可靠,并体现良好的教学效果。Velocity tracking is very important in the design of motion control system. With the motor being studied, combined with the thinking of interactivity, utility and interest, a teaching system of motor velocity tracking is designed, which is composed of five modules. Based on Googol 4-axis motion development platform and library functions delivered with the product, the system is developed by using VC＋ ＋ 6. 0. For the important velocity showing module, it is realized with oscilloscope style by the inheriting method from the CStatic class. In the design of the complex S curve simulation, using the timer and the law of motion, a discrete method is applied to update discrete velocity, discrete accelerate and discrete jerk periodically. By the simulation and test online in the practical teaching, the velocity tracking result is in accord with the expected requirements, proving that the system is logical and reliable, and of good teaching effect.

关 键 词：实验教学系统 运动控制 速度跟踪曲线 S曲线模式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] G484[自动化与计算机技术—控制科学与工程]