基于DSP的智能小型机械臂移动控制系统设计  

Design of intelligent small manipulator mobile control system based on DSP

作　　者：淮妮[1] 梁盈富[2] HUAI Ni;LIANG Yinfu(Xianyang Vocational and Technical College Mechanical and Electrical College ,Xianyang Shanxi,712000;Shanxi Industrial Vocational and Technical College CNC Engineering College,Xianyang Shanxi,712000)

机构地区：[1]咸阳职业技术学院机电学院,陕西咸阳712000 [2]陕西工业职业技术学院数控工程学院,陕西咸阳712000

出　　处：《自动化与仪器仪表》2019年第2期66-69,共4页Automation & Instrumentation

基　　金：咸阳职业技术学院"虚拟机构创新设计实验平台的研究与实现"(2017KYC06)

摘　　要：小型机械臂移动控制受到局部扰动误差的影响,导致控制精度不高,提出基于Kalman滤波反馈调节的智能小型机械臂移动控制模型,并采用DSP作为控制器的核心处理器进行控制系统设计。首先进行小型机械臂移动控制算法设计,以机械臂的定姿参量作为控制约束参量,进行机械臂的定姿控制和姿态参量输出的Kalman滤波融合,根据融合定姿输出进行控制律优化。然后在DSP集成信息处理环境下进行控制系统的硬件开发,主要对控制执行器、中央控制单元以及控制指令的输出单元进行详细设计描述。系统测试结果表明,采用该方法进行智能小型机械臂移动控制的输出性能较好,机械臂的定姿误差较低,控制收敛性较好。The small manipulator movement control is affected by the local disturbance error,which leads to the low control precision. An intelligent small manipulator movement control model based on Kalman filter feedback regulation is proposed. The control system is designed with DSP as the core processor of the controller. Firstly,the control algorithm of the small manipulator is designed,and the attitude determination parameter of the manipulator is used as the control constraint parameter. The attitude control of the manipulator and the Kalman filtering fusion of the attitude parameter output are carried out,and the control law is optimized according to the fused attitude determination output.Then,the hardware of the control system is developed under the DSP integrated information processing environment,and the control actuator is mainly used. The central control unit and the output unit of the control instruction are designed and described in detail. The system test results show that the proposed method has better output performance and lower attitude determination error. The control convergence is good.

关 键 词：DSP 小型机械臂 控制系统 KALMAN滤波 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]