基于小型PLC机械手臂设计及控制系统研究  

Development of the mechanical arm control system based on PLC

作　　者：张红[1] Zhang Hong(Guangzhou Institute of Railway Technology,Guangdong Guangzhou,510430,China)

机构地区：[1]广州铁路职业技术学院,广东广州510430

出　　处：《机械设计与制造工程》2018年第7期60-64,共5页Machine Design and Manufacturing Engineering

摘　　要：机械手臂在仿生抓取时受到关节部位阻尼的作用,导致机械手臂控制的全局稳态性不好,为此提出一种基于阻尼力矩反馈调节和小型可编程逻辑控制器(PLC)的机械手臂设计及控制方法,采用阻尼力矩反馈调节和鲁棒性控制方法进行机械手臂的控制律优化设计。以PLC为逻辑处理芯片进行机械手臂控制系统的硬件设计,系统包括了姿态传感器模块、信息集成处理模块、控制指令传输模块和人机交互模块等,在执行器单元中输入控制指令,采用PLC进行嵌入式逻辑控制,采用TMS320VC5409A作为智能信息处理器的核心芯片,实现对机械手臂控制系统的硬件集成设计。测试结果表明,采用该系统进行机械手臂控制的姿态稳态跟踪性能较好,对机械手臂的位置控制精度较高,提升了控制品质。The mechanical arm is affected by joint damping during bionic grasping,which leads to the poor global steady-state of the manipulator control.This paper proposes a design and control method of the manipulator based on damping torque feedback regulation and PLC.It applies damping torque feedback control and robust control to optimize the control law of the manipulator,designs the hardware of the manipulator control system with PLC as logic processing chip.The system includes attitude sensor module,information integrated processing module,control instruction transmission module and man-machine interaction module,etc.It uses PLC for embedded logic control,and takes TMS320VC5409A as the core chip of the intelligent information processor to realize the hardware integration design of the mechanical arm control system.The test results show that the attitude tracking performance of the manipulator controlled is better,the position and posture control precision of the mechanical arm is high,and the control quality is improved.

关 键 词：小型可编程逻辑控制器 机械手臂 控制系统 执行器 反馈调节 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]