PID双闭环在吸盘机械手位置控制系统中的应用  

Application of PID Dual-Closed-Loop in the Position Control System of Suction-Type Manipulator

作　　者：蔡清清 王景存[1] 文冬 CAI Qingqing;WANG Jingcun;WEN Dong(College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081

出　　处：《电机与控制应用》2020年第2期54-59,共6页Electric machines & control application

摘　　要：针对步进电机实际应用中会出现失步或过冲现象导致的速度和位置控制不准问题,结合吸盘机械手移动定位问题,设计了一种基于PID双闭环算法的步进电机位置控制系统。该系统由STM32控制器、光电编码器、槽型光电开关以及LV8729驱动电路等组成。在软件上研究了以PID双闭环算法为基础,探究了步进电机位置的闭环控制方法,并在实际项目中验证了系统控制方案的可行性和良好的控制性能。Aiming at the problem of speed and position control inaccuracy caused by out of step or overshoot in the practical application of stepper motor,considering the suction-type manipulator moving positioning problem,a position control system of stepper motor based on PID dual-closed-loop algorithm is designed.The system consists of STM32 controller,photoelectric encoder,slot type photoelectric switch and LV8729 driving circuit.Based on the PID dual-closed-loop algorithm,the software realization of the closed-loop control method of stepper motor position is studied.The feasibility and good control performance of the system control scheme are verified in practical application.

关 键 词：步进电机 吸盘机械手 PID双闭环算法 位置控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]