基于位移控制的线圈自动绕线系统研究  

Research on Automatic Winding System Based on Displacement Control

作　　者：高永强 陆熊[1] 黄晓梅[1] 刘佳[2] Gao Yongqiang;Lu Xiong;Huang Xiaomei;Liu Jia(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing211106,China;School of Information and Control,Nanjing University of Information Science&Technology,Nanjing210044,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]南京信息工程大学信息与控制学院,南京210044

出　　处：《计算机测量与控制》2020年第5期84-87,97,共5页Computer Measurement &Control

基　　金：国家自然科学基金面上项目(61773205,61773219)。

摘　　要：在电磁式力触觉再现系统中,电磁铁线圈绕制质量的好坏直接决定了力触觉再现的真实感和沉浸感;该系统基于手摇绕线机、步进电机、电缸平移台、张力控制器、STM32单片机等模块,设计开发了大尺寸电磁铁线圈自动绕制系统;研究了以STM32为核心的精准排线控制算法,实现了大尺寸空盘片骨架自动绕线排线工作;以实际绕制的线圈为研究对象,通过与人工绕制线圈的效果对比,验证了排线算法的可靠性和稳定性;通过测量线圈的电阻值与理想值的对比,证明了线圈绕制质量的可行性;该系统为大尺寸线圈绕制提供了有效的解决方案,对促进力触觉的发展具有重要的研究意义。In the magnetic haptic rendering system,the quality of the electromagnet coil winding determines the authenticity and immersion of the haptic rendering.This paper designs and develops an electromagnet large coil automatic winding system based on hand winding machine,stepping motor,electric cylinder,tension controller,STM32 and other modules.The cable control algorithm based on STM32 is studied,which realizes the automatic winding and wire arranging of large-size coil.Taking coils as the research object,the reliability of the automatic winding system was verified by comparing with the effect of manual winding.The feasibility of coil winding quality is proved by comparing the resistance value of the actual measuring coil with the theoretical value.The system provides an effective solution for large-frame multi-strands winding.It is important for magnetic haptic rendering research.

关 键 词：力触觉再现 电磁铁线圈 张力控制器 排线控制算法 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]