基于dSPACE的刚柔耦合多电机控制实验平台  

Rigid-flexible coupling multi-motor control experiment platform based on dSPACE

作　　者：周林娜 王众 刘金浩 常俊林 杨春雨 ZHOU Linna;WANG Zhong;LIU Jinhao;CHANG Junlin;YANG Chunyu(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221008,China)

机构地区：[1]中国矿业大学信息与控制工程学院,江苏徐州221008

出　　处：《实验技术与管理》2020年第11期120-124,共5页Experimental Technology and Management

基　　金：中国矿业大学研究生教育教学改革研究与实践项目(2019YJSJG017);国家自然科学基金项目(61873272)。

摘　　要：为了满足刚柔耦合多电机控制的教学和科研需要,设计了一种基于dSPACE的刚柔耦合多电机控制实验平台。首先,综合考虑多电机之间刚性、柔性和刚柔耦合机械结构,设计了刚柔耦合多电机实验装置;然后,基于dSPACE硬件和软件设计了刚柔耦合多电机控制实验平台,使平台能够实时监测各种信号,在线修改控制参数和更新控制算法;最后,通过实验表明该平台能够有效验证刚柔耦合多电机控制算法,为多电机控制的科研和教学提供必要的验证条件。In order to meet the needs of scientific research and teaching of control methods for rigid-flexible coupling multi-motor,a dSPACE-based rigid-flexible coupling multi-motor control experiment platform is designed.Firstly,the rigid-flexible coupling multi-motor experiment device is designed,which contains the mechanical structure of rigid,flexible and rigid-flexible coupling connection.Secondly,the rigid-flexible coupling multi-motor control experiment platform is designed based on the dSPACE software and hardware,by which various signals can be monitored in real time,the controlling parameters can be modified online and the controlling algorithms can be changed.Finally,the experimental results show that the platform can effectively verify the rigid flexible coupling multi motor controlling algorithm and provide necessary verification conditions for the research and teaching of multi-motor control.

关 键 词：DSPACE 刚柔耦合 多电机系统 实验平台 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置]