超声电机驱动的机械臂控制系统研究  

Research on the control system of manipulator driven by ultrasonic motor

作　　者：陈浩[1] 李华峰[1] Chen Hao;Li Huafeng(State Key Laboratory of Mechanice and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016

出　　处：《国外电子测量技术》2021年第9期70-75,共6页Foreign Electronic Measurement Technology

基　　金：国家重点基础研究发展计划(973计划)(2015CB7057503);江苏高校优势学科建设工程项目资助。

摘　　要：相较于传统电磁电机,超声电机具有低速大转矩、断电自锁、不受电磁干扰的特点,能有效的满足空间机械臂对于驱动部件的要求。以超声电机作为驱动部件,设计并制作了二自由度机械臂样机,根据不同条件下的电机启动特性测试结果,设计了对机械臂冲击最小的启动方案。以STM32F407为主控芯片,搭载MPU6050等元件,设计了基于实时操作系统FreeRTOS的机械臂控制系统,完成了MPU6050数据采集任务、机械臂位姿规划、电机运动控制等任务的分配。实验结果表明,系统运行稳定、实时性好,为超声电机驱动的机械臂应用于航天探索提供了一定的研究基础。Compared with traditional electromagnetic motors,the ultrasonic motor has the characteristics of low speed and large torque,self-locking after power failure,immunity to electromagnetic interference,which can effectively meet the requirements of space manipulator for driving components.In this paper,the ultrasonic motor is used as the driving component,and a two-degree-of-freedom manipulator prototype is designed and produced.According to the test results of the motor′s starting characteristics under different conditions,a starting scheme with the least impact on the manipulator is designed.With STM32 F407 as the main control chip,equipped with MPU6050 and other components,the manipulator control system based on the real-time operating system FreeRTOS is designed,and completed the assignment of tasks such as MPU6050 data acquisition tasks,manipulator pose planning,motor motion control,etc.The experimental results show that the system runs stably and has good real-time performance,which provides a certain research foundation for the application of ultrasonic motor-driven manipulator in space exploration.

关 键 词：超声电机 二自由度机械臂 启动特性 FREERTOS 

分 类 号：TM38[电气工程—电机]