垃圾分类机器人步进电机AI闭环控制方法  

AI Closed-Loop Control Method for Stepper Motor of Garbage Classification Robot

作　　者：秦郡酉 李卫国[1] 王利利[1] QIN Jun-you;LI Wei-guo;WANG Li-li(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot Inner Mongolia 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,内蒙古呼和浩特010051

出　　处：《计算机仿真》2021年第10期344-348,共5页Computer Simulation

基　　金：国家自然科学基金(51165025)。

摘　　要：为了解决步进电机控制过程智能化程度、精度均较低的问题,结合AI技术和闭环控制原理,提出垃圾分类机器人步进电机AI闭环控制方法。分析垃圾分类机器人的工作程序,结合机器人中步进电机的工作模式与基本结构,构建对应的步进电机数学模型;以闭环控制原理为基础,设计并安装控制器设备,结合AI技术实现对步进电机位置的检测,分别从速度、细分换向等方面实现垃圾分类机器人步进电机的闭环控制。仿真结论表明:设计的闭环控制方法的转速和位置更加接近目标位置,即设计闭环控制方法的控制精度和智能化程度均有所提升。In order to improve the intelligent degree and precision of the stepper motor control process,we report an AI closed-loop control method for the stepper motor of garbage sorting robot based on AI technology and closed-loop control principle.According to the working mode and basic structure of the stepping motor in the robot,the working program of the garbage sorting robot was analyzed in detail to build the corresponding mathematical model of the stepping motor.Through the principle of closed-loop control,the controller equipment was designed and installed.Based on AI technology,the position of the stepper motor was detected,and the closed-loop control of the stepper motor was completed from speed and subdivision commutation.The experimental results show that the speed and position designed by this method are close to the target speed and position,and the control accuracy and intelligence are also improved.

关 键 词：垃圾分类 机器人 步进电机 人工智能 闭环控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]