多臂多自由度动物离心机控制系统设计  

Design of Animal Centrifuge Control System for Multi-Arm and Multi-Degree of Freedom

作　　者：潘俊孜 周好斌[1] 高峰 徐向前[1] PAN Jun-zi;ZHOU Hao-bin;GAO Feng;XU Xiang-qian(School of Materials Science and Engineering,Xi'an Shiyou University,Xi'an 710065,China)

机构地区：[1]西安石油大学材料科学与工程学院,陕西西安710065

出　　处：《机械工程与自动化》2022年第1期155-157,共3页Mechanical Engineering & Automation

基　　金：西安石油大学“材料科学与工程”省级优势学科(YS37020203);西安石油大学研究生创新与实践能力培养计划项目资助(YCS20213192)。

摘　　要：针对多臂多自由度载物台的动物离心机主轴转速调节和多自由度载物台组合运动的问题,详细介绍了控制系统的硬件配置和总体设计方案。采用主从站控制架构,通过伺服控制器和多轴运动控制器实现对动物离心机的整体控制,以获得X、Y、Z三轴复合加速度。实验结果表明,多轴运动控制器控制的载物台可实现不同形式的运动组合,同时能够实现动物离心机主轴转速精确控制,且使其运行平稳可靠。Aiming at the problem of the spindle speed adjustment of the animal centrifuge with the multi-arm multi-degree-of-freedom stage and the combined movement of the multi-degree-of-freedom stage, the hardware configuration and overall design scheme of the control system are introduced in detail. Using the master-slave control architecture, the overall control of the animal centrifuge is realized through the servo controller and the multi-axis motion controller to obtain the X, Y, and Z three-axis compound acceleration. The experimental results show that the stage controlled by the multi-axis motion controller can realize different forms of motion combination, and at the same time can realize the precise control of the animal centrifuge spindle speed, and make it run smoothly and reliably.

关 键 词：多自由度 动物离心机 控制系统 多轴运动控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]