机器人步进电机的最优机械控制数据建模与仿真  

Optimal Mechanical Control Data Modeling and Simulation of Robot Stepping Motor

作　　者：田恬 康瑾 TIAN Tian;KANG Jin(Shaanxi Polytechnic Institute,Xianyang 712000,China)

机构地区：[1]陕西工业职业技术学院,陕西咸阳712000

出　　处：《机械与电子》2023年第3期30-33,共4页Machinery & Electronics

摘　　要：步进电机的控制精度会对电机位移和数字脉冲产生影响,为了提高步进电机最优机械控制数据的准确性,确保步进电机最优机械控制效果,提出机器人步进电机的最优机械控制数据建模与仿真方法。该方法优先分析了机器人步进电机的内部结构、工作原理,并利用数学模型推导出传递函数,以此达到简化步进电机的目的。基于分析结果建立控制模型,实现最优控制机器人步进电机,并依据仿真分析结果验证最终控制效果。实验结果表明,所提方法的机器人步进电机最优机械控制效果较好,能够有效提高机器人步进电机最优机械控制精度。The control accuracy of stepping motor will affect the motor displacement and digital pulse.In order to improve the accuracy of the optimal mechanical control data of stepping motor and ensure the optimal mechanical control effect of stepping motor,the optimal mechanical control data modeling and simulation method of robot stepping motor is proposed.This method gives priority to the analysis of the internal structure and working principle of the robot stepping motor,and deduces the transfer function by using the mathematical model,so as to simplify the stepping motor.Based on the analysis results,the control model is established to realize the optimal control of the robot stepping motor,and the final control effect is verified according to the simulation analysis results.The experimental results show that the optimal mechanical control effect of robot stepping motor is better,and the optimal mechanical control accuracy of robot stepping motor can be effectively improved.

关 键 词：机器人步进电机 最优机械控制数据 建模与仿真 数学模型 控制模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP383.6[自动化与计算机技术—控制科学与工程]