自驱动双关节模组同步控制系统研究  

Study on Synchronized Control System for Self-driven Double-jointed Module

作　　者：杨洪涛[1,2] 姜西祥 沈梅 高荟荟 秦鹏飞 金磊 Yang Hongtao;Jiang Xixiang;Shen Mei;Gao Huihui;Qin Pengfei;Jin Lei(School of Mechanical and Electrical Engineering,Anhui University of Science and Technology,Huainan 232001,China;Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机电工程学院,安徽淮南232001 [2]安徽理工大学矿山智能装备与技术安徽省重点实验室,安徽淮南232001

出　　处：《煤矿机械》2025年第1期190-195,共6页Coal Mine Machinery

基　　金：国家自然科学基金项目(51775163);安徽省智能矿山技术与装备工程实验室开放基金项目(AIMTEEL202206);安徽理工大学引进人才科研启动基金项目(2022yjrc100)。

摘　　要：针对自驱动关节臂测量机双关节模组的双电机同步控制问题,根据双关节模组的组成结构和工作原理设计了一种双关节模组同步控制系统。该系统采用LabVIEW软件搭建双电机的上位机控制界面,主控制器为FPGA,两者通过USB串口通信;STM32为双关节模组内部的核心处理器,通过CAN总线与主控制器通信。通过设定不同的负载和速度进行了正反转对比实验,得到双关节模组电机最大转速误差为4.26%,关节转角的最大误差为0.25°,两电机同步时间控制精度为2 ms,验证了双关节模组在负载状态下仍满足技术指标要求,为提高传动精度提供了依据。Aiming at the dual-motor synchronous control of the double-joint module of the self-driven articulated arm measuring machine,a synchronized control system for the double-joint module was designed according to the composition structure and working principle of the double-joint module.This system adopts LabVIEW software to build the upper computer control interface of the dual-motor,the main controller is FPGA,and both of them communicate through USB serial port;STM32 is the core processor inside the double-jointed module,and communicates with the main controller through CAN bus.The forward and reverse rotational comparison experiments were carried out by setting different loads and speeds,and found that the maximum rotational speed of double-jointed module motors is 4.26%,the maximum error of the joint angle is 0.25°and the synchronization time control accuracy of the two motors is 2 ms.It is verified that the double-jointed module meets the requirements of the technical indexes under load and provides a basis for the improvement of the transmission accuracy.

关 键 词：自驱动关节臂测量机 双关节模组 同步控制 FPGA 

分 类 号：TP391.76[自动化与计算机技术—计算机应用技术]