Studies on digital addition technology in incremental encoder 增量式編碼器數(shù)字量相加技術(shù)的研究
So extend kalman filter ( ekf ) is applied to low speed control of ac servo systems in order to identify the information of position of magnet poles and low speed instead of incremental encoder . in high speed region , encoder is still used to acquire speed information 基于此,本文把擴展的卡爾曼濾波( ekf )技術(shù)應(yīng)用于交流伺服系統(tǒng)的低速控制,完成系統(tǒng)初始磁極位置角的辨識以及低速下電機轉(zhuǎn)速的估計,在高速時,仍采用光電編碼器獲取電機轉(zhuǎn)速。
And the inverter becomes smarter . during the designing , the pulse - processing ciucuit is preset which processes the feedback pulse from photoelectric encoder for close - looping the system in future . by using the circuit and quadrature mode of timer 1 in 80c196mc , incremental encoder can be embedded into the velocity regulation system more easily and the domain the inverter can be used in is enlarged too 在系統(tǒng)設(shè)計過程中,考慮到了變頻調(diào)速器進一步改進為閉環(huán)系統(tǒng)的需要,在電路中預(yù)設(shè)了光電碼盤反饋脈沖的處理電路,通過這個電路的處理,并利用80c196mc中定時計數(shù)器1的90相移計數(shù)工作方式,可大大簡化使用增量式光電碼盤時脈沖處理的復(fù)雜度,這也擴大了本文中變頻調(diào)速器的應(yīng)用范圍。
The electrical structure and mechanical structure of the non - ripple torque control system of brushless motor is almost the same as that of the control system of conventional brushless motor . the difference is that the non - ripple torque control system of brushless motor has a incremental encoder which the control system of conventional brushless motor has not , which results in a great change of control method 永磁無刷電機無脈動轉(zhuǎn)距調(diào)速系統(tǒng)與傳統(tǒng)無刷電機調(diào)速系統(tǒng)在電磁、機械結(jié)構(gòu)上基本一樣,所不同的是它在傳統(tǒng)無刷機控制系統(tǒng)的基礎(chǔ)上增加了一個增量式編碼盤,從而導(dǎo)致其控制方法有了比較大的改變。
According to the structure characteristics and motion rules of the new type nursing robot , the close loop control system of this new type nursing robot is designed and made with the virtual instrument developing software labwindows / cvi , mcu , piezoelectric ultrasonic motor and high precision optical incremental encoder , which can make the robot reset and rotate by the predefined tracks . at the same time , in order to make the nursing robots used more widely where intensity , precision and price are not high , another control system is designed with the step motor , virtual instrument developing software labwindows / cvi , multi - function daq card pci1711 , linear power amplifier . in order to use the nursing robots in acupuncture therapy , a simple finger is designed 在對其結(jié)構(gòu)特點和運動規(guī)律分析的基礎(chǔ)上,本文以虛擬儀器編程語言labwindows / cvi為軟件開發(fā)工具,以單片機為控制核心,以超聲電機為驅(qū)動元件,以高精度光電編碼器作為速度和角位移檢測裝置,實現(xiàn)了機械臂的復(fù)位以及預(yù)定軌跡的閉環(huán)控制系統(tǒng)的開發(fā);同時為適應(yīng)一些強度不大、精度要求不高的應(yīng)用場合,也為降低成本,簡化控制裝置,推動新型護理機械臂短期內(nèi)應(yīng)用推廣的需要,以目前應(yīng)用較為廣泛、控制技術(shù)較為成熟的步進電機為驅(qū)動元件,用labwindows / cvi開發(fā)環(huán)境、 pci1711數(shù)據(jù)采集卡以及線性功率放大器開發(fā)了一套控制系統(tǒng),實現(xiàn)了手臂的復(fù)位、勻速運動以及預(yù)定軌跡的控制系統(tǒng);為推廣護理機器人在針灸理療中應(yīng)用,設(shè)計了簡單的手指機構(gòu)并利用labwindows / cvi開發(fā)環(huán)境,以及智能材料驅(qū)動器? ?層疊式壓電驅(qū)動器,進行了手指的抓取以及對驅(qū)動對象的轉(zhuǎn)動控制。
Pd is moving to detect the power of the laser , a simulated switch is selected to realize the divide control of the two photo - detectors ; incremental encoder is used to built the closed - loop control of the step - motor ; base on the characteristic parameter of the laser diode , built the mathematics model between the beam divergence and the temperature , to measure the result to carry on the temperature compensation 步進電機帶動光電探測器進行光強檢測,用來探測邊界點;兩個光電探測器之間的分時控制通過模擬開關(guān)來實現(xiàn);選用光電編碼器,搭建步進電機的閉環(huán)控制系統(tǒng);根據(jù)半導(dǎo)體激光器本身的參數(shù)特性,建立發(fā)散角和溫度的數(shù)學(xué)模型,對測量結(jié)果進行溫度補償。