Study on Synchronized Control System for Self-driven Double-jointed Module
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.
self-driven articulated arm measuring machinedouble-jointed modulesynchronized controlFPGA
NETL
NSTL
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