基于单片机的伺服舵机跟踪控制技术研究
Tracking and control technology of servo actuator based on single-chip microcomputer
蔡华祥 1吴兴校 1蒋昕 1葛红岩1
作者信息
- 1. 国家精密微特电机工程技术研究中心,贵州 贵阳 550081;贵州航天林泉电机有限公司,贵州 贵阳 550081
- 折叠
摘要
伺服舵机是一种可控制角度、速度的集成化机构组件.其内部集成了减速器、传感器、驱动器和电机等.由于其体积小、结构紧凑,导致其存在传动回差、传感器精度低等问题.为满足系统要求,本文针对伺服舵机的硬件电路,传感器电路作了详细设计介绍,同时根据系统需求,针对伺服舵机定点跟踪以及特定位置路径跟踪,分别设计了不同的软件算法.最后,通过试验证明,本文所提出的硬件电路设计及软件算法设计切实有效,可完成系统的功能需求.
Abstract
Servo actuator is an integrated mechanism that can control angle and speed.It integrates reducer,sensor,driver,motor,and other components.Due to its small size and compact structure,it has problems such as transmission backlash and low sensor accuracy.In order to meet the system requirements,this article provides a detailed design introduction of the hard-ware circuit and sensor circuit of the servo actuator.According to the system requirements,different software algorithms are designed for fixed point tracking and specific position path tracking.Finally,experiments prove that the hardware circuit de-sign and software algorithm design proposed in this article are practical and effective,and can meet the functional require-ments of the system.
关键词
伺服舵机/传感器/定点跟踪/集成化Key words
servo actuator/sensor/fixed point tracking/integration引用本文复制引用
出版年
2024
NETL
NSTL
万方数据