多步進(jìn)電機(jī)的同步精確運(yùn)動(dòng)控制研究.pdf

1、哈爾濱理工大學(xué)碩士學(xué)位論文多步進(jìn)電機(jī)的同步精確運(yùn)動(dòng)控制研究姓名：彭景春申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：張永德20090301哈爾濱理T大學(xué)工學(xué)碩士學(xué)位論文ResearchonSynchronizationandPrecisionMotionControlofMultipleSteppingMotorsAbstractAsallexecutingcomponentasteppingmotorhascharacteristic

2、sofsimplecontrolaccmatepositoningand84)onandisappliedinmanyfieldsBecameofthehighdemandformechanismperformanceandproductqualitymoresteppingmotorsneedtobecontrolledandruninphaseinmanycontrolfieldssuchasmilitaryaffairsaviga

3、tionrobotcontrolandSOforthSoithasallimportantsignificanc蟹todeeplystudyOnmultiplesteppingmotorssynchronizationcontrolandimprovetheirmotioncontrolprecisionThisthesisisbasedontheresearchonamultimanipulatortoothanangementrob

4、otAsoftwareprogramisadoptedtealizesynchronizationandprecisonmotioncontrolofmultiplesteppingmotorstakingadigitalI／Ocardasthehardwarebaseofsteppingmotorcontr01Thekeyofthiscontrolmethodisthesoftwareprogramwhichdecideswhethe

5、rthesynchronizationcontrolcanberealizedFirstlythewholestructureandworkingtheoryofthemultimanipulatortootharrangementrobotarediscussedSecondlythecontrolmethodsofonest印pingmotorandtimingmethodsareanalyzedindetailandasoihal

6、erealizationmethodofprecisionmotioncontrolofonesteppiIlgmotorisproposedThirdlythecontrolmOhodsofmasssteppingmotorsandmultitaskcontrolmechanismofWindowsoperatingsystemalefurtheranalysedandastrategyofmultiplesteppingmotors

7、synchronizationcontrolbasedonPCandI／0cardsisbroughtforthFinallyasynchronizationcontrolprogramisprogranunedfor50steppingmotorsofthemultimanipulatortootharrangemmtrobotandanexperimentisexecutedTheresultshowsthatwhenthestra

8、tegyofmultiplesteppingmotorssynchronizationcontrolpropsedinthisthesisisappliedinthemulti—manipulatortootharrangementrobotthestructurewillexperienceauniformforceWhichdiminatesthetoothanmgmgobstacleproducedbythedeformityof