共查询到20条相似文献,搜索用时 187 毫秒
1.
2.
3.
基于嵌入式单片机的电机控制系统设计 总被引:5,自引:0,他引:5
直流电机的控制,对于电机工作状态和运行稳定性有着重要的影响。为了提高无刷直流电动机控制系统的性能,采用嵌入式单片机作为核心处理器,单片机在直流电机控制系统中进行控制,并给出了电机控制系统硬件设计方案和嵌入式软件控制功能的设计,对于进一步发展具有高速实时控制功能的电机控制系统具有一定的借鉴意义。通过测试表明控制系统简化了电路设计,提高了保护的可靠性,抗干扰性和运行速度,同时控制系统只须在软件方面加以适当的修改,就可适应不同需要,完全可以应用于电机、变压器保护、变频系统控制等系统中。通过测试证明控制系统的可行性,为设计提供了可靠依据。 相似文献
4.
5.
介绍一种以MCS 5 1系列单片机为核心的直流电机锁相稳速控制系统的组成、原理及理论分析。该系统采用光电编码器作为速度检测传感器 ,将传统的PID数字控制理论用于CDC (computer digital control)控制之中 ,并由单片机完成CDC的控制。本文给出了控制系统的软硬件设计。 相似文献
6.
《电子制作.电脑维护与应用》2015,(22)
本文主要应用单片机STC89C52作为控制核心,电机驱动电路、直流电机、红外传感器及显示电路等相结合的系统。它充分发挥了单片机的性能,其优点硬件电路简单,软件功能完善,控制系统可靠,性价比较高等特点,具有一定的使用和参考价值。 相似文献
7.
本文介绍了一种基于AT90PWM3单片机的无刷直流电机驱动器设计。通过采用全数字武和PID参数可调的设计思路,使系统具有良好的扩展性和适应性。同时,本设计采用了带PID算法的转速和电流双闭环无刷直流电机控制系统,使该系统具有起动快速、稳定和较宽的调速范围等优点。 相似文献
8.
9.
本文介绍了以PIC单片机为核心控制器的六自由度辅助型康复机器人手臂,该手臂关节采用模块化设计,控制系统主要由PIC智能控制模块和电机驱动模块组成,通过试运行,状况良好。本文最后探讨了该机器人手臂的未来发展趋势。 相似文献
10.
针对智能家居、智慧农业等应用领域对直流电机的环境自适应控制需求,设计了一种基于单片机小系统(AT89C51)的环境自适应控制的直流电机控制系统;该系统由直流电机控制系统由限位开关、复位按钮模块、无线遥控模块、水滴感应模块、直流电机控制模块、蜂鸣器报警模块、光线检测模块和单片机最小系统模块等组成;可实现2种模式的直流电机控制模式,一是根据光线强度、雨滴等环境因素自适应控制直流电机正/反转,另一种是利用按键功能模块手动控制直流电机的正/反转;经测试发现,当环境的光照强度的感知幅度值在10~600 lx之间变化时,该控制系统能够按照设定值实现直流电机的自动控制或者手动控制;同时,通过水滴感应模块,判断雨滴的有无和大小,实现直流电机的自动控制或者手动控制;因此,该环境自适应控制的直流电机控制系统具有响应特性好、可靠性高、成本合理等优点,可广泛应用于智能家居、智慧农业等领域. 相似文献
11.
汽车工业的迅猛发展对相关发动机技术人员提出了更高的要求,而现在的汽车发动机培训方式很难满足实际需要.介绍了一种为了满足现代汽车技术实习培训教学的要求而设计开发的汽车发动机实时仿真培训器.文中介绍了汽车发动机实时仿真培训器的系统构成和发动机实时仿真及故障模拟电子单元(REFEU), 其中,重点介绍了进气歧管负压和发动机转速的仿真以及故障模拟的实现.该仿真器能够动态再现发动机的工作过程及相关信号的变化规律,并且培训教师能根据教学需要设置实际发动机运行过程中碰到的各类故障.目前,该仿真器已经投入实际应用中,并取得了良好的教学效果. 相似文献
12.
该文提出了一种新的故障诊断方法,该方法把基于观测器的诊断和基于知识的诊断方法相结合而成为一种集成智能故障诊断方法。在研究了基于多观测器故障诊断方法的基础上,对该集成诊断方法进行了较为详细的讨论。仿真例子表明了该方法的有效性和优越性。 相似文献
13.
Virtual reality trainers are educational tools with great potential for laparoscopic surgery. They can provide basic skills training in a controlled environment and free of risks for patients. They can also offer objective performance assessment without the need for proctors. However, designing effective user interfaces that allow the acquisition of the appropriate technical skills on these systems remains a challenge. This paper aims to examine a process for achieving interface and environment fidelity during the development of the Virtual Basic Laparoscopic Surgical Trainer (VBLaST). Two iterations of the design process were conducted and evaluated. For that purpose, a total of 42 subjects participated in two experimental studies in which two versions of the VBLaST were compared to the accepted standard in the surgical community for training and assessing basic laparoscopic skills in North America, the FLS box-trainer. Participants performed 10 trials of the peg transfer task on each trainer. The assessment of task performance was based on the validated FLS scoring method. Moreover, a subjective evaluation questionnaire was used to assess the fidelity aspects of the VBLaST relative to the FLS trainer. Finally, a focus group session with expert surgeons was conducted as a comparative situated evaluation after the first design iteration. This session aimed to assess the fidelity aspects of the early VBLaST prototype as compared to the FLS trainer.The results indicate that user performance on the earlier version of the VBLaST resulting from the first design iteration was significantly lower than the performance on the standard FLS box-trainer. The comparative situated evaluation with domain experts permitted us to identify some issues related to the visual, haptic and interface fidelity on this early prototype. Results of the second experiment indicate that the performance on the second generation VBLaST was significantly improved as compared to the first generation and not significantly different from that of the standard FLS box-trainer. Furthermore, the subjects rated the fidelity features of the modified VBLaST version higher than the early version. These findings demonstrate the value of the comparative situated evaluation sessions entailing hands on reflection by domain experts to achieve the environment and interface fidelity and training objectives when designing a virtual reality laparoscopic trainer. This suggests that this method could be used successfully in the future to enhance the value of VR systems as an alternative to physical trainers for laparoscopic surgery skills. Some recommendations on how to use this method to achieve the environment and interface fidelity of a VR laparoscopic surgical trainer are identified. 相似文献
14.
Learning from rewards generated by a human trainer observing an agent in action has been proven to be a powerful method for teaching autonomous agents to perform challenging tasks, especially for those non-technical users. Since the efficacy of this approach depends critically on the reward the trainer provides, we consider how the interaction between the trainer and the agent should be designed so as to increase the efficiency of the training process. This article investigates the influence of the agent’s socio-competitive feedback on the human trainer’s training behavior and the agent’s learning. The results of our user study with 85 participants suggest that the agent’s passive socio-competitive feedback—showing performance and score of agents trained by trainers in a leaderboard—substantially increases the engagement of the participants in the game task and improves the agents’ performance, even though the participants do not directly play the game but instead train the agent to do so. Moreover, making this feedback active—sending the trainer her agent’s performance relative to others—further induces more participants to train agents longer and improves the agent’s learning. Our further analysis shows that agents trained by trainers affected by both the passive and active social feedback could obtain a higher performance under a score mechanism that could be optimized from the trainer’s perspective and the agent’s additional active social feedback can keep participants to further train agents to learn policies that can obtain a higher performance under such a score mechanism. 相似文献
15.
讨论了当前足球机器人运动控制系统的控制算法对足球机器人运动性能的影响。在分析了足球机器人运动控制系统组成和电机数学模型的基础上,对足球机器人运动控制器采用多模态控制的仿人智能控制(Human-Simulated Intelligent Control,HSIC)算法,利用改进的遗传算法(Improved Genetic Algorithm,IGA)对仿人智能控制器参数进行优化。通过与目前普遍采用的常规PID控制器作对比实验,表明采用IGA参数整定后的HSIC控制器对电机具有更好的控制品质,并改善了足球机器人的运动性能。 相似文献
16.
D. H. Cha Ph.D. Student H. S. Cho S. Kim 《Journal of Intelligent and Robotic Systems》1996,16(1):1-24
This paper presents a new method for selecting the force-reflection gain in a position-force type bilateral teleoperation
system. The force-reflection gain greatly affects the task performance of a teleoperation system; too small gain results in
poor task performance while too large gain results in system instability. The maximum boundary of the gain guaranteeing the
stability greatly depends upon characteristics of the elements in the system such as: a master arm which is combined with
the human operator's hand and the environments with which the slave arm contacts. In normal practice, it is, therefore, very
difficult to determine such maximum boundary of the gain. To overcome this difficulty, this paper proposes a force-reflection
gain selecting algorithm based on artificial neural network and fuzzy logic. The method estimates characteristics of the master
arm and the environments by using neural networks and, then, determines the force-reflection gain from the estimated characteristics
by using fuzzy logic. In order to show the effectiveness of the proposed algorithm, a series of experiments are conducted
under various conditions of teleoperation using a laboratory-made telerobot system. 相似文献
17.
对拟人臂的运动规划问题进行了研究.通过引入动作基元的概念,将动作基元空间作为连接任务空间与关节空间的桥梁,构建了一个"关节空间-动作基元空间-任务空间"的三级运动规划框架.这种规划方式既保证了对拟人臂运动过程的控制,又简化了复杂操作任务的运动规划.在抽象的动作基元基础之上提出了一个具体的人臂三角形模型,用以描述拟人臂的运动状态.通过引入拟人臂工作平面的概念,利用坐标变换与几何分析相结合的方法详细推导并建立了人臂三角形空间与任务空间和关节空间之间的正逆运动学,为基于人臂三角形的动作基元设计奠定了基础.最后通过仿真算例验证了运动学算法的有效性与可行性. 相似文献
18.
《Robotics, IEEE Transactions on》2009,25(6):1448-1453
19.
20.
Mirosaw Galicki 《野外机器人技术杂志》2005,22(8):439-455
This paper addresses the problem of position control of robotic manipulators in the task space with obstacles. A computationally simple class of task space regulators consisting of a transpose Jacobian controller plus an integral term including the task error and the gradient of a penalty function generated by obstacles is proposed. The Lyapunov stability theory is used to derive the control scheme. Through the use of the exterior penalty function approach, collision avoidance of the robot with obstacles is ensured. The performance of the proposed control strategy is illustrated through computer simulations for a direct‐drive arm of a SCARA type manipulator operating in both an obstacle‐free task space and a task space including obstacles. © 2005 Wiley Periodicals, Inc. 相似文献