共查询到19条相似文献,搜索用时 343 毫秒
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基于数字信号处理器的四轴运动控制卡系统研究 总被引:1,自引:0,他引:1
数字信号处理器(DSP)适用于控制PCI多轴运动控制卡的开发需求,简单分析了数字信号处理器的选择方案及DSP处理器TMS320VC33和PCI总线的研究分析,对多轴运动控制卡的部分部件作了必要的功能、作用、方法说明等。并按照结构化程序设计的算法,确定了四轴运动控制卡的模块的功能。完成实现了四轴运动控制卡硬件电路设计。 相似文献
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主要介绍了以研华公司的三轴伺服电机运动控制卡PCL-832以及相关系列工控产品为主研制的海况模拟仿真试验装置的控制系统组成、主要功能、系统控制软件等;同时着重介绍了研华公司的一些特殊功能卡,如三轴伺服电机运动控制卡PCL-832在实际应用中的使用要点、方法和使用技巧。应用结果表明:装置运行良好,并取得一定的经济和社会效益。 相似文献
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本文主要介绍了基于PCI总线的以多单片机和DSP为控制芯片的多轴运动控制系统的设计,主要包括其硬件方面的设计.详细的介绍了运动控制卡和接口卡的各个模块功能电路,包括DSP与PCI的通信电路,以及DSP的辅助电路包括JTAG测试接口电路、供电电路、时钟电路,存储器扩展电路等. 相似文献
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Dong Sun Author Vitae 《Automatica》2003,39(6):997-1005
A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control architecture. The control strategy is to stabilize position tracking of each axis while synchronizing its motion with other axes’ motions so that differential position errors amongst axes converge to zero. The proposed adaptive controller and parameter estimator employ coupling control by feeding back position errors and differential position errors, and have been realized to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a multi-axis motion control system demonstrate the effectiveness of the method. 相似文献
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本文介绍了基于运动控制卡的机器人智能切割系统的软硬件设计。该机器人具有四个自由度,采用三轴联动的工作方式,第三轴可与选定的两轴的运动轨迹保持正切。实验表明该机器人切割系统工作稳定,满足玻璃切割等行业的加工要求。 相似文献
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为解决风洞尾撑变角度机构运动过程中多轴之间的同步协调控制问题,本文提出了一种结合并行控制和交叉耦合控制的同步控制方法.首先,将并行控制应用于多轴联动控制中,根据前后侧滑轴定位时间一致以及速度变化时间一致的原则,开展了提高多轴同步性能的研究.然后,采用了基于同步误差传递函数的交叉耦合控制方法,对并行控制给定的运动参数进行修正补偿.最后,通过机构运动进行了实验验证,实验结果表明该控制方法可有效减小横向同步误差,提高同步性能,满足风洞试验控制要求.该方法也为类似机构的同步控制提供了参考. 相似文献
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以运动控制卡控制伺服电机运动为主要研究对象,综合应用运动控制卡、电机驱动器、DDL函数库和VB高级语言等组成控制系统。通过调用控制卡中的运动函数库,改变脉冲频率,控制伺服电机的转速和转向,从而实现多轴伺服电机的连续运动。 相似文献
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The shaking table is an essential testing tool in the development of earthquake resistant buildings and infrastructure, so improving its performance is an important contribution to saving lives. Currently the bandwidth and accuracy of shaking tables is such that earthquake motion often cannot be replicated with the desired fidelity. A new model-based motion control method is presented for multi-axis shaking tables. The ability of this method to decouple the control axes is demonstrated. A linear parameter varying modal control approach is used – i.e. the modes of vibration of the system are controlled individually, with the modal decomposition repeated at each time step to account for parameter variations. For each mode, a partial non-linear dynamic inversion is performed in the control loop. Feedback is based on a combination of position and acceleration measurements. A command feedforward method is proposed to increase the tracking bandwidth, thus the controller has a two degree-of-freedom structure. Experimental and simulation results are presented for a large (43 t total) six degree-of-freedom shaking table. The simulation results are based on a detailed, validated model of the table. Experimental results show that the controller gives exceptional performance compared a conventional proportional controller: for example the horizontal acceleration bandwidth is six-times higher at over 100 Hz, which is also many times higher than the hydraulic resonant frequency. These results will allow a step change in earthquake simulation accuracy. 相似文献
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网络资源的有效利用对网络化运动控制系统的性能至关重要。传统的静态带宽分配方法无法适应系统结构变化和负载波动。针对基于数学优化的动态带宽方法难于在线使用的问题,提出了通过设计网络反馈调度器,基于系统实际性能动态分配网络带宽的方法。根据获得的优化带宽分配,并通过调整各轴回路的采样周期,实现整体性能的优化。 相似文献
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This paper focuses on multiplayer cooperative interaction in a shared haptic environment based on a local area network. Decoupled motion control, which allows one user to manipulate a haptic interface to control only one‐dimensional movement of an avatar, is presented as a new type haptic‐based cooperation among multiple users. Users respectively move an avatar along one coordinate axis so that the motion of the avatar is the synthesis of movements along all axes. It is different from previous haptic cooperation where all users can apply forces on an avatar along any direction to move it, the motion of which completely depends on the resultant force. A novel concept of movement feedback is put forward where one user can sense other users’ hand motions through his or her own haptic interface. The concept can also be explained wherein one person who is required to move a virtual object along only one axis can also feel the motions of the virtual object along other axes. Movement feedback, which is a feeling of motion, differs from force feedback, such as gravity, collision force and resistance. A spring‐damper force model is proposed for the computation of motion feedback to implement movement transmission among users through haptic devices. Experimental results validate that movement feedback is beneficial for performance enhancement of such kind of haptic‐based cooperation, and the effect of movement feedback in performance improvement is also evaluated by all subjects.Copyright © 2012 John Wiley & Sons, Ltd. 相似文献