| 带电高空接过引线自动手臂自适应细分运动控制系统设计 |
| |
| 引用本文： | 宋起超,韩维建,周振全,吴崇勇,叶露,张凌志.带电高空接过引线自动手臂自适应细分运动控制系统设计[J].仪表技术,2011(12):16-18. |
| |
| 作者姓名： | 宋起超 韩维建 周振全 吴崇勇 叶露 张凌志 |
| |
| 作者单位： | 1. 黑龙江工程学院,黑龙江哈尔滨,150050
2. 哈尔滨第二电业局,黑龙江哈尔滨,150001 |
| |
| 基金项目： | 基金项目：2011年国家电网公司系统科学技术项目[哈二电科（2011）1号] |
| |
| 摘 要： | 针对高压电网接引线机械臂绕线和进给过程中,其步进电机存在速度突变和宽广范围内速度平滑控制问题,设计了以STM32F103系列微控制器为核心的运动控制系统,该系统采用自适应细分控制算法,解决接引线机械臂步进电机在低频运行时转矩脉动、细分切换引起速度突变和宽广范围内速度平滑控制问题.通过对接引线机械臂步进电机运行试验,证明了所设计的模型与运动控制方法的可行性.
|
| 关 键 词： | 高压电力线 接线机械臂 运动控制 细分 |
Adaptive Control Design for Subdivision Motion of Automatic Fly-back Switching System by High Voltage Arm Connecting Charged Wire |
| |
| SONG Qi-chao
,
HAN Wei-jian
,
ZHOU Zhen-quan
,
WU Chong-yong
,
YE Lu
,
ZHANG Ling-zhi.Adaptive Control Design for Subdivision Motion of Automatic Fly-back Switching System by High Voltage Arm Connecting Charged Wire[J].Instrumentation Technology,2011(12):16-18. |
| |
| Authors: | SONG Qi-chao HAN Wei-jian ZHOU Zhen-quan WU Chong-yong YE Lu ZHANG Ling-zhi |
| |
| Affiliation: | SONG Qi-chao, HAN Wei-jian , ZHOU Zhen-quan , WU Chong-yong , YE Lu , ZHANG Lmg-zhi ( 1. Heilongjiang Institute of Technology, Harbin 150050, China; 2. Harbin the Second Electric Power Bureau, Harbin 150001 , China) |
| |
| Abstract: | Aiming at the automatic fly-back switching system by high voltage arm connecting charged wire winding and feeding process, the stepper motor in the rate of mutation and wide range speed control problems, a motion control system, which use the STM32F103 series microcontroller as tile core, is designed. The system uses adaptive segmentation algorithm to solve the robot control, connection of stepping motor in low frequency operation, torque ripple breakdown induced by switching rate of mutation and wide range speed control problem. Through the connection robot stepper motor running test, it is proved that the model and the feasibility of motion control method. |
| |
| Keywords: | high vohage power line wiring robot motion control subdivide |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
