| 基于贝加菜PCC的弹性扭转系统控制 |
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| 引用本文： | 金鑫,石红瑞.基于贝加菜PCC的弹性扭转系统控制[J].可编程控制器与工厂自动化(PLC FA),2014(2):50-53. |
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| 作者姓名： | 金鑫 石红瑞 |
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| 作者单位： | 东华大学信息科学与技术学院 |
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| 摘 要： | 贝加莱公司将工业中柔性连接驱动加以抽象，设计开发出了一套多质量弹性扭矩装置，其具有强震荡性，依据对象特性，本文采用双微分反馈（DDF）控制方案，在B＆R公司的PCC可编程计算机控制器X20控制器上开发相应模块，用C语言编写了控制程序，实验结果表明该控制方案能使系统在极短的时间内达到预设速度，实现了无超调的控制效果，并具有较高的稳态精度。将双轮负载扩展为三轮负载后，微调控制器参数仍可得到理想的控制效果，体现了控制系统具有良好的鲁棒性，控制器具有优秀的控制性能。
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| 关 键 词： | 柔性连接 弹性扭矩系统 振荡性 双微分PID反馈 |
Design and Implementation of Elastic Torque Device Control System Based on PCC |
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| Jin Xin Shi Hongrui.Design and Implementation of Elastic Torque Device Control System Based on PCC[J].Programmable controller & Factory Automation(PLC & FA),2014(2):50-53. |
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| Authors: | Jin Xin Shi Hongrui |
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| Affiliation: | Jin Xin Shi Hongrui |
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| Abstract: | The intelligent fire fighting robot is studied. By using ATMEGA128 micro- controller as the center, the robot control system can download and debug a program without emulator, use infrared sensors for obstacle avoidance and find the fire. By using the incremental PID algorithm to control the robot runs accurately in software, it realizes the fire extinguishing function of automatic tracking for the intelligent robot in the complicated environment. The actual application shows that the robot＇s openness is good, and with the good performance in outfiring fastly and accurately. |
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| Keywords: | Elastic Connection Elastic torque device Oscillation behavior Double differential PID feedback |
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