基于IPC的电动缸实验平台测控系统设计

发布时间：2018-07-08 17:15

本文选题：电动缸 + 精度补偿　；参考：《重庆大学》2014年硕士论文

【摘要】：本课题设计开发了电动缸类产品的实验测试系统，主要负责完成了实验平台的控制系统硬件设计和软件开发。系统采用“工控机＋运动控制卡”的控制架构，，采用高精度磁栅尺检测其定位精度，能够自动测试电动缸的各种性能参数并进行相关的数据处理，并能完成文中所涉及的电动缸的两类派生机构的整机运动控制和部分参数的测试。本测试平台采用间接测量的方式获得速度和加速度，分别采用差商法和移动中心平滑算法对磁栅尺测得的实时位移数据进行处理求得速度和加速度，通过实测效果对比，选出了不同情况下所适用的算法。本文对电动缸的定位误差进行了分析归类，在测得各测点正反行程位置误差的基础上，通过对位置误差数据进行最小二乘线性拟合求得了系统的线性误差，通过改进的分段三次拉格朗日插值得到了电动缸全行程的非线性误差。在此基础上，在上位控制软件中对电动缸进行了位置误差补偿，有效的提高了电动缸的定位精度。在单电动缸分析和测试的基础上，开发了电动缸的派生机构——直角坐标机械手与H形并联机构——的整机测试模块，对其部分参数的测试方法进行了分析，提出了H型并联机构的运动学模型并进行了样机实验，实现了对该并联机构的完全控制。
[Abstract]:This paper designs an experimental test system for electric cylinder products , which is mainly responsible for the hardware design and software development of the control system of the experimental platform . The system adopts the control structure of the industrial control machine and the motion control card . The system adopts a high - precision magnetic grid ruler to detect the positioning accuracy , can automatically test the various performance parameters of the electric cylinder and carry out the related data processing , and can finish the test of the movement control and part parameters of the whole machine of the two kinds of subsidiary mechanisms of the electric cylinder .

In this test platform , the speed and acceleration are obtained by indirect measurement , and the real - time displacement data measured by the magnetic grid ruler are processed by the difference quotient method and the moving center smoothing algorithm to obtain the speed and acceleration .

In this paper , the positioning error of the electric cylinder is analyzed and classified , and the linear error of the system is obtained by the least square linear fitting of the position error data . Based on this , the nonlinear error of the full stroke of the electric cylinder is obtained through the improved three - time Lagrange interpolation .

Based on the analysis and test of single electric cylinder , the whole machine testing module of the derivative mechanism _ straight - angle coordinate manipulator and H - shaped parallel mechanism _ of the electric cylinder is developed . The test method of its partial parameters is analyzed , the kinematic model of H - type parallel mechanism is put forward and the prototype experiment is carried out , and the complete control of the parallel mechanism is realized .
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP274;TP273

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