柔索牵引摄像机器人控制系统研究与实现

发布时间：2018-05-29 02:30

本文选题：柔索牵引摄像机 + 控制系统　；参考：《西安电子科技大学》2014年硕士论文

【摘要】：空中拍摄是演唱会或大型体育赛事电视转播的重要组成部分,提高空中拍摄的质量可以呈现给观众更好地视觉效果。传统的拍摄技术不能很好的完成此任务,柔索牵引摄像机器人的出现为此提供了解决方案。目前国外已有成熟的产品应用于实际使用,而国内虽然在柔索并联机构方面有许多应用,但是在柔索牵引摄像机器人方面还仅仅停留在理论阶段,因此本文将通过搭建一个索牵引摄像机5米模型,设计控制系统和控制软件,并测试其性能指标来判断控制系统设计方案的可行性。首先,设计并搭建系统结构模型,根据系统结构参数进行运动学及动力学计算,确定系统运行速度和加速度,确定系统运动空间。在此基础上,设计控制系统架构,并根据控制架构以及系统参数选择控制系统模块。设计手柄控制台,选择其硬件并设计电源电路,实现预定功能。其次,通过Beckhoff的TwinCAT组态软件进行控制系统配置,设置控制系统参数,并根据控制方案设计控制流程,基于此流程进行运动控制器PLC编程,最后建立PLC变量与运动控制系统实物模块或端口的映射,完成下位机编程。使用WPF作为上位机软件编程环境,设计上位机软件界面框架,在此框架内使用3D MAX以及Expression Blend与WPF联合完成上位机软件三维模型的建立,并实现两种视图方式以及多个视角的视图切换。建立上位机与运动控制器的连接,实现定时刷新系统状态和下发部分控制命令的功能,并将系统状态实时显示到界面中。最后搭建5米模型实物以及运动控制系统实物,并在模型实物上进行系统功能以及性能测试,分别测试了系统在手柄控制和点动情况下的运动加速度、速度以及绳长变化量的关系,测试系统运动速度与手柄信号的关系,以及系统运动的速度范围,判断系统性能指标是否符合要求,判断控制系统的合理性。
[Abstract]:Aerial shooting is an important part of TV broadcast of concert or large sports events. Improving the quality of aerial shooting can provide the audience with better visual effects. Traditional shooting technology can not accomplish this task well, so the emergence of flexible cable traction camera robot provides a solution to this problem. At present, mature products have been used in practical use abroad. Although there are many applications in the field of cable parallel mechanism in China, but in the field of cable traction camera robot, it is still only in the theoretical stage. In this paper, a 5 meter model of cable traction camera is built, the control system and control software are designed, and its performance index is tested to judge the feasibility of the control system design. Firstly, the system structure model is designed and built, the kinematics and dynamics are calculated according to the system structure parameters, the system speed and acceleration are determined, and the motion space of the system is determined. On this basis, the control system architecture is designed, and the control system module is selected according to the control architecture and system parameters. Design the handle console, select the hardware and design the power circuit to achieve the scheduled function. Secondly, the control system is configured by the TwinCAT configuration software of Beckhoff, the parameters of the control system are set up, and the control flow is designed according to the control scheme. Based on this process, the motion controller PLC is programmed. Finally, the mapping between PLC variable and physical module or port of motion control system is established, and the programming of lower computer is completed. The upper computer software interface frame is designed by using WPF as the upper computer software programming environment. In this framework, 3D MAX and Expression Blend and WPF are used to build the three dimensional model of the upper computer software. And realize the view switch of two kinds of view mode and multiple visual angle. The connection between the upper computer and the motion controller is established to realize the function of refreshing the system state and sending down part of the control command, and displaying the system state to the interface in real time. Finally, the 5 meter model object and the motion control system are built, and the system function and performance are tested on the model object. The acceleration of the system under the control of the handle and the point motion is tested respectively. The relationship between speed and rope length, the relationship between system speed and handle signal, the range of system speed, whether the performance of the system meets the requirements, and the rationality of the control system are judged.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TN948.41

【相似文献】