视觉位置伺服系统及电机驱动器的设计与研究

发布时间：2018-05-11 06:39

本文选题：视觉位置伺服 + 永磁同步电机　；参考：《西安理工大学》2017年硕士论文

【摘要】：RoboMasters比赛是一项实体机器人战车之间的射击对决性质的比赛,本文以机器人战车上的射击云台为研究对象,针对以往对战中的云台系统采取开环控制不能满足系统的稳定性与控制精度的要求,本文设计与实现了永磁同步电机驱动器及视觉位置伺服系统的闭环控制。本文在基于嵌入式和Windows操作系统平台上,设计并实现了视觉位置伺服系统的设计方案;在分析永磁同步电机伺服系统原理和结构的基础上设计并实现了永磁同步电机的驱动器。研究内容具体如下:首先,本文以机器人云台为研究对象提出一套基于视觉的位置伺服系统总体设计方案;其次,本文对提出的总体设计方案进行分析,根据云台的相关性能及机械结构设计了视觉位置伺服系统,同时针对永磁同步电机的特性设计了一套电机驱动器;再次,本文对伺服系统的硬件结构进行选型和软件结构进行设计,并对基于视觉的位置伺服系统做了基于MATLAB/SimuLink的实验仿真,以确定系统的可行性及其PID参数的范围;最后,本文对基于视觉的位置伺服系统进行上位机和下位机的联合调试并进行实验结果的分析。本文最后指出了本系统有待进一步研究解决的问题,并指明了研究方向。本文在对永磁同步电机的驱动器及视觉位置伺服系统设计的基础上,通过具体的实验得出本系统的实验数据,并对调试的实验数据进行分析,得出系统整体工作状态良好,满足系统稳定性和控制精度的要求。通过以上内容验证了本系统成功的设计与实现了永磁同步电机驱动器及视觉位置伺服系统的闭环控制。
[Abstract]:The RoboMasters competition is a kind of shooting match between actual robot chariots. In this paper, the shooting platform on the robot chariot is taken as the research object. In view of the fact that the open-loop control of cloud head system in battle can not meet the requirements of system stability and control precision, the closed-loop control of permanent magnet synchronous motor driver and visual position servo system is designed and implemented in this paper. Based on embedded and Windows operating system, the design scheme of visual position servo system is designed and implemented in this paper, and the driver of permanent magnet synchronous motor is designed and implemented on the basis of analyzing the principle and structure of permanent magnet synchronous motor servo system. The research contents are as follows: firstly, this paper presents a general design scheme of position servo system based on vision; secondly, this paper analyzes the overall design scheme. According to the related performance and mechanical structure of the cloud head, the visual position servo system is designed. At the same time, a set of motor driver is designed according to the characteristics of the permanent magnet synchronous motor. In this paper, the hardware structure and software structure of the servo system are selected, and the visual based position servo system is simulated based on MATLAB/SimuLink to determine the feasibility of the system and the range of PID parameters. In this paper, the position servo system based on vision is debugged and the experimental results are analyzed. Finally, the paper points out the problems that the system needs to be further studied and points out the research direction. Based on the design of the permanent magnet synchronous motor driver and the visual position servo system, the experiment data of the system are obtained through the concrete experiment, and the experimental data of the debugging are analyzed, and the overall working condition of the system is obtained. Meet the system stability and control accuracy requirements. The design and implementation of the PMSM driver and the visual position servo system are verified by the above contents.
【学位授予单位】：西安理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH122;TP242

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