光栅角编码器检测控制系统设计

发布时间：2018-06-21 20:29

本文选题：运动控制 + PMAC　；参考：《昆明理工大学》2017年硕士论文

【摘要】：光杠杆角编码器检测装置用于角编码器的误差检测,可提高天文望远镜的运动控制精度。角度检测器件在工业、科学研究以及军工等领域都起着至关重要的作用。为了提高测角器件检测精度,中国科学院云南天文台的研究人员提出了利用光杠杆的方法将小角度转换为小位移,并对光斑图像进行高精度定位获取精确的光斑位置变化测量值,通过该值对测角器件角度测量值进行检测和修正,是一种通过较低成本获取较高测角精度的方法。光杠杆角编码器检测装置需要较高精度的转动控制,并实现自动检测。根据光栅角编码器检测控制系统运动机理及实现运动的逻辑要求,选用了“PC机+PMAC运动控制卡”的控制方式。硬件部分:以PC机为逻辑控制单元,以PMAC运动控制卡执行单元,以步进电机为被控制元件,以蜗轮蜗杆为传动装置,以码盘数据为反馈元件,对转台进行高精度位置控制。软件部分:采用VC++设计了上位机界面,使得整个系统操作简单可行,具有较强的移植性,并在此基础上采用了 PID控制算法和有效的前馈控制,对PID参数进行了整定。编写控制系统的自动检测程序,实现了转台的自动检测。控制界面包括:转台基本转动操作、回零、调速、上、下转台的实时位置、速度、跟随误差信息显示和保存。通过Pewin32 PR02软件编写下位机PLC程序,实现光栅码盘数据和CCD相机图像数据采集的同步。在系统搭建完成后,对运动系统的稳定性,转台同心度,光栅码盘平面与转轴的垂直度,读数头安装误差进行一系列的调试后,进行了转台定位误差实验。最终的实验结果表明,转台的重复定位误差绝对值小于4",满足角编码器检测系统的要求,稳定性能好。本论文中的工程项目由国家自然科学基金资助项目(U1331109)资助。
[Abstract]:The optical lever angle encoder detecting device is used to detect the error of the angle encoder, which can improve the precision of motion control of astronomical telescope. Angle detection devices play an important role in industry, scientific research and military industry. In order to improve the accuracy of angle measuring device, researchers from Yunnan Observatory of Chinese Academy of Sciences proposed a method of converting small angle to small displacement by using optical lever. The accurate spot position measurement value is obtained by high precision positioning of the spot image. It is a method to obtain higher angle measurement accuracy by using this value to detect and correct the angle measurement value of the angle measuring device. Optical lever encoder detection device needs high precision rotation control and automatic detection. According to the motion mechanism of the grating angle encoder detecting control system and the logic requirement of realizing the motion, the control mode of "PC PMAC motion control card" is selected. Hardware part: take PC as logic control unit, PMAC motion control card execution unit, step motor as controlled element, worm gear as transmission device, code disk data as feedback element, carry on high precision position control to turntable. Software part: the upper computer interface is designed with VC, which makes the whole system simple and feasible, and has strong transplanting ability. On this basis, pid control algorithm and effective feedforward control are adopted, and pid parameters are adjusted. The automatic detection program of the control system is written to realize the automatic detection of the turntable. The control interface includes: the basic rotation operation of the turntable, the return of zero, the speed of speed, the real time position of the upper and lower turntable, the speed of the turntable, and the display and preservation of the information of the following error. The PLC program is compiled by Pewin32PR02 software to realize the synchronization between the data of grating codebook and CCD camera image data acquisition. After the system is built, the stability of the system, the concentricity of the turntable, the perpendicularity of the raster code plate and the axis of the rotary axis, and the error of the installation of the reading head are debugged, and the positioning error experiment of the turntable is carried out. The final experimental results show that the absolute value of the repeat positioning error of the turntable is less than 4 ", which meets the requirements of the angle encoder detection system and has good stability. The project in this paper is funded by the National Natural Science Foundation of China (U1331109).
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TN762

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