本文選題：數(shù)字舵機　切入點：插補算法　出處：《沈陽工業(yè)大學》2017年碩士論文

【摘要】：利用人類腦電波對機械手臂進行控制是機電工程和信息學領域所關注的重要問題。近年來,腦機接口技術取得重要進展,但較笨重的多導聯(lián)腦電采集裝置及相對復雜的控制方法限制了其在實際場景中的應用。為在一定程度上解決上述問題,本文探索了基于便攜腦電傳感器的EEG能量解碼機械手控制方法,并在以下幾方面取得進展。舵機的控制效果是機械手動作穩(wěn)定輸出的關鍵。為此,分析了數(shù)字伺服舵機模塊的構成,工作原理和性能特點,構建了數(shù)字舵機的PROTEUS仿真驅(qū)動電路和實際硬件驅(qū)動電路,利用定時器技術設計了寬度可調(diào)的周期控制脈沖,研究了常用數(shù)字伺服舵機控制脈沖寬度和動作輸出角度之間的線性匹配關系。為了克服常規(guī)的數(shù)字舵機控制機械手易出現(xiàn)動作僵硬,失調(diào)發(fā)熱等問題,研究了基于定時插補的可調(diào)速舵機控制方法,設計了定時插補算法,編制了算法實現(xiàn)代碼。把STC12C5A60S2設置成主控芯片,實現(xiàn)了對大扭矩數(shù)字舵機MG996R的調(diào)速控制。實際的機械手臂通常具有6個以上自由度,因此,對上述算法進行改進使其具有控制8路舵機同時工作的能力。常規(guī)的多導聯(lián)腦電采集系統(tǒng)結構復雜,不便攜帶,和外控設備之間的有線連接限制了其實際應用。為克服上述問題,本研究以集成了TGAM模塊的頭帶式傳感器作為EEG采集裝置,提取了額部EEG,以串行通信方式傳入上位機,解析了腦電信號數(shù)據(jù)包所包含的專注度和放松度信號,并對專注度信號進行能量積分,作為機械手控制信號的輸入信號源。同時,研究并實現(xiàn)了基于PS2通信協(xié)議的無線機械手控制方法,以克服有線連接在不便實際應用的問題。在上述工作的基礎上,對機械手、機械臂、數(shù)字舵機、控制器和腦電信號采集系統(tǒng)進行了集成,嘗試采用腦電信號進行處理并對機械手進行控制,探索了對本系統(tǒng)性能進一步改進方向和具體方法。
[Abstract]:The use of human brain waves to control robotic arms is an important concern in the fields of electromechanical engineering and informatics. In recent years, important advances have been made in brain-computer interface technology. But the relatively heavy multi-lead EEG acquisition device and the relatively complex control method limit its application in the actual scene. In order to solve the above problems to a certain extent, In this paper, the control method of EEG energy-decoded manipulator based on portable EEG sensor is explored, and progress is made in the following aspects. The control effect of the steering gear is the key to the stable output of the manipulator. The structure, working principle and performance characteristics of the digital servo steering gear module are analyzed. The PROTEUS simulation driving circuit and the actual hardware driving circuit of the digital servo steering gear are constructed, and the cycle control pulse with adjustable width is designed by using the timer technology. The linear matching relationship between the width of control pulse and the angle of motion output of digital servo steering gear is studied. The control method of adjustable speed steering gear based on timing interpolation is studied, the timing interpolation algorithm is designed, and the algorithm realization code is worked out. The STC12C5A60S2 is set as the main control chip. The speed control of large torque digital steering gear MG996R is realized. The actual mechanical arm usually has more than 6 degrees of freedom, so, The algorithm is improved so that it has the ability to control the 8-way steering gear working at the same time. The conventional multi-lead EEG acquisition system is complex in structure and inconvenient to carry. In order to overcome the above problems, the headband sensor integrated with TGAM module is used as the EEG acquisition device, the frontal part of EGG is extracted and transmitted to the upper computer by serial communication. The focus and relaxation signals contained in the EEG data packet are analyzed, and the energy integration of the focus signal is carried out as the input signal source of the manipulator control signal. The control method of wireless manipulator based on PS2 communication protocol is studied and realized in order to overcome the problem that wired connection is inconvenient for practical application. The controller is integrated with the EEG acquisition system, and the electroencephalogram (EEG) signal is used to process and control the manipulator. The further improvement direction and concrete method of the system performance are explored.
【學位授予單位】：沈陽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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