本文選題：視覺(jué)位置伺服 + 永磁同步電機(jī)��； 參考：《西安理工大學(xué)》2017年碩士論文

【摘要】：RoboMasters比賽是一項(xiàng)實(shí)體機(jī)器人戰(zhàn)車之間的射擊對(duì)決性質(zhì)的比賽,本文以機(jī)器人戰(zhàn)車上的射擊云臺(tái)為研究對(duì)象,針對(duì)以往對(duì)戰(zhàn)中的云臺(tái)系統(tǒng)采取開(kāi)環(huán)控制不能滿足系統(tǒng)的穩(wěn)定性與控制精度的要求,本文設(shè)計(jì)與實(shí)現(xiàn)了永磁同步電機(jī)驅(qū)動(dòng)器及視覺(jué)位置伺服系統(tǒng)的閉環(huán)控制。本文在基于嵌入式和Windows操作系統(tǒng)平臺(tái)上,設(shè)計(jì)并實(shí)現(xiàn)了視覺(jué)位置伺服系統(tǒng)的設(shè)計(jì)方案;在分析永磁同步電機(jī)伺服系統(tǒng)原理和結(jié)構(gòu)的基礎(chǔ)上設(shè)計(jì)并實(shí)現(xiàn)了永磁同步電機(jī)的驅(qū)動(dòng)器。研究?jī)?nèi)容具體如下:首先,本文以機(jī)器人云臺(tái)為研究對(duì)象提出一套基于視覺(jué)的位置伺服系統(tǒng)總體設(shè)計(jì)方案;其次,本文對(duì)提出的總體設(shè)計(jì)方案進(jìn)行分析,根據(jù)云臺(tái)的相關(guān)性能及機(jī)械結(jié)構(gòu)設(shè)計(jì)了視覺(jué)位置伺服系統(tǒng),同時(shí)針對(duì)永磁同步電機(jī)的特性設(shè)計(jì)了一套電機(jī)驅(qū)動(dòng)器;再次,本文對(duì)伺服系統(tǒng)的硬件結(jié)構(gòu)進(jìn)行選型和軟件結(jié)構(gòu)進(jìn)行設(shè)計(jì),并對(duì)基于視覺(jué)的位置伺服系統(tǒng)做了基于MATLAB/SimuLink的實(shí)驗(yàn)仿真,以確定系統(tǒng)的可行性及其PID參數(shù)的范圍;最后,本文對(duì)基于視覺(jué)的位置伺服系統(tǒng)進(jìn)行上位機(jī)和下位機(jī)的聯(lián)合調(diào)試并進(jìn)行實(shí)驗(yàn)結(jié)果的分析。本文最后指出了本系統(tǒng)有待進(jìn)一步研究解決的問(wèn)題,并指明了研究方向。本文在對(duì)永磁同步電機(jī)的驅(qū)動(dòng)器及視覺(jué)位置伺服系統(tǒng)設(shè)計(jì)的基礎(chǔ)上,通過(guò)具體的實(shí)驗(yàn)得出本系統(tǒng)的實(shí)驗(yàn)數(shù)據(jù),并對(duì)調(diào)試的實(shí)驗(yàn)數(shù)據(jù)進(jìn)行分析,得出系統(tǒng)整體工作狀態(tài)良好,滿足系統(tǒng)穩(wěn)定性和控制精度的要求。通過(guò)以上內(nèi)容驗(yàn)證了本系統(tǒng)成功的設(shè)計(jì)與實(shí)現(xiàn)了永磁同步電機(jī)驅(qū)動(dòng)器及視覺(jué)位置伺服系統(tǒng)的閉環(huán)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.
【學(xué)位授予單位】：西安理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH122;TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 朱鏡瑾;韓東艷;;電磁式傳感器在汽車上的應(yīng)用研究[J];河南科技;2015年20期

2 狄芳;焦仁雷;談樂(lè)斌;;高射炮隨動(dòng)系統(tǒng)機(jī)電聯(lián)合仿真[J];機(jī)床與液壓;2015年01期

3 馬玲;張曉輝;;HSV顏色空間的飽和度與明度關(guān)系模型[J];計(jì)算機(jī)輔助設(shè)計(jì)與圖形學(xué)學(xué)報(bào);2014年08期

4 吳成茂;;直方圖均衡化的數(shù)學(xué)模型研究[J];電子學(xué)報(bào);2013年03期

5 王桂霞;;基于MATLAB/Simulink的隨動(dòng)控制系統(tǒng)建模與仿真[J];船舶工程;2012年03期

6 趙濤;張永號(hào);;基于SVPWM的PMSM矢量控制伺服系統(tǒng)研究[J];制造業(yè)自動(dòng)化;2011年14期

7 孫大衛(wèi);丁興俊;畢經(jīng)存;夏朝輝;;一種典型自動(dòng)控制原理實(shí)驗(yàn)教學(xué)設(shè)備研究[J];實(shí)驗(yàn)技術(shù)與管理;2011年07期

8 陳濤;張文翰;馬澍田;;基于加速度回路的天線隨動(dòng)系統(tǒng)控制器設(shè)計(jì)[J];現(xiàn)代電子技術(shù);2011年05期

9 杜宏亮;袁媛;;一種高精度位置隨動(dòng)控制系統(tǒng)校正算法設(shè)計(jì)[J];機(jī)械工程與自動(dòng)化;2011年01期

10 沈建華;;ARM處理器與嵌入式系統(tǒng)[J];單片機(jī)與嵌入式系統(tǒng)應(yīng)用;2010年11期

相關(guān)碩士學(xué)位論文 前4條

1 姜偉剛;基于改進(jìn)MRAS參數(shù)辨識(shí)的感應(yīng)電機(jī)矢量控制系統(tǒng)研究[D];浙江理工大學(xué);2015年

2 肖濤;伺服系統(tǒng)的高精度位置檢測(cè)[D];華中科技大學(xué);2012年

3 熊蕓;基于邊緣提取的圖像檢測(cè)與分割技術(shù)[D];電子科技大學(xué);2006年

4 張立群;優(yōu)化PID控制器研究及其在熱工對(duì)象控制中的應(yīng)用[D];清華大學(xué);2004年

，

本文編號(hào)：1872830