本文選題：運(yùn)動(dòng)控制 + PMAC��； 參考：《昆明理工大學(xué)》2017年碩士論文

【摘要】：光杠桿角編碼器檢測(cè)裝置用于角編碼器的誤差檢測(cè),可提高天文望遠(yuǎn)鏡的運(yùn)動(dòng)控制精度。角度檢測(cè)器件在工業(yè)、科學(xué)研究以及軍工等領(lǐng)域都起著至關(guān)重要的作用。為了提高測(cè)角器件檢測(cè)精度,中國(guó)科學(xué)院云南天文臺(tái)的研究人員提出了利用光杠桿的方法將小角度轉(zhuǎn)換為小位移,并對(duì)光斑圖像進(jìn)行高精度定位獲取精確的光斑位置變化測(cè)量值,通過(guò)該值對(duì)測(cè)角器件角度測(cè)量值進(jìn)行檢測(cè)和修正,是一種通過(guò)較低成本獲取較高測(cè)角精度的方法。光杠桿角編碼器檢測(cè)裝置需要較高精度的轉(zhuǎn)動(dòng)控制,并實(shí)現(xiàn)自動(dòng)檢測(cè)。根據(jù)光柵角編碼器檢測(cè)控制系統(tǒng)運(yùn)動(dòng)機(jī)理及實(shí)現(xiàn)運(yùn)動(dòng)的邏輯要求,選用了“PC機(jī)+PMAC運(yùn)動(dòng)控制卡”的控制方式。硬件部分:以PC機(jī)為邏輯控制單元,以PMAC運(yùn)動(dòng)控制卡執(zhí)行單元,以步進(jìn)電機(jī)為被控制元件,以蝸輪蝸桿為傳動(dòng)裝置,以碼盤(pán)數(shù)據(jù)為反饋元件,對(duì)轉(zhuǎn)臺(tái)進(jìn)行高精度位置控制。軟件部分:采用VC++設(shè)計(jì)了上位機(jī)界面,使得整個(gè)系統(tǒng)操作簡(jiǎn)單可行,具有較強(qiáng)的移植性,并在此基礎(chǔ)上采用了 PID控制算法和有效的前饋控制,對(duì)PID參數(shù)進(jìn)行了整定。編寫(xiě)控制系統(tǒng)的自動(dòng)檢測(cè)程序,實(shí)現(xiàn)了轉(zhuǎn)臺(tái)的自動(dòng)檢測(cè)�？刂平缑姘�:轉(zhuǎn)臺(tái)基本轉(zhuǎn)動(dòng)操作、回零、調(diào)速、上、下轉(zhuǎn)臺(tái)的實(shí)時(shí)位置、速度、跟隨誤差信息顯示和保存。通過(guò)Pewin32 PR02軟件編寫(xiě)下位機(jī)PLC程序,實(shí)現(xiàn)光柵碼盤(pán)數(shù)據(jù)和CCD相機(jī)圖像數(shù)據(jù)采集的同步。在系統(tǒng)搭建完成后,對(duì)運(yùn)動(dòng)系統(tǒng)的穩(wěn)定性,轉(zhuǎn)臺(tái)同心度,光柵碼盤(pán)平面與轉(zhuǎn)軸的垂直度,讀數(shù)頭安裝誤差進(jìn)行一系列的調(diào)試后,進(jìn)行了轉(zhuǎn)臺(tái)定位誤差實(shí)驗(yàn)。最終的實(shí)驗(yàn)結(jié)果表明,轉(zhuǎn)臺(tái)的重復(fù)定位誤差絕對(duì)值小于4",滿足角編碼器檢測(cè)系統(tǒng)的要求,穩(wěn)定性能好。本論文中的工程項(xiàng)目由國(guó)家自然科學(xué)基金資助項(xiàng)目(U1331109)資助。
[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).
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273;TN762

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