摘要
为了提高机械臂控制系统的性能,使其在运行中动作可控、速度稳定、位置精确,本文针对数据采集模块进行研究。本数据采集模块以TI公司的DSP(TMS320F28016)为控制芯片,使用RS232和CAN总线双通信总线实现数据采集和系统控制。采集到的信号采用递推平均滤波法,滤波后以数字信号的方式送给控制系统。实验结果表明,满足机械臂动作要求,得到了所需要的信号。在实际应用中做到了动作协调、速度平滑稳定以及位置精确,整体上大大提高了系统的性能。
In order to improve the dynamic characteristics of sewing machine servo system, make it controlable, run stably and locate precisely, we research on the Data Acquisition Module based on Mechanical Arm control system. As the core of DSP（TMS320F28016）microcontroller data acquisition technology, use the RS232 and CAN pairs of communications bus to achieve the data acquisition and system control. Recursion average filtering method was used, then send digital signals to PC.The results of the experiments show that the controller has some advantages which can meet the demand of the Mechanical Arm, and also improve the dynamic performance of the whole system.
出处
《电子设计工程》
2016年第17期145-146,149,共3页
Electronic Design Engineering
基金
衢州市科技局项目(2014Y011)
上海海事大学研究生创新基金项目(2015ycx073)
