| EAST????????е?????????????? |
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| 引用本文： | 张俊,程勇,奚维斌,冯汉升,潘洪涛,徐杰,陶子航.EAST????????е??????????????[J].核聚变与等离子体物理,2017,37(1):75-80. |
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| 作者姓名： | 张俊 程勇 奚维斌 冯汉升 潘洪涛 徐杰 陶子航 |
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| 作者单位： | (1. ?й??????????????????о???????? 230031??2. ?й???????????????? 230022) |
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| 基金项目： | 国家磁约束核聚变能研究专项 |
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| 摘 要： | 针对链式维护机械臂(EAMA)运行环境的特殊性,对其伺服控制系统进行设计和实现.在控制结构上,系统在基于分布式控制结构的基础上采用了一种新的伺服系统解决方案.在控制策略上选用了高性能PIC单片机进行了硬件电路的设计,并采用了位置、速度双闭环控制算法以实现对机械臂的每个关节的高精度位置伺服控制.通过实验验证了该系统能够满足机械臂的运行要求,且具有良好的动态性能和稳态性能.
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| 关 键 词： | EAMA 伺服控制 电机 单片机 精确位置 |
Design of servo control system for EAST articulated maintenance arm |
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| ZHANG Jun,CHENG Yong,XI Wei-bin,FENG Hans-heng,PAN Hong-tao,XU Jie,TAO Zi-hang.Design of servo control system for EAST articulated maintenance arm[J].Nuclear Fusion and Plasma Physics,2017,37(1):75-80. |
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| Authors: | ZHANG Jun CHENG Yong XI Wei-bin FENG Hans-heng PAN Hong-tao XU Jie TAO Zi-hang |
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| Institution: | (1. Institute of Plasma Physics, Chinese Academy of Science, Hefei 230031; 2. University of Science and Technology of China, Hefei 230022) |
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| Abstract: | Working at the special EAST articulated maintenance arm (EAMA) operating environment, a servo control system is designed and implemented in this paper. The system adopts a new solution of servo system based on the distributed control structure. The high performance PIC microcontroller is used for the hardware circuit design in control strategy, and the speed and position closed-loop control algorithm is applied to realize the high precision position control. Finally, the experiments show that the servo control system for EAMA can meet the operation requirements, and has good dynamic and static performance. |
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| Keywords: | EAMA Servo control Motor Microcontroller Precise position |
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