某生產(chǎn)線搬運(yùn)機(jī)器人伺服控制系統(tǒng)研究.pdf

1、聲明本學(xué)位論文是我在導(dǎo)師的指導(dǎo)下取得的研究成果，盡我所知，在本學(xué)位論文中，除了加以標(biāo)注和致謝的部分外，不包含其他人已經(jīng)發(fā)表或公布過的研究成果，也不包含我為獲得任何教育機(jī)構(gòu)的學(xué)位或?qū)W歷而使用過的材料。與我一同工作的同事對(duì)本學(xué)位論文做出的貢獻(xiàn)均已在論文中作了明確的說明。研究生簽名：如f6年了月1汨學(xué)位論文使用授權(quán)聲明南京理工大學(xué)有權(quán)保存本學(xué)位論文的電子和紙質(zhì)文檔，可以借閱或上網(wǎng)公布本學(xué)位論文的部分或全部內(nèi)容，可以向有關(guān)部門或機(jī)構(gòu)送交并授權(quán)其

2、保存、借閱或上網(wǎng)公布本學(xué)位論文的部分或全部內(nèi)容。對(duì)于保密論文，按保密的有關(guān)規(guī)定和程序處理。研究生簽名：墨蠡益篁弘嘭年多月z尹日Abstraet碩士學(xué)位論文AbstractHandlingrobot，aSoneoftheindustrialrobot，isamainandessentialproductionequipmentinmodemindustrialproductionButindomesticfield，thecoredevi

3、ceofthemajorequipmentisstillimportedSotheyareexpensiveandhavehighmaintenanceCOSTSWealwayslackoflowcost，hi曲precisionandgoodrealtimeautomationequipmentEmbeddedsystemintroducedinindustrialapplicationisapopularresearchdirect

4、ionwitllpositivepracticalsignificanceEmbeddedsystemshavemanyadvantages，forexample，lowcost，highaccuracyandgoodreal—timeThisarticledesignedthehangdlingrobotwithpracticalindustrialapplicationvaluebasedon$3C2440AARM9processo

5、rchip，TMS320F2812processorchipofDSP2000andSTM32F103processorchipThesystemusesathreelayercontrolstructureswithdistributedcontrolandcentralizedmanagementSoftwaredevelopmentplatformisdesignedbasedonembeddedLinuxsystemandthe

6、systemisfreeandopensourceAtthesametime，directcurrentservomotorswitllgoodspeedandhightorqueperformanceisusedfortheactuatorsTheseprovidethebasisforthecontrolsystemtomeetthedesignrequrimentsThispaperintroducedthepresentdeve

7、lopmentsituationofservocontrolsystemoftherobot，anddescribestherelatedtechnologyAfteranalyzingtheneedsofthesystem，thepaperputforwardoverallcontrolschemeOnthesoftwareside，theQTinteractivesoftwareonPC，theapplicationsanddriv

8、ersofLinux，directcurrentmotorspeedcontrolprogram，CANcommunicationprogramaredesignedAndthearticlealsoexploresexpertpidcontrollerandgivesthemethodofdesignOnthehardwareside，drivecircuitsofthebmshlessdirect—currentmotorbased

9、onDSPandSTM32，sensecircuits，communicationcircuitsarecompletedFinallyasimplifiedverificationplatformisdesignedtoveerytheeffectofcontrolsystemCommunicationexperimentsofthreelayercontrolsystems，thetestofmotorspeedcontrol，th