机器手控制系统的设计

论文编号:ZD841    论文字数:18237,页数:52

摘  要
 机器手臂是机器人的一个重要部分，因机器手臂能代替人做一些较危险的工作，就有越来越多的人研究关于机器手臂控制技术，使得机器手臂的控制技术也得到很大的发展。借鉴市场上很多对机器手臂的设计技术，本次的毕业设计是基于PCI－7401总线控制的机器手控制系统设计。要求设计一个二自由度二关节的机器手，让它具有自由旋转的功能，和我们设计好的一些动作，并能通过闭环控制实现自动回复功能。通过了解机器手的结构特点，以及机器手的发展，还有我们对它的要求和设计的目的，我们设计了以PCI－7401总线接口板、信号放大电路、PWM控制系统、H型驱动电路和机器手所组成一个控制系统，通过计算机编写A/D、D/A转换和PID控制程序来对机器手进行操作，完成我们所要求的各种功能。
 在这次的毕业设计过程中,在硬件部分主要是完成由信号放大电路、PWM控制系统和H型驱动电路所组成一个电路,以及对PCI－7401的了解。我们完成了PCB图制作到完成实物的电路板,再装各种元器件，最后调试电路板和建立闭环系统。软件部分主要是采用Visual C++进行编程，即对A/D、D/A转换和PID控制的程序的编写，实现控制目的。
 
 关键词：机器手，PCI－7401，闭环控制，PWM控制，PID控制
 
  
 
Abstract
 The machine arm is an importance of robot part, and the machine arm can replace a person to do some more dangerous works, have more and more people to study concerning machine arm a control a technique, make the control technique of machine arm also get a very big development.Draw lessons from a lot of on the market to the design technique of machines arms, the graduation design of this time is according to PCI－7401 total line of machine hand control system, request to design 1 two freedom degrees the machine hand of two joints, let it occupy the function that the freedom revolve, and we design a little bit good actions,and through closed-loop control for automatic rec- overy.Be understand the structure characteristics of machine hand, and the development of machine hand, there is also the purpose of our request to it and experiment, We designed a PCI-7401 bus interface board, signal amplification circuit, PWM control system, H-drive circuit and the machine arm to form a control system, through the computer to prepare A / D, D / A converters and PID control procedures To operate the machine arm, to complete various function that we request.
 In this graduate design process, in the main part of the hardware is completed by the signal amplifier, PWM control system and the H-drive circuit composed of a circuit, and the understanding of the PCI-7401 bus interface board. We completed the production of PCB plans to complete the kind of circuit boards, and Weld Various of components, Finally debug circuit boards and the establishment of closed-loop system. Software is a major part of Visual C + + programming, that is, the A / D, D / A converters and PID control procedures for the preparation, and control purposes
 
Keywords: Machine Hand，PCI－7401，Closed-loop control，The PWM Control，The PID Control
 
 

 目  录
 摘  要 I
 Abstract II
 目  录 III
 1  绪  论 1
 1.1  机器手的基本概念 1
 1.2  设计控制系统的目的及意义 2
 1.3  机器手控制系统在国内外的发展状况 3
 1.4  机器手控制系统的发展前景 4
 2  机器手控制系统概述 6
 2.1  系统的组成 6
 2.2  系统的原理与功能 6
 3  机器手控制系统硬件设计 8
 3.1  控制系统硬件部分 8
 3.2  电路的分析与调试 11
 3.2.1  信号放大电路和脉冲调制电路的分析调试 15
 3.2.2  H驱动电路分析与调试 25
 3.3  PCI-7401的介绍 35
 4  机器手控制系统软件设计 39
 4.1  软件设计原理 39
 4.2  软件编程 42
 5  总结与展望 43
 致  谢 44
 参考文献 45
 附录1 46
 附录2 47