頁籤選單縮合
題 名 | MCS-51單晶應用於機械手臂伺服控制器之設計與研製 |
---|---|
作 者 | 吳文濱; 胡永柟; | 書刊名 | 大葉學報 |
卷 期 | 4:1 1995.12[民84.12] |
頁 次 | 頁63-81 |
分類號 | 440.942 |
關鍵詞 | 微電腦系統; 脈波寬度調變; Micro computer system; Pulse width modulation; |
語 文 | 中文(Chinese) |
中文摘要 | 本研究計劃係針對一部五軸式機械手臂,利用單一個 MCS-51 族系單晶微處理機,進行伺服控制器的硬體控制電路,軟體程式與機電介面整合技術之設計與研製。因此,本論文的主旨在於探討如何將機械手臂與單晶兩個系統實際相互結合,且為實現控制器實體化之應用技術而研究;並具體研發系統軟硬體功能。其擁有的特點在於:(1)具有代數運算能力,並實際應用於馬達轉速量測與簡化教導步驟之功能。(2)建立基本輸人輸出系統。減少使用者撰寫控制程式的負擔,降低研發週期。(3)溶入數種PWM的責任週期調變馬達轉速控制,以提昇重覆運動定位之精確度。(4)將系統軟硬體擴充規劃之後,能適合人工智慧之 Fuzzy 控制法則溶入應用。本論文是以建立系統硬體架構與配合控制程式的撰寫。藉以研製完成機械手臂之伺服控制器。最後經由實際操作 |
英文摘要 | Focus of this research is on the five axises robot system. A MCS-51 series single-chip micro-processor is to be design and implement a servo controller which including hardware control circuit, software and machine-electric interface integrate techniques. So, the purpose of this thesis explores how to combine both robot and single-chip together, how to apply the techniques for controller realization. The main features of this system contain: (1) Some useful and practical function are included in the system, such as strong capability to do algrbra calculation, detect motor speed and simplify the teaching procedures, etc. (2) A basic I/O system has been built in this system to reduce the burden of programming and user friendly. (3) In order to accuracy the robot repeat motion position, we introduce many kind duty cycle of PWM in this system to control the motor speed. (4) The application of fuzzy theory to this system controller design is also considered. The functions of this robot system is demonstrated by practical operation, the results show that the controller we designed is really achieved the criterion that has been made. |
本系統中英文摘要資訊取自各篇刊載內容。