在硬质胶囊生产线中,为了实现蘸胶机构定位准确、精度高的特点,对基于PLC定位模块EM253伺服电机控制系统进行了研究及应用,利用定位模块EM253输出的脉冲个数和脉冲频率控制伺服电机的位置和速度;采用STEP 7-Micro/WIN编程软件提供的位置控制向导,借助于触摸屏和伺服驱动器,完成对伺服电机的开环速度以及位置控制,从而满足实际的性能指标。

This paper studies and applies a servo motor control system based on PLC positioning module EM253 to achieve accurate positioning and high precision of glue-dipping mechanism in the hard capsule production line.The number and frequency of the pulses sent from positioning module EM253 to control the position and speed of the servo motor.Position control guide from STEP 7-Micro/WIN,as well as the touch screen and servo drive are used to control the loop opening speed and position of the servo motor,so as to attain the actual performance target.

利用ActiveX技术使PLC与LabVIEW通信，并将其作为电液伺服振动台的控制器。建立液压伺服振动台的数学模型，利用PDF算法对电液伺服振动台进行位置控制，通过得出的试验曲线可以明显看出PDF控制在液压伺服中的优越性。

ActiveX technology was used to make PLC communicate with LabVIEW,and it was used as the control of an electro-hydraulic servo vibration table. The mathematical model of the hydraulic servo vibration table was established,the PDF algorithm was used to realize position control to electro-hydraulic servo vibration table. Through the test curve,the advantages of PDF control in hy-draulic servo is shown .

该文针对永磁直线同步电机的伺服控制,探讨了一种基于矢量控制逆变器和光栅尺的位置、速度伺服控制方案。速度调节器采用变结构PI控制算法,在消除静差的基础上,提高永磁直线同步电机的响应速度。位置调节器采用PD控制算法,使系统具有平稳、快速、无静差的跟随性能。仿真验证了其可行性,易于实际应用。

For permanent magnet linear synchronous motor servo control , study on the design scheme of posi-tion and speed servo control based on vector control inverter and grating ruler .The speed regulator adopts vari-able structure control of PI , on the basis of eliminating static error , improved the response speed of the perma-nent magnet linear synchronous motor .While the position regulator put to use PD control algorithm , made the following capacity of the system stable , fast, and no static errors .Simulation results prove the feasibility , and this method is easy to practical application .

空间机械臂关节具有大惯量、高精度的特点,针对空间机械臂关节低速、高精度控制要求,提出一种基于摩擦补偿的双位置闭环控制策略。建立了考虑摩擦和惯量变化等因素的一体化关节动力学模型,分析了全位置闭环系统的稳定性,在此基础上提出了一种基于双位置传感器信息的闭环伺服控制策略,并引入自适应率辨识未知摩擦和惯量变化,利用Lyapunov函数证明闭环系统的稳定性和跟踪误差的渐进收敛性。在测试平台上的试验结果表明,提出的空间机械臂一体化关节伺服控制策略能够有效地提高关节伺服控制精度和系统鲁棒性。

An adaptive high precision position control with friction compensation and double-position sensor scheme for Space robotic arm joint was presented .A robotic arm joint was modeled as a cas-cade dynamics system and friction model with nonuniform friction variations was used to characterize the friction force .The stability of double-position sensor close-loop control system was analyzed and nonlinear adaptive control laws were designed to identify the unknown friction , inertia and the exter-nal disturbances .The system stability and asymptotic trajectory tracking performance were guaran-teed by Lyapunov function and demonstrated by the experimental results .

以位置全闭环控制策略的数控机床伺服进给系统为研究平台,研究伺服放大器中霍尔电流传感器、编码器与光栅尺等无传感器测试原理,探索无传感器信息与故障的关联性以及无传感器信息用于故障评估的可行性;并且针对不同类型的数控系统,提出不同的数据采集方法。为数控机床伺服进给系统在线性能评估奠定了基础。

Based on the research platform of position-closed-loop servo control system of servo driving system of numerical control (NC)machine tool,the testing principles of sensor-less of Hall current sensor in servo amplifier,encoder and grating scale were re-searched,and the feasibility of information of sensor-less used in faults evaluation and relationship between faults and information of sensor-less were explored. Besides,different data sampling methods were presented by aiming at different NC systems. It is the base of performance evaluation of servo driving system of NC machine tool on-line.