Introduction - If you have any usage issues, please Google them yourself
Manipulator terminal actuators microcomputer control
One, the design requirements
To meet the requirements of rapidity, the control phase is divided into three stages:
(1) the acceleration phase, the initial position for the clamp of the opening of the largest 0.2 m, the acceleration time of 0.5 s.
(2) the deceleration phase, starting stage for contact clamp glass containers, deceleration range is 5 mm, more than two stages using open loop control, in order to improve the response speed.
(3) the position closed-loop control, the sensor then began to have the output, the starting position for slow down at the end of the place.
(4) when you grab the fast and is not damaged, and ts1.5 s precision is 0.1 mm.
Second, the controller design process and the control scheme
(1) at various stages of numerical calculation
SIMULINK simulation diagram, set to 2 seconds
Step1 set accelerating stage, the voltage of 0.06 V.
Step2 set to reach 0.5 seconds to stop acceleration, enter decelerat