基于EtherCAT的六自由度自平衡平台设计
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中图分类号:

TP273;TP242

基金项目:

国家自然科学基金(51675259);江苏省研究生创新基金(SJCX18_0581)


Six degree-of-freedom self-balancing platform design based on EtherCAT
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    摘要:

    为解决传统自平衡平台响应速度慢、控制精度低的问题,本文提出了基于EtherCAT总线的六自由度自平衡平台设计方法,由6台支持EtherCAT通信的伺服驱动器带动6条电动缸做伸缩运动,平台的倾角数据由陀螺仪读取并通过EtherCAT传输到主站,并利用自抗扰控制算法对平台进行精确控制.实验结果表明,所设计平台具有低延时和较高的抗干扰能力等优点.

    Abstract:

    In order to solve the problem of slow response and low control precision for the traditional self-balancing platform,a six degree-of-freedom self-balancing platform is designed based on EtherCAT bus.Six servo drivers that support EtherCAT communication drive six electric cylinders to stretch contraction.The inclination data of the platform is read by the gyroscope and transmitted to the main station through EtherCAT.And the platform is accurately controlled by using the active disturbance rejection control (ADRC) algorithm.Experimental results show that the designed platform has the advantages of low latency and high anti-interference ability.

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贺顺,温秀兰.基于EtherCAT的六自由度自平衡平台设计[J].南京信息工程大学学报(自然科学版),2020,12(3):384-389
HE Shun, WEN Xiulan. Six degree-of-freedom self-balancing platform design based on EtherCAT[J]. Journal of Nanjing University of Information Science & Technology, 2020,12(3):384-389

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  • 收稿日期:2019-11-21
  • 在线发布日期: 2020-07-07

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