三线式三维运动协调控制系统的设计与研究

摘要

为改进当前固定轨道式的工业货物搬运方式,实现仓库货物按任意设定的三维轨迹进行精确搬运的目标,提出三线式三维悬挂运动控制系统的模型.以DSPIC30F4011单片机为控制核心,Futaba S3010舵机作为执行机构,张力检测机构作为保护机构,LCD屏和按键作为设定显示机构,搭建系统模型,根据模型建立数学模型,并进行相关算法的设计,最终实现三线式三维运动协调控制.%In order to improve the current industry goods transportation way with fixed track,and realize the target that the warehouse goods can be transported according to the 3D track set arbitrarily,a model of trilinear 3D suspended motion control system is put forward. To construct the system model,the DSPIC30F4011 single chip microcomputer is taken as the control ker-nel,the Futaba S3010 steering engine is employed as the actuator,the tension detecting mechanism is acted as the protection mechanism,and the LCD screen and key are used as the setup display mechanism. According to the system model,its mathe-matical model was established. The relevant algorithm was designed to realize the trilinear 3D motion coordination control.