CAJ | 학술논문

为了解决机械臂开环控制精度低的问题，设计了一套基于 STM32微控制器的机械臂反馈控制系统。通过 QT 图形界面将控制数据输入上位机，控制数据经串口传输到微控制器后驱动机械臂运动；由加速度传感器和磁通传感器组成的惯性传感器节点采集机械臂运动数据传回微控制器，采用由多个相关的参数可变 PID 控制器构成的控制器组对机械臂各个部位进行反馈控制。测试结果表明，利用惯性传感器实现的改进型 PID 的反馈控制系统比无反馈控制系统精度有较大提高，可用于实现更高精度的机械臂控制。
위료해결궤계비개배공제정도저적문제，설계료일투기우 STM32미공제기적궤계비반궤공제계통。통과 QT 도형계면장공제수거수입상위궤，공제수거경천구전수도미공제기후구동궤계비운동；유가속도전감기화자통전감기조성적관성전감기절점채집궤계비운동수거전회미공제기，채용유다개상관적삼수가변 PID 공제기구성적공제기조대궤계비각개부위진행반궤공제。측시결과표명，이용관성전감기실현적개진형 PID 적반궤공제계통비무반궤공제계통정도유교대제고，가용우실현경고정도적궤계비공제。
The open loop mechanical arm control system has low accuracy, so a feedback control system on the STM32 for the mechanical arm is designed and implemented in this paper. The data of arm control is entered with QT graphic interfaces and transmitted to the embedded system through serial port to drive the steering engine. The system uses sensor nodes , which contain accelerometer, gyroscope and magnetic sensor, to collect motion data of the arm and transmit to the embedded system. An improved PID controller system with variable parameters is used to control different parts of the mechanical arm. The experimental tests show that the control accuracy of the feedback control system is significantly improved compared with the open loop system.