CAJ | 학술논문

熟悉机械手，特别是电动式机械手的驱动原理，理解各个自由度的独立驱动和机械手协调工作的一致性。课题主要利用了STC89C52单片机，L298N和HEDS9000(两通道高分辨率光学增量编码器模块)，构建闭环负反馈控制系统实现了对直流电机的正反转停，精确调速控制。在控制软件设计中引入数字控制策略，并用电力电子的PWM方式实现。用12864液晶和键盘作为人机界面显示直流电机的运行状态并可以实现输入控制。
숙실궤계수，특별시전동식궤계수적구동원리，리해각개자유도적독립구동화궤계수협조공작적일치성。과제주요이용료STC89C52단편궤，L298N화HEDS9000(량통도고분변솔광학증량편마기모괴)，구건폐배부반궤공제계통실현료대직류전궤적정반전정，정학조속공제。재공제연건설계중인입수자공제책략，병용전력전자적PWM방식실현。용12864액정화건반작위인궤계면현시직류전궤적운행상태병가이실현수입공제。
Understanding the mechanical arm, especially understand the theory of drive of electric mechanical arm, and grasp con?sistency of mechanical arm during work. The design uses STC89C52, L298N and HEDS9000(two channel high resolution opti?cal incremental encoder modules) to make up a close-loop control system. The system can control rotation direction of DC mo?tor and stop, and can also control speed accurately. Adding digital control way , such as PWM. Human machine interface is 12864 that can display running status and speed of DC motor, these can be changed by keys.