摘要
本文作者首先对美国Schilling公司研制的电液伺服水下机械手的实时控制软件进行了深入的剖析、研究、概括总结了该成熟产品所采用的控制软件的特色,在汲取其精华的基础上,对控制算法进行了新的探索和尝试,引入了格滤波器控制策略,用80286微机和8098单片机建立了一个水下机械手的主从式控制系统,同时还进行了软件设计,在软件设计时,引入了BorlandC^(++)2.0语言编程、最后进行了数字及半实物仿真,结果表明:所做的一切,在开发实际产品时,具有较高的参考价值。
First, the author has analyzed and studied in detail the real-time controlling software of electro-hydraulic underwater manipultor made by the Schilling Company of the U. S and summarized the features of the software. Taking advantge of its merits, the author explored a new controlling method and applied lattice filter strategy to set up a principal and subordinate controlling system of underwater manipultor with 80286 microcomputer and 8098 chip microprocessors. For its designed software the program was compiled with the Borland C^(++) 2.0 language. Finally, digital and artificial semi-object were made. The results indicates that everything done by the author has higher reference value when developing products.
关键词
自动控制
机器人
水下机械手
robot
underwater manipultor
electro-hydraulic servo
real-time control
