Design Of Truss Manipulator Controller Based On STM32

With the development of science and technology,the research and application of industrial robot has attracted more and more attention.The market demand is increasing year by year,but there is a big gap in R & D capability compared with the United States,Japan,Germany and other developing countries.The research and development of industrial robots are faced with three major problems: servo motor,reducer and control system.The research of industrial robot controller has great significance and will become the most important part of industrial robots.On one hand,the most advanced intelligent control theories in the field of artificial intelligence,can be applied to the production practice to improve the intelligent level of products,and to cover the shortages of performance of the servo motor and the speed reducer.In a certain extent,the controller performance,can greatly reduce the product price,and has better market competitiveness.On the other hand,the industrial robot platform is a developing direction,more and more application will be applied to industrial robots in the future.The excellent controller must have good abilities of extension,upgrading and compatibility.In view of the strong market demand and the researching shortage of the domestic truss manipulator controller,a design scheme of truss manipulator controller based on STM32 micro controller and ?C/OS real-time operating system was proposed.The single axis control,pointto-point movement,teaching and playback and the other basic functions of truss manipulator controller need to be realized.The design of the truss manipulator controller is divided into two parts: motion control algorithm design,hardware and software architecture design.The former is the focus of the research.Based on the analysis of the nonlinear and strong coupling characteristics of the servo system,the variable structure control is chosen as the basic method.In order to improve the control quality,a new sliding mode control algorithm based on fuzzy theory is proposed to reduce the chattering phenomenon of variable structure control.The servo system simulation model is established in MATLAB/Simulink environment.Compared with the conventional sliding mode controller and fuzzy sliding mode controlle.In the part of the hardware and software architecture designing,the hardware circuits and the drivers,the transplanting of realtime operating system on STM32 and the main program are given.Compared with the mature products on the market,the functions of this controller is relatively simple,and there are many places to be supplemented and perfected.Therefore,significance lies in the exploration and practice of new theories and methods.