| 李晓全， 蔡锦达.生物芯片喷印机控制系统设计[J].轻工机械,2021,39(2):56-61 |
| 生物芯片喷印机控制系统设计 |
| Design of Control System for Biochip Printer |
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| DOI：10.3969/j.issn.1005 2895.2021.02.010 |
| 中文关键词: 生物芯片 ARM芯片 DSP处理器 Sigmoid函数 加减速算法 |
| 英文关键词:biochip ARM chip DSP（Digital Signal Processing） Sigmoid function acceleration and subtraction algorithm |
| 基金项目:上海市科学技术委员会科研项目(144405023600)。 |
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| 中文摘要: |
| 为了获取生物微阵列中承载的生物信息而设计生物芯片喷印机，课题组设计一套基于ARM和DSP双核心的生物芯片喷印机控制系统，完成了生物芯片喷印机的ARM端主控制系统和DSP端从控制系统的设计及软件实现，提出了基于Sigmoid函数的S型加减速算法，使用MATLAB对算法进行了仿真。仿真结果表明：在使用加减速算法后，电机从启动到稳定过程中保持光滑过渡，使运动过程具有更小的机械冲击和磨损速度。该系统满足了生物芯片喷印机高精度、高效率的控制策略需求。 |
| 英文摘要: |
| Aiming at the disadvantages of high cost and complex system of current force free drag control methods, a force free control method based on speed loop compensation, which is suitable for drag demonstration of small mechanical arms, was proposed. Based on the linear relationship between the excitation current of the servo motor and the torque, the current detection was used to replace the complex torque sensor, and the feasibility of this alternative was verified by experiments. An experimental method for simulating a single joint motor that is dragged by a human hand was designed , and the controlled variable method was used to study the relationship between the joint motor speed and the excitation current under external force. The experimental results show that when the external force is constant, there is a speed to minimize the excitation current value, which corresponds to the minimum drag force. The feasibility of force free control method based on the speed loop is verified and a new idea for force free control is provided. |
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