Design of a Multi-motor Control System for a Parallel Mechanism
摘要
In this paper, a motion control system has been designed. The system is used to control twelve motors which drive a parallel mechanism by adjusting pulse width modulation (PWM) with a microcontroller. The motors are selected according to the characteristics of the parallel mechanism. And the dynamic model of the motor is established. Many related control experiments are done, and the control error is analyzed. It is shown that the motion control system designed in this paper can achieve more accurate control of the parallel mechanism experimentally.