Controlling System's Research Of Five-bar Mechanism Based On PMAC

A controlled mechanism is a new powerful subject. It is engendered with the developing of modern science and combined modern computer technique,control technique,sensor technique and other modern science and technology with old mechanisms. Professor Jianyi Kong proposes the new conception of mechanisms in the beginning of 1990's. In last teen years, it has been developing rapidly and dramatically. Most of literatures are still researched it on theory and research on experiment to study it is extremely urgent. Based on this opinion,we design and manufacture experimental platform of controlled plate five-bar linkages realizing tract. We hope experiment of this can test result on theory. On the other hand, it can also improve development on theory and provide voluble experience for later mechanical industry .First of all, this thesis introduces the configurations of mechanism system and control system, describes the PID characteristics parameters and their means, analyses the controlled system's stability and debugs the system based on the theory characteristic, and get some good debug methods.Secondly, the characteristics and work principle of PLC programs and movement programs of PMAC are analyzed, also this thesis studies and debugs the command and the programs of PMAC, does an experiment based on the original program of PMAC, primary realizing the given trick.At last, the thesis studies the communication mode of PMAC, including the analysis of the communication method between PMAC and DPR, the communication method between PMAC and host computer, and the analysis of the communication method between upper computers and lower computers, and the uses the Visual C++ 6.0 to exploit the upper computer software base the characters of communication methods. Establish the interface of control system based the characteristic of he controlled five-bar mechanism. According to the aim of realizing the given track, setup the input system of trick, the machine setting system, the imitate system, the program setting system and the trick check system. These systems make up for the shot of the original program of PMAC, also provide the batter environment for realizing the given trick.The establishment of experimental platform and researches on controlled system will provide experimental grounds for the precise realization of any given motion by controlled five-bar mechanism. It also provides basis for adjustment of compensation movement, when further consideration in rod processing errors, elastic deformation and the intervals between kinematics pair. The establishment of upper computer software provides a valuable experience for later intelligently realizing trick, and also make the function of PMAC be used further. Trough the examination and analysis of experimental platform and the debug of upper computers software, get the batter results, accordingly prove the feasibility of the prophase work, and also provide the purport for following work.