The Motion Control System Research And Implementation Of High Voltage Live Line Working Robot

The hardcore of motion control system is motion controller. With the development of the micro-electronics technique and the semi-conductor craft,the capability of DSP-chip improves continuously,the cost descends,the high performance motion controller adopts the chip of DSP as core mostly currently.The Motion Controllers based on DSP can carry out complicated algorithm and functions.In addition,these controllers are designed through the way that software and hardware combine together,so they are convenient and flexible.This thesis take the national 863 projects" The 10KV power circuit Live-line Maintain Robot" as a background,take this project Live-line Maintain Robot prototype as the object of study, Through the current development status of investigation and analysis of the motion controller,combined with the real needs of Live-line Maintain Robot control system,a design scheme is proposed in which the chips of DSP+FPGA are adopted as core.The project combines the DSP and FPGA.On one hand.DSP has programmable ability and carry out complicated algorithm.On the other hand,because a lot of components of peripheral circuit are integrated in FPGA,the stability is high.At the same time,because FPGA has the reconfigure ability In-Circuit,the motion controllers have open architecture and the design of system are more convenient.In this paper,the various functional module of controller,such as the minimum system of DSP,drivers and other interface circuits,CPLD functional design implementation described in detail.The thesis makes a study of key technologies in control system,which includes AC servo motor control technology,position closed-loop servo PID control algorithm and improved trapezoid acceleration and deceleration control method.And based on this, we develop the software system of the motion controller. We realize the base control function to servos in the DSP motion control board, by programming the main routine and interrupt service routines with the method of modularization.At the same time,we design superior machine monitoring contact surface using VC for the pilot phase of the motor running state control,and the system control parameter setting in the experimental stage.