Based On DSP Nonlinear Adaptive Inverse Control Research On Mounter

Motion control is one of the key technologies for SMT mounter. Most commercial mounter system currently equipped with conventional PID controllers due to their simple structure and easy design. In fact, SMT mount-header is a mechanical arm with four joints, and dynamic equations of a mechanical arm are tightly coupled, highly nonlinear and uncertain. Using a PID control, however, it is difficult to achieve a motion control performance. With the development of modern control theories, more and more control methods are applied to solving this problem.The adaptive inverse control theory is a novel method that is yet not mature and perfect theory system proposed and developped by Widrow. In recent years, it's research has yielded the substantial result in some control fields of complex system, so its superiority was displayed sharply. Because this theory involves a lots profound mathematics knowledge, many formulations and conceive is yet open, which the depth and the breadth of the theory research have also the very big space, and the depth and the breadththe theory application research have huge space.The paper has studied the non-linear adaptive inverse control theory and mounter system, aiming at inaugurating a novel adaptive inverse control method for mounter, also simultaneously gives adaptive inverse control theory demonstration support and rich the theory system.The paper presented a novel method that has used structure of nonlinear adapted filter to carry mounter adaptive plant modelling, the inverse modelling and obtained the controller, and presented one kind of non-linear adaptive inverse control system with a adaptive noise canceller. According to the adaptive inverse theory in some heuristic questions, proposed mounter's synchronization control algorithm as well as improved the filtered-εLMS algorithm. The simulation result indicated that the modelling method is advanced and the effect is good. This kind of non-linear adaptive inverse control system convergence speed is extremely fast, and eliminates the perturbation ability is very strong. The control of plant's dynamic response and plant's disturbance erasion is respectively done. They don't impact each other. that may enhance the system dynamic performance and the as far as possible interference elimination. The designed adaptive inverse control system, not only was allowed to obtain the good dynamic response, butalso caused the noise and the perturbation reduces to minimum.Finally, the paper presented a type of open motion control system with adaptive inverse control based on DSP , and presented the hardware modulation realization and the software modulation realization.