Research And Design On Control System Of Welding Robot

Welding robot is engaged in welding(including the cutting and spraying) and industrial robots,is a multi-purpose,reusable programmable automatic manipulator, with three or more programmable axes.Welding robot can increase labor productivity, improve the labor intensity of workers and the working environment,reducing demand for workers etc..Welding robots are widely used in industrial automation.Robot control system is the core of the robot.High-precision requirements of welding path,servo control system must be used as a robotic arm control system.Servo control technology is a accompanied by computer technology,information technology, electronic technology,developed in an automatic control technology,and combined with the traditional mechanics,using digital signal processing control of a machine tool control method,it is a comprehensive applied sciences.In order to have more in-depth study of robot control system,this paper use DSP as the core control chip,and design a new welding robot control system design;modular thinking and the whole digital servo control system design,gives the servo control system hardware circuit design and the corresponding software design.On the basis of this,this paper use fuzzy PID control,and carry out with the Matlab simulation of motor to reach a relatively satisfactory control effect.The thesis main research content and innovation points are as follows:(1) Research on welding robot servo control systems.Study of DSP-based servo control system for welding robot,and studies of this topic in the servo-control system is mainly controlled object-Brushless DC current composition and working principle.This paper establishe a mathematical model of brushless DC motor,and transfer function ofbrushless DC motor is derived.(2) Based on Fuzzy PID servo control system. Major study based on fuzzy PID control of DC servo motor.Including fuzzy PID algorithm,fuzzy PID controller design,as well as in the Matlab environment,fuzzy PID controller model.According to the mathematical model of DC servo motor,servo control system was established simulation model,conducted a simulation study. Simulation results show that the fuzzy PID control strategy is much better than normal PID control strategy.Fuzzy PID control strategy making welding robot control system has good dynamic performance and steady-state accuracy.(3) DSP-based fully digital control system for welding robot hardware design.With the high performance and usability point of view and digital signal processing core,according to the modular and digital design thinking,using dedicated motor control DSP chip for brushless DC motor servo motion control.As the selection of the control DSP chip TMS320F2407 has been integrated within the PWM output,A/ D converter,serial interface,watchdog timer and other real-time interrupt-related motor control module,so that welding robot motion controller with a high integration and excellent cost performance,lower system cost,reduce size of electro-mechanical systems,and has very good scalability.It also conducte a DSP peripheral circuits,drive circuits to current detection hardware such as circuit design,using full-digital servo drive circuit to improve the control system,anti-interference.The controller can be widely used not only to general robotics,machine tools,robotics and industrial control system design,and also for the volume of more demanding motor control system.(4) The welding robot servo control system software design.Research servo control system software design methods,including the main program control system design,design capture interrupt service routine,T1 period interrupt service program design,CAN receive interrupt service routine in the design and CAN bus transmission error interrupt service routine,the design of and so on.In addition,studies of the host computer and the next-bit machine communication interface protocols,mainly to facilitate the development of the host computer set up.(5) The welding robot system installation,debugging and experimental analysis.In the hardware design and software design based on the combination of Panasonic AW-7000 welding robot arm to achieve a welding robot system installation and debugging.Study the process of teaching welding robot,designed for connection with the subject of welding robot control system.Use the Panasonic AW-7000 welding robot arm to do welding experiment looks kind map results.Through physical analysis of experimental results we can see,the topic of control system designed to complete a good run,to adapt to environmental interference,can be more accurate positioning of the weld on to meet the welding requirements.