The Control System Research Of Palletizing Robot Based On Fieldbus

Robot is one of the greatest inventions in the 20th century, and palletizing robot is widely used. As the most important equipment in the modern palletizing system, Palletizing robot's operation scope, stacking velocity, stability and reliability determines the success or failure of the design of the entire palletizing system. And its control system performance largely determines the performance of the palletizing robot. A good control system is convenient to operate, various forms of exercise control mode and the safety and reliability, and its control performance must attain the job requirements. In this paper, from the characteristics of palletizing robot, on the basis of the deep research in the fieldbus technology. robot control technology and industrial control network technology, it completely design the control system of the palletizing robot based on fieldbus .Firstly, it introduces the current research status and the development trend of palletizing robot, and illustrates the purpose and significance of the control system's research. As an industrial data bus, The fieldbus mainly solve the digital communication between the site equipments such as the intelligent instruments, controller and executing agency. And it also solve the information transfer between the site equipment and the advanced control system. This paper briefly introduces the characteristics, development status and research direction of common fieldbus. and detailedly expounds the communication protocol, working principle and realization method of the ETHERNET Powerlink used in this system.Secondly, it completes the overall design of the palletizing robot's control system according to the structure of the system and technical requirements. According to the modern control methods, The control scheme uses the B&R PCC (Programmable Computer Controller) as the main control unit. In this paper, it detailedly describes the hardware design methods of the PCC system and the servo drive system, and introduces the control function of system. The control program is developed in the B&R Automation Studio environment, using the ANSI C language as the main program language. Using the structural design method, software design adopts the refining technique and top-down gradually decompose steps. Then software system is divided into several independent modules, and set priority of each module according to control requirements. So it fully reflects the superiority of time-sharing multitasking, at the same time, ensure the good maintainability and clear structure.Finally, using the intelligent control theory, it makes the intelligent optimization and tracking control for the movement trajectory of the palletizing robot arm. Simulation results indicate that the cycle time is obviously shortened, and the joints can accurately track desired trajectory, and have good anti-disturbance performance. It has completed the design of palletizing robot control system. And the control system has realized motion control of system. This system has been successfully applied to the production line of a brewery. And it has good operating condition, stable performance, easy operation, convenient maintenance, and is widely praised by the manufacturer.