Development Of The Shaftless Drives Controller Based On Embedded

Shaftless driven technology is a new, interdisciplinary integrated technology, which spans domains within mechanical engineering, control theory, communication theory and transmission technology. Shaftless driven technology can replace Mechanism transmission to realize exact transmission. So shaftless driven technology plays an important role and has capacious application foreground in printing, mechanical processing and other fields that need synchronized transmission.Firstly, the paper in-depth and comprehensive researches the shaftless driven technology. According to the structural features of the shaftless driven technology designs the overall program of the system. On the basis, the paper complete shaftless driven controller's hardware circuit design, its contains LM3S615 chip control circuit design; motor drive circuit design; speed detection circuit design; liquid crystal display circuit design; key circuit design.Secondly, analysis of the master-slave synchronization structure and the parallel synchronization structure from their advantages and disadvantages. Take all factors into consideration, the paper choose parallel synchronization structure to synchronization control. The software design of the controller use PID control algorithm, and improve the algorithm according to actual situation. Using speed difference compensation method to improve the precision of speed synchronization, using PID control with dead zone algorithm to eliminate the system oscillation caused by frequent adjustment, using digital filtering technology to filtering the interference and noise in the deviation signal in order to improve the accuracy of the PID control algorithm. After testing for the experimental platform, the system is stable and has a good control effect.Finally, for the problems of the PID control algorithm implement synchronizing control, the paper adopts based on implicit generalized predictive control algorithm to improve. In the paper, discuss basic structure and theory of the implicit generalized predictive control algorithm. Using implicit generalized predictive control algorithm to acquire optimal control law, in other words, according to input and output data directly identification and acquirement the parameters of the optimal control law, simplify the control algorithm. Through a non-minimum phase system mathematical model simulation to analyze the main parameters of the generalized predictive impact the system. According to DC servo motor's parameters derive the motor mathematical model. Using implicit generalized predictive algorithm and PID algorithm simulate the model. Through comparison of the experimental results, based on implicit generalized predictive control improve the system dynamic response and stability, it has good control performance.