| The hanging movement control system is more and more widely used in modernindustrial control， medical equipment and vehicle movement systems. In addition，it is alsowidely used in aerospace, military, robot control, CNC machine tools and computer-aideddesign and other fields. Among these systems, the moving parts are often treated as thespecific implementing agencies, thus the movement accuracy of the suspension parts paly avital role in the aspect of the whole system efficiency. However, it’s very difficult to achievethe precise control of the hanging movement system in life. For this reason, the study of thehanging movement control system if very necessary and has its theoretical value andpractical value.Hanging movement control system is mainly composed of hardware parts andmovement algorithms. Existing hardware part of a suspension motion control system iscomposed of a kind of microcontroller, stepper motors and its drive modules and a hostcomputer, also it maybe have a keyboard module and a display module if necessary. Themovement algorithm contains fixed-point movement algorithm, line movement algorithm,cirle movement algorithm as well as any movement algorithms of given trajectory equations.Currently, the main study difficulties of hanging movement control system lie in how toachieve the precise control of the movement as well as how to reduce the moving time. Toachieve the precise control of the movement we must do everything possible to reduce theerror, and the error prevention method and error compensation method are two mainmethods to achieve this goal. And to reduce moving time we must choose the more advancedcontroller and the implementation parts with small reaction time.This article is focused on the two issues mentioned above and has done some researchin the following aspects:(1)The design of the hanging movement hardware system which is based on theMC9S12XS128microcontroller of Freescale series. The xs128has a internal memory withlarge space and rich resource, supports the float computing. Also, the PWM automaticallygenerated module, AD module, and pulse counting module are embedded in it. The busfrequency can be overclocked to80M maximumly, therefore it has a high processing speed.In this article, the selection of the motors are two two-phase stepping motors, whose drivingmodel we choose are two high-performance dedicated chips CW230. (2)Built the mathematical model of the hanging movement system, based on which wedecribe the motion algorithms of the system. The mathematical model of the hangingmovement system is used to build the relationship between the coordinates of the brush andthe length of the right and left traction ropes, thus the movement of brush can be achieved bycontrolling the step motors. The motion algorithms include the fix-point movement, straightline movement and circle movement algorithm.(3)System error analysis and error compensation based on BP neutral network. Errorexists in every part of the syetem, and it can be divided into hardware error and softwareerror. This article analyzes every possible error of each part of the system one by one, andutilizes a number of methods to reduce the errors in hardware system. After that, we build aBP neutral network and train it based on the input and output datas of the system. Finally, weachieve the error compensation of the hanging movement system by utilizing the BP neutralnetwork theory.(4)Design the simulation interface of the hanging movement system by utilizing theGUI aided design tools of matlab software. Then we utilize this simulation interface tosimulate the motion algorithms in this article to prove that the algorithms can be achieved.(5)Detailed analysis of the system performance from the movement error, andmovement time by combining the experimental results. And from the analysis, the reliabilityand accuracy of the designed hardware system, motion algorithms and error compensationmethod are proved.Finally, the work of this article is summarized, points out the problems and later foundthe presence of errors. |
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