Research On Compound Control Method Of Feed Foeward And Feedback Of Autolumis Analyzer Sampleing Mechanism

With the task increase of clinical diagnosis and treatment, the detection speed ofimmune detector is needed to be improved urgently，at the same time, analyzer isexpected to be high-accuracy, high-speed and high-throughput. On the other hand,contact distribution method is applied and the spiked sample mechanism of mostanalyzers is expected to be high positioning accuracy and excellent dynamic response，in fact, the mechanical processing level can’t reach the drawing design’s requirements,thus leads to the change of mechanical characteristics, and has an effect on system’sservo performance and result in low working efficiency additionally. Therefore, a high-speed positioning controller with good dynamic performance indexes is need, this paperfocuses on the study of the forward-back complex control algorithm based on themechanism of sampling institution on the Automatic Chemiluminescent Analyzer,which is an achievement of a863Plan.In order to establish the good quality compound control system of feed-former,dynamic model of motor drive system on the mechanism of sampling institution on theAutomatic Chemiluminescent Analyzer is need to established, but several parameters（equivalent moment of inertia, equivalent damping coefficient and equivalentresistance torque value） can’t get by inquiring relevant handbooks, these parametermust be got by parameter identification. Based on the differential equations of motionand the theory of undetermined coefficients, mechanical parameters of the system canbe solved using the least square method from the equations which are constructed withkinematic parameters obtained by experimental tests, the identified mechanicalparameters are then used to construct the system transfer function and a Simulink model,the method is validated by comparing the results between simulation and experiment.On the basis of servo system dynamic modeling which established and designindex， position servo system control parameter of the mechanism of samplinginstitution on the Automatic Chemiluminescent Analyzer was got. In order to theoperation speed and acceleration is higher, feed-forward controller，resistance torquecompensating controller、based on speed resistance torque observer and based onposition resistance torque observer are designed. The Simulink simulation model isestablished on mathematical model of controller, and feed-forward controller has goodfollowing performance, the antijamming capability of resistance torque compensatingcontroller is better than the others, the antijamming capability of based on speedresistance torque observer is better than based on position resistance torque observer areobtained by simulation, However, in considering of the design cost, the control signalcan’t be provided to controller of the friction, because of without friction sensor. on the basis of the simulation analysis, this paper researches on complex controller of feed-forward controller and velocity-friction based observer.The servo performances of designed system are verified based on the experimentplatform. On the basis of the control system, the control algorithm is designed and thecontrollers debugged. The mechanical characteristics’ effects on controller are verifiedby daubing lubricant and changing the mechanism’s mass. The results indicate thevalidity and rationality of the control system.