Design Of Servo Control Systems Of5-axis Handling Devices For Injection Moulding Machines

The handling device for injection moulding machines is an important branch of theindustrial robot, which has been applied more and more widely with the rapiddevelopment of industrial automation of injection moulding. There are pneumatic drive,hydraulic drive and servo motor drive used in handling devices. The servo motor drivehas the advantages of simple structure, small energy consumption, fast action, highprecision and so on.Combined with the research project, this paper presents the software and hardwaredesign of the servo control systems based on the DSP chip TMS320F28035, which is a32-bit high-performance processor, designed for real-time control applications, with thecharacteristics of rich peripherals and fast computing power. The hardware of the servosystem controller is designed, according to the connection of various components of theservo control system.Positioning is a key function of servo control system. In order to ensure theaccuracy of the position of the handling device, an origin fixed coordinate system of thehandling device must be established. After power-up, each axis of the5-axis handlingdevice executes origin return to find the origin. In this paper, a proper process of originreturn of the5-axis handling device based on several common methods is presented.The acceleration and deceleration control is a very important function of the industrialrobot systems and CNC systems, which has strongly effect on control accuracy andperformance of the system. The advantages and disadvantages of the commontrapezoidal, S-curve and trigonometric acceleration and deceleration control algorithmsare analyzed and compared. The implementation method of trigonometric controlalgorithm in the servo control system is described. Software functional modules of theservo system controller were designed according to the functional requirements of servocontrol system. The programming and debugging of the whole software is completed.The laboratory validation and plant validation of the servo control system are completed.The results showed that the servo control system met the design requirements.