Research On Synchronization Control For The Phase Center Robot

The control system of the phase center robot is used to keep the phase center constant. In thispaper the movement of the pitch angle is caused by combined action of the pitch motion andcompensation movement. To remain the phase center during the moving of the pitch angle,thecompensation axis and pitch axis must keep synchronous. The phase center is constant by thesynchronization control. Therefore the synchronization control is the focus of this paper. The mainresearch works are as follows:Firstly, the mathematical model of the device was established according the structure andworking principle of the phase center of the robot. The traditional PID control was used to themaster-slave approach, equal-status synchronizing control and cross-couple synchronous control. Thecross-couple synchronous control was proved to be the best synchronous control.Secondly, the traditional PID control had the poor effect for nonlinear systems control. Thecross-coupled BP neural network PID controller was designed in order to deal with the synchronouscontrol problems. The feasibility and correctness of the design were verified by the simulation.Additionally, the synchronizing error of this system was tolerable.This paper completely designed the hardware circuit and software of the phase center robot.This paper respectively designed the hardware circuit module detailed, such as the smallestsingle-chip system, RS485and RS232communication module, universal asynchronouscommunication chip SC16C554B, PWM signal output module and so on. This paper detailed themain task based on the operation system μCOS-Ⅱ.The experiments proved that the phase center robot could reach accurately the given angle had aquick convergence rate. The cross-coupled BP neural network PID controller reduced the systemssynchronization error effectively.