Development On Motion Control System For Multi-DOF Robot

Industrial robots play an important role in field of industrial automation. With therapid development of electronic technology, communication technology andmachinery manufacturing technology, high precision and high reliability has becomethe trend of industrial robots. I carried out the research of control theory for theindustrial robots with several axes in this project. At the same time, with the advanceddesign method of digital control, I completed the development and design of thecontrol system for the industrial robots with several axes.First of all, with the Lagrange function, dynamics model for industrial robots withseveral axes was established. According to the model characteristics and controlobjectives, sliding mode variable structure algorithm was selected as the mainresearch object. In this project, traditional sliding mode control method and methodbased on nominal model were studied. According to the robots features, I improvedthe sliding mode control method based on modified exponential reaching law. Thesimulation results showed the algorithm’s superiority.Second, I carried out the overall needs analysis for the industrial robot controlsystem. With today’s mainstream method for control system design, I chose thePC-based control system in this project. Meanwhile, according to the controlalgorithm and conmmunication interface requirements, I selected the core controllerarchitecture based on FPGA（EP2C8Q208）+DSP(TMS320F2812)+PCI9054. FPGAwas responsible for the interface logic design. DSP was responsible for the controlalgorithm. PCI was responsible for communication with the PC. This design not onlyimproved the controller efficiency, but also simplified the hardware interface design.Third, I finished the schematic design, PCB design, welding and debugging of thePC-based motion servo core board and conditioning circuit board. With the VerilogHDL language, achieved the PCI9054interface logic, DSP interface logic, SPIinterface logic, photoelectric encoder signal acquisition logic, high-speed pulse logic,etc. The design ensured the fast and reliable signal transmission among the sensor,signal processing unit, PC and actuators.Fouth, after completed the hardware platform of control system and digital circuitdesign of FPGA, written the program running on the DSP and PC. Use the CCStudio V3.3as the development environment of DSP, use C language to write program, andrealize the control algorithm and data transmission with FPGA. Use LabVIEW as thedevelopment environment of PC, use G language to write program, and realize theboard control, parameter setting, data monitoring, user interface, etc.Finally, a robot control system experimental platform was established. Opticalencoder acquisition testing laboratory, high-speed pulse transmission testinglaboratory, AD and DA functional testing laboratory were conducted. Experimentalresults showed that the performance of the motion control system in this subject wasgood. This control system can meet the needs of multi-DOF industrial robot well.