Design Of Semi-physical Simulation Platform For Multi-axis Motion Control System Based On LabVIEW

At present, the labor costs are gradually improving and the demographic dividend is decreasing in China. However, with the rise and rapid development of industrial robotics industry, artificial production is gradually replaced by industrial robots. Because of the many advantages of industrial robots in industrial production, People have paid more and more attention to research on its development and control. Multiaxis motion control system, as the basis for the robot control theory, gets people’s attention and research. At the same time, the technology of semi-physical simulation,which is a means of research on motion control, is paid attention.In this paper, SCARA robot is chosen as the research subjects, which is an atypical multi-axis motion control system. Based on the research and analysis of its kinematics and dynamics, the mathematical model of kinematic and dynamic is established. The mathematical model of drive motor is also built. Then, based on the research of the traditional PID control algorithm and the intelligent control algorithm of sliding mode variable structure and the fractional order PID, the corresponding controllers are designed, which are carried out in single and multi-axis control simulation in MATLAB/SIMULINK. On the basis of the above theories, the approach of "PC + motion controller" has been put up, which is a way to design semi-physical simulation platform control system. Then,PMAC motion control card, servo driver, motor and encoder and other components of equipment are chosen. After the connection between the selected devices is determined, a single-axis motion control platform is built. A series of debug is carried out,such as the debug between the driver and motor with the encoder,the communication between PMAC motion control card and computer,the open loop debug between PMAC motion control card and motor and so on.Finally, by using the Lab VIEW on the computer, the relative control and testing platform was designed. Some experiments were performed on this platform, and the motor speed on the single-axis motion control system was acquired and displayed. From the perspective of system operation, the established semi-physical simulation system platform could reflect more realistic operation of the motor. And the system can also be used for other intelligent control algorithms and experimental validation.