The Research And Development Of The Multi-axis Motion Controller Based On Electric Cylinder

Because the electric cylinder has the advantages of low cost,convenient installation,large load,and high precision flexible,mechanical carrier of all kinds of robot manipulator based on electric cylinder have got the favour of many companies,this type of industrial robots are widely used in the fieldof dispensing,pallet,material handling,cutting,etc.In this paper,aimed at the peculiar characteristics in applications of industrial robots based on electric cylinder and combined with today's mainstream motion controller design method and experience,the multi-axis motion controller based on electric cylinder has been carried on the design plan and research.First,this paper compared many draw lessons from the current architecture of motion controller methods,according to induce of multi-axis motion controller based on electric cylinder function requirements,chose DSP + FPGA based on PC as the core of the embedded system architecture,planning for the overall structure of the hardware and software.Then,the main hardware and software of the controller system were designed,and some hardware debugging was completed.Hardware part includes emulation interface module,memory expansion module,controller and PC peripherals such as the communication module,the design of the I/O signal interface,the input and output of the encoder signal module,etc.;Software part includes: the application of real-time operating system of ?C/OS-II and the design of PC software modules,main motion control module program of motion controller communication module procedures,speed interpolation and so on,and positioning error compensation program.Again,in view of the electric cylinder applications of the characteristics of high efficiency,high stability,velocity planning algorithm for motion controller are studied,and the flexible and subtract fast speed of three times polynomial curve method is put forward,and the simulation experiment was carried out.Lessons have been drawn from tiny segment which is used widely in the field of CNC continuous interpolation method,and for a transition curve interpolation algorithm based on local predictive control is studied.With the simulation comparison among the transition curve method compared,the direct transition method and the method of space circular arc transition,the superiority of the transition curve method has been proved.Combining with the cubic polynomial speed curve of the velocity planning algorithm of acceleration and deceleration,with the simulation experiment of the example of the "door" glyph trajectory planning scraping material of synchronous charged cylinder,the experiment result shows that predictive control based on cubic polynomial speed of transition curve interpolation algorithm has very good flexibility and high efficiency and it is suitable for the applications of electric cylinder.In terms of the situations of precision application of the electric cylinder and the accuracy of the actual application are not sufficient,mathematic model of synchronous charged cylinder servo system is set upwith the example of synchronous electric cylinder,positioning error compensation and contour error compensation of electric cylinder system were studied,adaptive fuzzy PI control strategy is presented of position loop and control strategy of variable gain cross coupling is applied.At last the simulation result proves its feasibility and that it provides a way to compensate for the applications which need error compensation and it also provides some theoretical reference for continuous trajectory control and synchronization control.Finally,the multi-axis motion controller based on electric cylinder has carried on the debugging of hardware.Experiments have been carried out to test on the welding machine,and pulse error of sending,based on cubic polynomial interpolation precision index and speed of transition curve interpolation algorithm of predictive control are verified.