The Design And Implementation Of Full-automatic Blood Coagulation Manipulator Control System

With the rapid development of Industry Information Technology, productivity can be boosted greatly by combining the manipulator which is a cutting-edge technology and product in the field of automation with traditional style of production and life. It helps people to get away from heavy and monotonous work,at the same time improves quality and production efficiency. In the medical field, the clinically growing demand on thrombosis and coagulation testing, meanwhile requirements of accuracy and detection time testing is more stringent, the higher requirements for detecting device are proposed. Full-automatic blood coagulation is a kind of automatic device which is used to detect thrombus and platelet function, which has a higher detection rate and detection efficiency. Full-automatic blood coagulation is the basis for testing process automation. The main works for the control part of the manipulator are as follows.The main controller of manipulator control system is based on the 32-bit ARM Cortex-M4 core of STM32F303VCT6 processor, and the hardware of main controller is designed. A displacement sensor is used to detect the displacement of X and Y axis,a stepping motor is adopted as the driving element manipulator, and the appropriate stepper motor driver chip is selected, and the drive circuit of the drive module is designed. Selection of manipulator track and determination of the transmission mode are fulfilled. Human-computer interaction function is obtained by touch screen, human-computer interaction interface circuit function instruction frame data structure is designed.In the aspect of system software designment, real-time operating system uC/OS-II is transplanted to the main controller STM32F303VCT6 to achieve the whole system task management. The acceleration and deceleration mode of stepper motor are analyzed, a S curve way is used to realize acceleration and deceleration process of step motor. The deceleration function by the software design is obtained. In order to achieve the accurate manipulator driving element stepper motor positioning, genetic algorithm is use to optimize the PI control parameters. Through the Z- N method and uniform design, the initial population of genetic algorithm is obtained. Control systems have been simulated by Matlab, and great control effect is achieved. The touch screen control interface and data frame processing procedures are designed, meanwhile the communication mode of touch screen and the main controller and the process program are determined. Finally, each part of the system is debuged. A improved method for the shortcomings of control system is put forward.