Research And Implementation Of Control System Of Cartesian Coordinate Robot Used In Intelligent Test Of Vacuum Interrupter

With the progress of computer science, automatic control theory and needs of the development of industrial automation, different kinds of industrial robots are increasingly used in industrial field. This research topic is based on an actual project which is an intelligent test line to test the property of vacuum interrupter, aimed to research and realize the control system of manipulators and integrated test sets used on the test line. Manipulators are used to load or unload vacuum interrupters, integrated test sets are used to test the property of vacuum interrupter, include tests of appearance, internal resistance, self-close force and counter-force, vacuum degree. Software and hardware design and research of corresponding control system should be finished accord to actual function needs of the test line.The motion controller of manipulators and integrated test sets is designed based on embedded architecture. It is the combination of a 32-bit high performance ARM microprocessor LM3S9B96 and a specific motion control chip PCL6045 BL, and there are concurrent communication between them. Based on the overall design scheme of the test line and the motion control board which is completed, the hardware design of main control board of the motion controller is done, include the communication module, power supply module and A/D sampling module, etc. On the basis of hardware, the software is developed, using the idea of modularization and multitasking design, in the environment of preemptive multitasking real-time embedded operating system kernel uC/OS-II. The software design complete some underlying software module, include motion control, communication, A/D sampling and troubleshooting, etc. And the processes of software control flow of the control system of manipulators and integrated test sets are realized on the basis of underlying software modules.In the process of internal resistance test, precise motion control of the press electric cylinder of integrated test sets should be done according to the results of pressure sampling of metal rod in the moving end of vacuum interrupter. As the rigidity coefficient varies with the change of the model number of vacuum interrupters, the requirement of motion control parameters of vacuum interrupters with different model numbers is different. Fuzzy PID control strategy is adopted to control the underdraught movement. The speed of press electric cylinder is controlled in PID mode using the variation of PID control parameters that are outputted based on the pressure deviation and deviation rate, calculated according to the pressure value sampled in the timer interrupt, and the use of fuzzy control algorithm. Through simulation research, it shows that the fuzzy PID control algorithm has good control effect.Motion control is very important in the control system of manipulators and integrated test sets. Based on the motion control functions of PCL6045 BL, various forms of point-to-point movement pattern, back to zero movement pattern and interpolation motion are realized. In order to improve the flexibility of motion control, on the basis of various movement patterns, research of related motion mode is done with PT and PVT algorithm adopted. Besides, PVT movement pattern with good control effect is realized.Finally, with integration of hardware and software, the control system has good real-time performance and reliability, can achieve functions of precise motion control, real-time communications, etc, and meet needs of the intelligent test line of vacuum interrupter.