Control System Design Of A Parallel Barinder Based On PLC

The main content of this paper is polished parallel robot motion control system overall design.That based on preliminary laboratory built Parallel Robot,and the Kinematic equations are set up.Analysis as required grinding machine motion control requirements, in order to develop its "PC+PLC+servo system" as the main semi-closed loop control system.And on the servo motor control system as part of a command execution as well as the control terminal parallel mechanism were simulated.First, the history of development and application are elaborate and its exploration and development to achieve automatic control of parallel robot are discussed.By analyzed of parallel kinematics and control mechanism of the requirements,it is selected the desired motion control system PLC hardware configuration.And it be set up that a parallel robot motion control system based on PLC overall program design principles. PLC-based motion control overall program be completed through calling each function and function block by block organization to achieve data exchange between the CPU and FC.And structured programming will be used.Secondly, the motion control system as more important vector control servo system will be simulation.The mathematical model of permanent magnet synchronous motor task was to build up the required.The model in MATLAB / Simulink have been Simulation and it will be simulation analyzed.Furthermore, the parallel institutions are joint ADAMS and Simulink simulation.PLC control system to drive the input data for the static platform data,And moving platform output data is obtained that it be used of neural networks in MATLAB for input and output data of the training fit.The accuracy of the simulation data is verified.Since then, the parallel design sanding robot motion control system is implemented.