Design Of Precise Positioning System Based On Voice Coil Motor And Its Application In Wire Bonder

Due to the high precision,high response speed and high acceleration of the voice coil motor,it is widely used in high-precision equipment,and the environment for the application of the voice coil motor is becoming wider and wider.This puts higher requirements on the control algorithm of the voice coil motor.Faster response speed,stronger robustness and higher control accuracy have become key indicators for voice coil motor controllers.In this paper,the wire bonding machine is used as the application index,and the control method and hardware controller of the voice coil motor are researched and designed.Firstly,the paper establishes a three-closed loop model of cascade PID control based on the voice coil motor model.To calculate the optimal parameters by solving.Then simulate and observe its control effect of those parameters.We will do algorithm experiments on hardware platform.Then The quality of the control was analyzed and used as a comparative data for subsequent experiments.Second,in order to enhance the robustness of the voice coil motor control system and improve the control quality,the controller of the speed loop is designed by using the sliding mode control method.We observe the control quality of the sliding mode controller through simulation,and compare the results with the ordinary PID controller to analyze the advantages and disadvantages of the sliding mode controller.In theory,the chattering problem of the sliding mode controller is unavoidable.In order to weaken the chattering problem as much as possible,this paper proposes a fuzzy sliding mode controller based on the fuzzy control principle.We built its simulation file for simulation,and compared the chattering problem with the sliding mode controller to analyze the control quality of both.After completing the theoretical analysis,we will design the voice coil motor driver in aspect of hardware and software.The hardware part is divided into two parts: the main control board with DSP as the main control and the auxiliary control board with FPGA as the main control.The main control board includes a voltage stabilizing circuit,a current collecting circuit,a power driving circuit,etc.,and mainly realizes the function of closed loop control of the voice coil motor;The auxiliary control board is mainly used to realize the function of S-type speed pulse planning and soft landing.Finally,we will design the software architecture to realize the three-closed loop control and fuzzy sliding mode control of the voice coil motor through software code.And observe the waveform of motor motion through the host computer.Then,To design the program of simulation and FPGA of the S-type speed pluse planning and to analyze the motion performance under S-type speed planning.Design the S-type speed pulse planning simulation program and FPGA program to analyze the motor motion performance under S-type speed planning.According to the application characteristics of the wire bonding machine,this paper designs a soft landing system to effectively reduce the impact force between the bonding head and the bonding surface.