Research On Motion Control System Of Palletizing Robot Based On ARM+FPGA

As an important transportation tool in industrial production,the palletizing robot greatly improves production efficiency,and motion control system is the core part of it.ARM processor has the advantages of low cost,low power consumption,fast running speed and abundant external resources,while FPGA processor has the advantages of fast data processing speed,real-time online programming and high reliability.In order to overcome the shortcomings of traditional palletizing robot such as low control precision and low operation efficiency,the research on the motion control system of palletizing robot based on ARM+FPGA is of great significance to promote the development of palletizing robot technology.In this thesis,cylindrical coordinate palletizing robot is taken as the research object,and according to its mechanical structure and operation requirements,ARM and FPGA are selected as hardware platforms to build a palletizing robot motion control system with ARM and FPGA as the core,and fuzzy PID position control algorithm is adopted to realize the cooperative control of servo motor groups.The main contents of this paper are as follows:(1)By comparing the control system frameworks of several palletizing robots and combining the mechanical structure and control requirements of cylindrical coordinate palletizing robots,a motion control system with ARM and FPGA as control cores is constructed,and fuzzy PID position control algorithm is adopted to realize the cooperative control of servo motor groups.In the control system,ARM is mainly responsible for communication processing and motor acceleration and deceleration calculation,while FPGA is mainly responsible for real-time control of servo motor group.(2)Aiming at the motion control system scheme of palletizing robot based on ARM+FPGA,the motion control system model is deduced,and finally the mathematical model is established.Then,using MATLAB software,a comparative simulation model of PID and fuzzy PID is established.The final simulation results show that the response overshoot of fuzzy PID control algorithm is small and the response time is short,which is more suitable for the motion control algorithm of palletizing robot.(3)The fuzzy PID position control algorithm is implemented on FPGA using modular design method.Using Quartus II 13.0 software and Verilog HDL language,the error generation module,fuzzy quantization module,address generation module,look-up table generation module,look-up table output module and PID operation module are designed and verified by simulation.In the ARM microcomputer system,the control interface of the control system is designed,and the communication between ARM and FPGA and the communication between FPGA and upper computer are designed.In addition,the motor acceleration and deceleration module is analyzed and designed.In this paper,the motion control system of palletizing robot based on ARM+FPGA is constructed.Through the simulation verification of each module of the system,the system has high control precision,fast running speed and meets the design requirements.